A motion mechanism for a climbing and obstacle-crossing robot

Abstract

This invention relates to the field of robotics. The aim is to provide a motion mechanism for a climbing and obstacle-crossing robot that is simple in structure, easy to control, and capable of moving on various pipes. The technical solution is a motion mechanism for a climbing and obstacle-crossing robot, comprising a first main clamp and a second main clamp arranged vertically, three branches connected in parallel between the first and second main clamps, and two pairs of drive gears mounted on the first and second main clamps.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a motion mechanism for a climbing and obstacle-crossing robot. Background Technology

[0002] With the rapid development of engineering technology, the applications of pipes and columns are becoming increasingly diverse. However, a large proportion of these pipes and columns are installed at high altitudes (the work site is high above the ground), or they transport high-temperature, high-pressure, or toxic gases, creating complex and harsh working environments unsuitable for manual labor. The increasing prevalence of high-altitude work and hazardous working environments poses hidden dangers and challenges to the safe production of factories and enterprises. Therefore, robots suitable for climbing and overcoming obstacles on pipes and columns are becoming increasingly important. These climbing and obstacle-crossing robots can replace workers in performing simple operations such as inspection and maintenance of pipes and columns, thus ensuring production safety while also performing maintenance work on pipes and columns. Their advantages in actual production are quite significant.

[0003] Existing obstacle-crossing devices (such as CN 105083409 A) are serial structures, which suffer from many problems, including bulky equipment, long kinematic chains, poor rigidity, low load-bearing capacity, a large number of required motors, and inability to climb and cross obstacles in complex pipeline routes. Therefore, there is an urgent need to propose a robot with a simple structure, good rigidity, and easy control, which can be used for climbing and crossing obstacles in complex pipeline routes. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a motion mechanism for a climbing and obstacle-crossing robot that is simple in structure, easy to control, and can move on a variety of pipes.

[0005] The technical solution provided by this invention is:

[0006] A motion mechanism for a climbing and obstacle-crossing robot includes a first main clamp and a second main clamp arranged vertically, three branches connected in parallel between the first main clamp and the second main clamp, and two pairs of drive gears installed on the first main clamp and the second main clamp.

[0007] The three branches include two first branches with identical structures and one second branch;

[0008] The first branch includes a first clamping mechanism, a fourth rotary joint, a first sliding joint, a first Hooke hinge, and a second clamping mechanism that are sequentially connected between the first main clamping rod and the second main clamping rod.

[0009] The second branch includes a second Hooke joint, a second sliding joint, and an eighth revolute joint connected sequentially between the first main clamping rod and the second main clamping rod; the axis of the eighth revolute joint is parallel to the centerline of the second main clamping rod and perpendicular to the axis of the second sliding joint.

[0010] The axis of the eighth rotary joint is parallel to the rotation axis connecting the second Hooke joint and the second prismatic joint, and is also parallel to the rotation axis connecting the first Hooke joint and the second clamping mechanism in the first branch; the axis of the fourth rotary joint in the first branch is parallel to the rotation axis connecting the first Hooke joint and the first prismatic joint, and is also parallel to the rotation axis connecting the second Hooke joint and the first main clamping rod.

[0011] The first clamping mechanism has the same structure as the second clamping mechanism. Both include a first clamping rod, a first crossbar, and a second clamping rod, which are sequentially hinged together with the main clamping rod to form a parallelogram mechanism. All the hinge axes are parallel to each other and perpendicular to the center line of the main clamping rod.

[0012] The parallelogram mechanism sequentially includes a main clamping rod connected end-to-end with the main clamping rod, a first rotating joint, a first clamping rod, a third rotating joint, a first crossbar, a fifth rotating joint, a second clamping rod, and a seventh rotating joint; the distance between the two hinge axes (the first rotating joint axis and the third rotating joint axis) on the first clamping rod is equal to the distance between the two hinge axes (the fifth rotating joint axis and the seventh rotating joint axis) on the second clamping rod, and the line connecting the two hinge axes on the first clamping rod is parallel to the line connecting the two hinge axes on the second clamping rod;

[0013] In this parallelogram mechanism, all the axes of the revolute joints are parallel to each other. The fourth revolute joint is located in the middle of the first crossbar, and its axis is perpendicular to the axes of the third and fifth revolute joints.

[0014] The second Hooke hinge is connected at the middle position of the first main clamping rod, and the eighth revolute joint is connected at the middle position of the second main clamping rod.

[0015] Furthermore, to enhance the rigidity of the clamping rod frame, a second crossbar is added between the first clamping rod and the second clamping rod. One end of the second crossbar is hinged to the middle of the first clamping rod through a second revolute joint, and the other end is hinged to the middle of the second clamping rod through a sixth revolute joint. The distance between the axis of the second revolute joint and the axis of the sixth revolute joint is equal to the distance between the axis of the third revolute joint and the axis of the fifth revolute joint. The axes of the second revolute joint and the axis of the sixth revolute joint are parallel to the axis of the third revolute joint.

