Retractable Composite Wheel Legs of a Climbing Robot Based on Hoop Self-Tensioning Cables

Abstract

The present invention discloses a telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping, which relates to the technical field of robots and includes a carrier member. The telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping includes: a telescopic support assembly of the climbing robot; a telescopic crawling assembly of the climbing robot; the telescopic support feet of the climbing robot and the telescopic crawling wheels of the climbing robot are respectively arranged in parallel on the carrier member. The technical solution of the present disclosure has a simple structure and convenient control. During the climbing process, it can not only bear weight but also be applicable to climbing robots with large cross-sections, meeting the actual needs of engineering construction and comprehensive maintenance.

Description

Technical Field

[0001] The present invention discloses a technology related to the field of robots, and particularly relates to a telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping. Background Art

[0002] Currently, there are many designed and formed climbing robots for rod-shaped objects at home and abroad. Among them, some robots use a peristaltic form to achieve the climbing pole action, but there is no climbing robot specifically for large cross-sections such as bridge pier bodies:

[0003] In summary, the problems existing in the prior art are as follows:

[0004] First, the crawling speed of this kind of robot is low and it cannot climb with a load.

[0005] Second, the magnetic adsorption scheme has great limitations and cannot be used for non-ferromagnetic rods such as cement poles and fireproof coatings on the outside.

[0006] Third, in order to stably clamp and climb, it is doomed in the design principle that it cannot overcome obstacles (protrusions, depressions), etc., and even cannot adapt to the change of the pole diameter of the target pole, which greatly restricts the expansion of practicality.

[0007] Fourth, some pole-climbing robots have complex structures, large weights, and high energy consumption.

[0008] Fifth, some pole-climbing robots lack an attitude correction function. In the absence of such a function, the center position of the pole-climbing robot does not coincide with the center of the target pole. When the eccentricity is serious, it will affect the climbing stability and even threaten safety.

[0009] Sixth, some climbing robots can only solve single functions such as climbing, photographing, and inspection.

[0010] The difficulty of solving the above technical problems:

[0011] The significance of solving the above technical problems: To provide a climbing robot with a simple structure, convenient control, which can not only carry a load but also be applicable to large cross-sections during the climbing process, and become a practical requirement for engineering construction and comprehensive maintenance. Summary of the Invention

[0012] To overcome the problems existing in the related art, an embodiment of the present invention discloses a telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping. The technical solution is as follows:

[0013] According to the first aspect of the embodiment of the present invention, a telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping is provided. The telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping includes:

[0014] Retractable support assembly of climbing robot;

[0015] Retractable crawling assembly of climbing robot;

[0016] Carrier member;

[0017] The retractable support feet and retractable crawling wheels of the climbing robot are respectively arranged in parallel on the carrier member.

[0018] In one embodiment, the retractable support assembly of the climbing robot includes:

[0019] Support telescopic unit, the support telescopic unit is arranged on the surface of the carrier member;

[0020] Support foot, the support foot is arranged at the telescopic end of the support telescopic unit.

[0021] In one embodiment, the retractable crawling assembly of the climbing robot includes:

[0022] Crawling telescopic unit, the crawling telescopic unit is arranged on the surface of the carrier member;

[0023] Crawling wheel, the crawling wheel is arranged at the telescopic end of the crawling telescopic unit.

[0024] In one embodiment, the support telescopic unit includes:

[0025] First outer sleeve, the first outer sleeve is fixed on the surface of the carrier member;

[0026] Inner sleeve of support foot, one end of the inner sleeve of support foot is provided with a first end sealing plate, the other end of the inner sleeve of support foot is an open end, the inner sleeve of support foot is inserted into the first outer sleeve and reciprocates along the axis direction of the first outer sleeve;

[0027] Limit pin shaft of support foot, both ends of the limit pin shaft of support foot are fixed on the side wall of the first outer sleeve, and the limit pin shaft of support foot reciprocates along the axis of the inner sleeve of support foot;

[0028] Return spring of support foot, one end of the return spring of support foot is fixedly connected with the surface of the first end sealing plate of the inner sleeve of support foot, the other end of the return spring of support foot is fixedly connected with the side wall of the limit pin shaft of support foot;

[0029] Support foot member, the support foot member is fixedly connected with the open end of the inner sleeve of support foot.