[0016] The beneficial effects of this invention are that, as a robot combining a clamping mechanism and a two-rotation-one-movement parallel mechanism, it has the advantages of compact structure, high rigidity, large load-bearing capacity, and easy control. It is suitable for climbing and overcoming obstacles in complex pipeline routes and can be widely used in many fields such as power, water conservancy, and military. Attached Figure Description

[0017] Figure 1This is a three-dimensional structural diagram of an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the first clamping mechanism in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the second clamping mechanism in an embodiment of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the first branch in an embodiment of the present invention.

[0021] Figure 5 This is a three-dimensional structural diagram of the second branch in an embodiment of the present invention.

[0022] Reference numerals: First main clamping rod 1-1, Second main clamping rod 1-2, Drive gear 2, First clamping rod 3, First crossbar 4, Second clamping rod 5, Second crossbar 6; First sliding joint 7, Second sliding joint 8; First revolute joint R1, Second revolute joint R2, Third revolute joint R3, Fourth revolute joint R4, Fifth revolute joint R5, Sixth revolute joint R6, Seventh revolute joint R7, Eighth revolute joint R8, First Hooke hinge R9, Second Hooke hinge R10. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to the following embodiments.

[0024] Figure 1 The mechanism of the climbing and obstacle-crossing robot shown includes two main clamping rods (first main clamping rod 1-1 and second main clamping rod 1-2) arranged vertically, three branches connected in parallel between the two main clamping rods, and two pairs of drive gears installed on the two main clamping rods (a pair of meshing drive gears are installed on each main clamping rod); the three branches include two first branches with the same structure and one second branch.

[0025] The first branch includes a first clamping mechanism, a fourth rotary joint R4, a first sliding joint 7, a first Hooke hinge R9, and a second clamping mechanism, which are connected sequentially between the first main clamping rod and the second main clamping rod. The axis of the fourth rotary joint is perpendicular to the center line of the first main clamping rod of the first clamping mechanism and perpendicular to the axis of the first sliding joint.

[0026] The second branch includes a second Hooke hinge R10, a second sliding joint 8, and an eighth revolute joint R8 connected sequentially between the first main clamping rod and the second main clamping rod; wherein, the second Hooke hinge is connected at the middle position of the upper first main clamping rod, and the eighth revolute joint is connected at the middle position of the lower second main clamping rod; the axis of the eighth revolute joint is parallel to the center line of the second main clamping rod and perpendicular to the axis of the second sliding joint.

[0027] The axis of the eighth rotary joint is parallel to the rotation axis connecting the second Hooke joint and the second prismatic joint, and is also parallel to the rotation axis connecting the first Hooke joint and the second clamping mechanism in the first branch; the axis of the fourth rotary joint in the first branch is parallel to the rotation axis connecting the first Hooke joint and the first prismatic joint, and is also parallel to the rotation axis connecting the second Hooke joint and the first main clamping rod.

[0028] The first clamping mechanism has the same structure as the second clamping mechanism, both including a first clamping rod 3, a first crossbar 4, and a second clamping rod 5, which are sequentially hinged end-to-end with the main clamping rod (either the first or second main clamping rod) to form a parallelogram mechanism; all the hinge axes are parallel to each other and perpendicular to the center line of the main clamping rod. The two first clamping mechanisms are symmetrically arranged on the first main clamping rod, and the two second clamping mechanisms are also symmetrically arranged on the second main clamping rod.

[0029] The only difference between the first and second clamping mechanisms is that in the first clamping mechanism, the first crossbar 4 is connected to the first sliding joint 7 via the fourth rotary joint R4; while in the second clamping mechanism, the first crossbar 4 is connected to the first sliding joint 7 via the first Hooke hinge R9.

[0030] The parallelogram mechanism sequentially includes main clamping rods (first or second main clamping rods) connected end-to-end, a first revolute joint R1, a first clamping rod 3, a third revolute joint R3, a first crossbar 4, a fifth revolute joint R5, a second clamping rod 5, and a seventh revolute joint R7. The distance between the two hinge axes on the first clamping rod (i.e., the distance between the axis of the first revolute joint R1 and the axis of the third revolute joint R3) is equal to the distance between the two hinge axes on the second clamping rod (i.e., the distance between the axis of the fifth revolute joint R5 and the axis of the seventh revolute joint R7). Furthermore, the line connecting the two hinge axes on the first clamping rod (first revolute joint R1 and third revolute joint R3) is parallel to the line connecting the two hinge axes on the second clamping rod (fifth revolute joint R5 and seventh revolute joint R7). All revolute joint axes in this parallelogram mechanism are parallel to each other. The fourth revolute joint R4 is located in the middle of the first crossbar, and the axis of the fourth revolute joint R4 is perpendicular to the axes of the third revolute joint R3 and the fifth revolute joint R5.

[0031] Furthermore, to enhance the rigidity of the first and second clamping mechanisms, a second crossbar 6 is added between the first and second clamping rods. One end of the second crossbar is hinged to the middle of the first clamping rod via a second revolute joint R2, and the other end is hinged to the middle of the second clamping rod via a sixth revolute joint R6. The length of the second crossbar is equal to the length of the first crossbar (the distance between the axis of the second revolute joint and the axis of the sixth revolute joint on the second crossbar is equal to the distance between the axis of the third revolute joint and the axis of the fifth revolute joint on the first crossbar), and the axes of the second and sixth revolute joints are parallel to the axis of the third revolute joint.