[0030] In one embodiment, a circumferential tension and contraction member is arranged in the inner sleeve of support foot.

[0031] In one embodiment, the crawling telescopic unit includes:

[0032] a second outer sleeve, the second outer sleeve being fixed to a surface of the carrier member;

[0033] A crawling wheel inner sleeve, one end of which is provided with a second end sealing plate, the other end of the supporting foot inner sleeve is an open end, the crawling wheel inner sleeve is inserted into the second outer sleeve, and reciprocates along the axis direction of the second outer sleeve;

[0034] A creeper wheel reset spring, one end of which is fixedly connected to the side wall of the second outer sleeve, and the other end of which is fixedly connected to the second end sealing plate surface of the creeper wheel inner sleeve;

[0035] The crawling wheel component is fixedly connected to the open end of the crawling wheel inner sleeve.

[0036] In one embodiment, a limiter assembly is further included, and the limiter assembly includes:

[0037] The creeping wheel limit pin shaft has two ends inserted and fixed on the side walls of the second outer sleeve, and the creeping wheel limit pin shaft reciprocates along the axial direction of the creeping wheel inner sleeve.

[0038] The technical solution provided by the embodiments disclosed in the present invention may have the following beneficial effects:

[0039] First, the composite wheel leg is composed of a support foot and a crawling wheel. The support foot and the crawling wheel can be extended and retracted along the normal direction of the pier body. The support foot is connected in series by a circular tensioning cable, which is driven by a bidirectional tensioning motor. The tension and relaxation of the cable realizes the extension and retraction of the support foot and the tightening of the pier body.

[0040] Second, the combination of the support legs and the crawling wheels forms a self-balancing system around the pier body, which greatly reduces the unbalanced internal force of the robot body and can play a role in stabilizing the balance of the robot. In addition to holding the pier body tightly and providing friction, it can also be used to resist the bending moment generated by the heavy objects hanging on the robot.

[0041] The composite wheel leg ensures that the robot has a large load and small internal force, the system is clearly stressed, and it is easy to install and control. It has a wide range of application prospects.

[0042] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] Figure 1It is a schematic diagram of the positions of the telescopic composite wheel legs and the pier body of a climbing robot based on the circumferential autonomous tensioning cable clamping according to the present invention;

[0045] Figure 2 This is a schematic diagram of the installation of the composite wheel leg of the present invention;

[0046] Figure 3 (a) is a detailed view of the inner and outer sleeves and nodes of the support leg of the present invention;

[0047] Figure 3 (b) is a detailed view of the inner and outer sleeves and nodes of the support foot according to the present invention;

[0048] Figure 4 (a) is a detailed diagram of the inner and outer sleeves and nodes of the crawler wheel of the present invention;

[0049] Figure 4 (b) is a detailed view of the inner and outer sleeves and nodes of the crawler wheel of the present invention;

[0050] Figure 5 is a top view of the inner sleeve of the support foot of the present invention;

[0051] Figure 6 (a) is a top view of the inner and outer sleeves of the support leg of the present invention after assembly;

[0052] Figure 6 (b) is a rear side view of the inner and outer sleeves of the support leg of the present invention;

[0053] Figure 7 (a) is a top view of the crawler wheel of the present invention after the inner and outer sleeves are assembled;

[0054] Figure 7 (b) is a rear side view of the inner and outer sleeves of the crawler wheel of the present invention;

[0055] Reference numerals:

[0056] 1. Composite wheel legs of climbing robot 2. Schematic diagram of the retractable carrier of climbing robot

[0057] 3. Column and pier cross-section 1.1. Retractable support legs of climbing robot

[0058] 1.2. Retractable climbing wheels of climbing robot 1.3. Schematic diagram of the carrier components of climbing robot

[0059] 41. End seal plate of inner sleeve of support foot 42. Inner sleeve of support foot

[0060] 43. Sliding groove of the inner sleeve of the support foot 44. Return spring of the support foot

[0061] 45. Support foot limit pin 46. Rolling bearing with U-shaped groove

[0062] 47. Limit support sleeve with U-shaped groove rolling bearing 48. Locking nut

[0063] 49. End sealing plate of the connecting node of the inner sleeve of the support leg 411. Rib plate of the connecting node of the support leg

[0064] 412. Pin shaft of the connecting node of the support leg 413. Double-ear plate of the connecting node of the support leg

[0065] 414. Single-ear plate of the connecting node of the support leg 415. Rubber pad

[0066] 416. Rubber pad bite plate 417. Opening of the outer sleeve through which the limit pin shaft of the support leg passes

[0067] 418. First outer sleeve 419. Connecting plate between the outer sleeve and the robot body

[0068] 420. Screw of the connecting plate between the outer sleeve and the robot body 421. Bolt hole of the limit pin shaft with U-shaped groove rolling bearing

[0069] 51. End sealing plate of the inner sleeve of the crawler wheel 52. Inner sleeve of the crawler wheel

[0070] 53. Limit pin shaft of the crawler wheel 54. Sliding channel of the inner sleeve of the crawler wheel

[0071] 55. End sealing plate of the connecting node of the inner sleeve of the crawler wheel 56. Double-ear plate of the connecting node of the crawler wheel

[0072] 57. Connecting pin shaft of the crawler wheel roller 58. Roller

[0073] 6. Circumferential tension cable 7. Reset spring of the crawler wheel

[0074] 517. Opening of the outer sleeve through which the limit pin shaft of the crawler wheel passes 518. Second outer sleeve

[0075] 519. Second connection between the second outer sleeve and the robot body 520. Connecting plate between the second outer sleeve and the robot body Second bolt hole of the connecting plate Detailed implementation mode

[0076] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0077] The technical solution provided by the disclosed embodiments of the present invention relates to a telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping, and particularly relates to the field of robots. In the related art, there are already many designed and formed climbing robots applied to rod-shaped objects at home and abroad. Among them, some robots use a peristaltic form to achieve the climbing pole action. Such robots have a low crawling speed and cannot climb with a load, and there is no climbing robot specifically designed for large cross-sections such as bridge pier bodies. Based on this, the telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping provided by the disclosed technical solution of the present invention has a simple structure and convenient control. During the climbing process, it can not only carry a load but also be applicable to climbing robots with large cross-sections, meeting the practical needs of engineering construction and comprehensive maintenance. The design concept is different from the traditional climbing robot clamping mechanism. It forms a self-balancing system through the composite wheel leg and the circumferential tensioning cable, reducing the force on the robot body and lowering the complexity of the robot system. In the present invention, the telescopic composite wheel legs of the climbing robot are arranged along the circumference of the pier body on the openable carrier of the climbing robot. Each composite wheel leg consists of a pair of telescopic support feet and telescopic crawling wheels.

[0078] Figure 1 Exemplarily shows a structural schematic diagram of the telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping provided by the disclosed technical solution of the present invention. According to Figure 1 it can be seen that the telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping includes: a telescopic support assembly 1.1 of the climbing robot; a telescopic crawling assembly 1.2 of the climbing robot; a carrier member 1.3; the telescopic support feet of the climbing robot and the telescopic crawling wheels of the climbing robot are respectively arranged in parallel on the carrier member. It should be further pointed out that the carrier member is sequentially connected end to end with the schematically shown openable carrier of the climbing robot to form a ring structure. The schematically shown openable carrier 2 of the climbing robot is installed circumferentially on the column and the pier body cross-section 3. The schematically shown openable carrier 2 of the climbing robot is equipped with the telescopic composite wheel leg 1 of the climbing robot; the telescopic support feet 1.1 of the climbing robot and the telescopic crawling wheels 1.2 of the climbing robot, the support feet 1.1 and the crawling wheels 1.2 are connected to the schematically shown carrier member 1.3 of the climbing robot through an outer sleeve 418 and a robot body connecting plate 419. Bolt holes 420 are opened on the outer sleeve and the robot body connecting plate 419.

[0079] In one embodiment, the telescopic support assembly of the climbing robot includes: a support telescopic unit disposed on the surface of the carrier member; a support foot member disposed at the telescopic end of the support telescopic unit. It should be further noted that the support foot includes a support foot connection node rib plate 411, a pair of support foot connection node double ear plates 413 disposed on the support foot connection node rib plate 411, a support foot connection node single ear plate 414 disposed on the pair of support foot connection node double ear plates 413, a rubber pad bite plate 416 disposed on the support foot connection node single ear plate 414, and a rubber pad 415 disposed on the rubber pad bite plate 416.

[0080] In the example, a pair of support foot connection node double ear plates 413 clamp the support foot connection node single ear plate 414 and are fixedly connected through a support foot connection node pin shaft 412.

[0081] In one embodiment, the telescopic crawling assembly of the climbing robot includes: a crawling telescopic unit disposed on the surface of the carrier member; a crawling wheel member disposed at the telescopic end of the crawling telescopic unit. It should be further noted that the crawling wheel includes a crawling wheel inner sleeve connection node end plate 55, a pair of crawling wheel connection node double ear plates 56 disposed on the crawling wheel inner sleeve connection node end plate 55, and a roller 58 disposed between the pair of crawling wheel connection node double ear plates 56 through a crawling wheel roller connection pin shaft 57.

[0082] In one embodiment, the support telescopic unit includes: a first outer sleeve 418 fixed to the surface of the carrier member 1.3; a support foot inner sleeve 42 having a first end plate 41 at one end and an open end at the other end. The support foot inner sleeve 42 is inserted into the first outer sleeve 418 and reciprocates along the axis of the first outer sleeve 418; a support foot limit pin shaft 45 with both ends fixed to the side wall of the first outer sleeve 418 and reciprocating along the axis of the support foot inner sleeve 418; a support foot return spring 44 with one end fixedly connected to the surface of the first end plate 41 of the support foot inner sleeve 418 and the other end fixedly connected to the side wall of the support foot limit pin shaft 45; the support foot member is fixedly connected to the open end of the support foot inner sleeve 418. It should be further noted that more than one support telescopic unit is connected in series through a circumferential tension cable 6.

[0083] In the example, a sliding groove 43 is provided on the supporting foot inner sleeve 418, which is used as a passage for the reciprocating motion of the supporting foot limit pin 45 when the supporting foot inner sleeve 42 is extended or retracted; a crawling wheel inner sleeve 52 is provided with a crawling wheel inner sleeve sliding groove 54, which serves as a passage for the crawling wheel limit pin 53 when the crawling wheel inner sleeve is extended or retracted.

[0084] In one embodiment, an annular tensioning and contracting component is provided in the inner sleeve of the supporting foot, and the annular tensioning and contracting component includes a rolling bearing 46 with a U-shaped groove installed in the inner sleeve 42 of the supporting foot, and the bearing is positioned by upper and lower limit support sleeves 47. The limit pin 421 with the U-shaped groove rolling bearing is fixed by a locking nut 48 and passes through the supporting sleeve 47 with the U-shaped groove rolling bearing 46 in turn, and an annular tensioning cable 6 is installed in the groove of the U-shaped groove rolling bearing 46.

[0085] In one embodiment, the crawling telescopic unit adopts a double-layer parallel servo lifting structure in order to achieve obstacle crossing and form a working platform surface, that is, both the upper and lower sections can be opened and closed. The lower section is clamped, the upper section is released, and the servo push rod between the upper and lower sections lifts the upper section to crawl to a given distance; the upper section is clamped, the lower section is released, and the servo motor pulls the lower section to climb. Reciprocating in sequence. When an obstacle is detected, the opening and closing mechanism opens and closes in sequence to achieve obstacle crossing. Each section is symmetrically arranged in both directions with a clamping push rod and two servo push rods to achieve robot positioning and alternating clamping and releasing. It includes: a second outer sleeve 518, which is fixed to the surface of the carrier component 1.3; a crawler wheel inner sleeve 52, one end of which is provided with a second end sealing plate 51, and the other end of the supporting foot inner sleeve 52 is an open end, and the crawler wheel inner sleeve 52 is inserted into the second outer sleeve and reciprocates along the axial direction of the second outer sleeve 52; a crawler wheel reset spring 7, one end of which is fixedly connected to the side wall of the second outer sleeve 52, and the other end of the crawler wheel reset spring 7 is fixedly connected to the surface of the second end sealing plate 51 of the crawler wheel inner sleeve 52; the crawler wheel component is fixedly connected to the open end of the crawler wheel inner sleeve 52.

[0086] In the example, a first robot body connecting plate 419 is provided at one end of the first outer sleeve 418 , and a supporting foot limiting pin through-outlet 417 for embedding a locking nut 48 is provided on the side wall of the first outer sleeve 418 .

[0087] In the example, a robot body connecting plate 519 is provided at one end of the second outer sleeve 518, and a crawler wheel limit pin passing outer sleeve opening 517 for embedding the crawler wheel limit pin 53 is provided on the side wall of the second outer sleeve 518.

[0088] In the example, the first outer sleeve 418 is connected to the robot body through the robot body connecting plate 419. The robot body connecting plate 419 is provided with first bolt holes 420 for connecting the robot body and the robot body connecting plate; the first outer sleeve 418 is combined and connected with the support foot inner sleeve 42 through the support foot limit pin shaft 45.

[0089] In one embodiment, a limit assembly is further included. The limit assembly includes: a crawler wheel limit pin shaft 57, both ends of the crawler wheel limit pin shaft 57 are fixedly installed on the side wall of the second outer sleeve 518, and the crawler wheel limit pin shaft 57 reciprocates along the axial direction of the crawler wheel inner sleeve 52.

[0090] During specific implementation, for the assembly of the composite wheel leg, following the principle of first single unit and then combination, the processing of the single unit first opens holes and installs them in sequence from the inside to the outside.

[0091] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

[0092] It should be understood that the present disclosure is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure should be limited by the appended claims.

Claims

1. A telescopic composite wheel leg of a climbing robot based on circumferential self-tensioning cable clamping, including a carrier member, characterized in that, the telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping includes: A telescopic support assembly of the climbing robot; A telescopic crawling assembly of the climbing robot; The telescopic support feet of the climbing robot and the telescopic crawling wheels of the climbing robot are respectively arranged in parallel on the carrier member; The telescopic support assembly of the climbing robot includes: A support telescopic unit, and the support telescopic unit is arranged on the surface of the carrier member; A support foot member, and the support foot member is arranged at the telescopic end of the support telescopic unit; The telescopic crawling assembly of the climbing robot includes: A crawling telescopic unit, and the crawling telescopic unit is arranged on the surface of the carrier member; A crawling wheel member, and the crawling wheel member is arranged at the telescopic end of the crawling telescopic unit; The support telescopic unit includes: A first outer sleeve, and the first outer sleeve is fixed on the surface of the carrier member; A support foot inner sleeve, one end of the support foot inner sleeve is provided with a first end sealing plate, the other end of the support foot inner sleeve is an open end, the support foot inner sleeve is inserted into the first outer sleeve and reciprocates along the axis of the first outer sleeve; A support foot limit pin shaft, both ends of the support foot limit pin shaft are fixed on the side wall of the first outer sleeve, and the support foot limit pin shaft reciprocates along the axis of the support foot inner sleeve; A support foot return spring, one end of the support foot return spring is fixedly connected to the surface of the first end sealing plate of the support foot inner sleeve, and the other end of the support foot return spring is fixedly connected to the side wall of the support foot limit pin shaft; The support foot member is fixedly connected to the open end of the support foot inner sleeve; A circumferential tensioning and contracting member is arranged in the support foot inner sleeve. The circumferential tensioning and contracting member includes a rolling bearing with a U-shaped groove arranged in the support foot inner sleeve. The bearing is positioned by upper and lower limit support sleeves. The limit pin shaft of the rolling bearing with a U-shaped groove is fixed by a locking nut and sequentially passes through the support sleeve with a U-shaped groove rolling bearing. A circumferential tensioning cable is installed in the groove of the rolling bearing with a U-shaped groove.

2. The telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping according to claim 1, characterized in that, The crawling telescopic unit includes: A second outer sleeve, and the second outer sleeve is fixed on the surface of the carrier member; A crawling wheel inner sleeve, one end of the crawling wheel inner sleeve is provided with a second end sealing plate, the other end of the support foot inner sleeve is an open end, the crawling wheel inner sleeve is inserted into the second outer sleeve and reciprocates along the axis of the second outer sleeve; A crawling wheel return spring, one end of the crawling wheel return spring is fixedly connected to the side wall of the second outer sleeve, and the other end of the crawling wheel return spring is fixedly connected to the surface of the second end sealing plate of the crawling wheel inner sleeve; The crawling wheel member is fixedly connected to the open end of the crawling wheel inner sleeve.

3. The telescopic composite wheel leg of the climbing robot based on circumferential self-tensioning cable clamping according to claim 1, characterized in that, It further includes a limit assembly, and the limit assembly includes: The crawler wheel limit pin shaft, both ends of the inserted crawler wheel limit pin shaft are fixed on the side wall of the second outer sleeve, and the crawler wheel limit pin shaft reciprocates along the axial direction of the crawler wheel inner sleeve.

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