[0032] Furthermore, the drive gear is rotatably sleeved on the shaft of the first rotating pair, and the end face of the drive gear is fixedly connected to the first clamping rod; and the two drive gears in the two first clamping mechanisms mesh with each other (the two drive gears in the two second clamping mechanisms also mesh with each other). Thus, when the drive gear is driven by the clamping power mechanism, it drives the two first clamping mechanisms and the second clamping mechanisms to move in opposite directions or away from each other, thereby performing the operation of clamping the pipe (or rod-shaped object) or releasing the clamping operation.

[0033] In this embodiment, the drive pair is a sliding pair on each branch, and the driving method can be a ball screw driven by a motor (existing technology, omitted in the figure); the clamping power mechanism can usually be a motor mounted on the main clamping rod (omitted in the figure for clarity), and the output gear on the motor shaft meshes with the drive gear to transmit power. When the drive pair and the clamping power mechanism move, the mechanism performs a three-degree-of-freedom motion of two rotations and one translation, which allows for clamping and climbing.

[0034] The working principle of this invention is as follows: When climbing upwards, the two first clamping rods of the two first clamping mechanisms first clamp the pipe (or rod-shaped object), while the two first clamping rods of the two second clamping mechanisms release their grip on the pipe. Then, the sliding joints of the three branches retract, lifting the two first clamping rods of the two second clamping mechanisms a certain distance, after which these two first clamping rods clamp the pipe again. Next, the two first clamping rods of the two first clamping mechanisms release their grip on the pipe (or rod-shaped object), and then the sliding joints of the three branches extend, lifting the two first clamping rods a certain distance; thus completing one climbing cycle. By repeating the above cycle, this invention can gradually ascend along the pipe (or rod-shaped object).

[0035] By reversing the operation, the present invention can gradually descend along the pipe (or rod-shaped object).

[0036] This invention is suitable for obstacle climbing on various types of pipes, such as straight pipes, L-shaped pipes, cross-shaped pipes, and U-shaped pipes.

Claims

1. A motion mechanism of a climbing over-obstacle robot, comprising a first main clamping rod (1-1) and a second main clamping rod (1-2) arranged in a vertical direction, three branches connected in parallel between the first main clamping rod and the second main clamping rod, and two pairs of driving gears installed on the first main clamping rod and the second main clamping rod; the three branches comprise two first branches with the same structure and one second branch; the first branch comprises a first clamping mechanism, a fourth revolute pair (R4), a first moving pair (7), a first hook joint (R9) and a second clamping mechanism connected in sequence between the first main clamping rod and the second main clamping rod; the second branch comprises a second hook joint (R10), a second moving pair (8) and an eighth revolute pair (R8) connected in sequence between the first main clamping rod and the second main clamping rod; the axis of the eighth revolute pair is parallel to the center line of the second main clamping rod and perpendicular to the axis of the second moving pair; the axis of the eighth revolute pair is parallel to the rotation axis of the second hook joint connected with the second moving pair, and parallel to the rotation axis of the first hook joint connected with the second clamping mechanism in the first branch; the axis of the fourth revolute pair in the first branch is parallel to the rotation axis of the first hook joint connected with the first moving pair, and parallel to the rotation axis of the second hook joint connected with the first main clamping rod; the first clamping mechanism and the second clamping mechanism have the same structure, and each comprises a first clamping rod (3), a first cross rod (4) and a second clamping rod (5) hingedly connected in sequence to form a parallelogram mechanism; wherein all the hinged axes are parallel to each other and perpendicular to the center line of the main clamping rod; the parallelogram mechanism comprises a first revolute pair (R1), the first clamping rod (3), a third revolute pair (R3), the first cross rod (4), a fifth revolute pair (R5), the second clamping rod (5) and a seventh revolute pair (R7) connected in sequence; the distance between the first revolute pair axis and the third revolute pair axis is equal to the distance between the fifth revolute pair axis and the seventh revolute pair axis; and the line connecting the first revolute pair axis and the third revolute pair axis is parallel to the line connecting the fifth revolute pair axis and the seventh revolute pair axis.

2. The motion mechanism of the climbing-obstacle robot according to claim 1, characterized in that: all the revolute pair axes in the parallelogram mechanism are parallel to each other.

3. The motion mechanism of the climbing-obstacle robot according to claim 2, characterized in that: the fourth revolute pair is arranged in the middle of the first cross rod, and the axis of the fourth revolute pair is perpendicular to the axes of the third revolute pair and the fifth revolute pair.

4. The motion mechanism of the climbing-obstacle robot according to claim 3, characterized in that: the second hook joint is connected at the middle position of the first main clamping rod, and the eighth revolute pair is connected at the middle position of the second main clamping rod.

5. The motion mechanism of the climbing-obstacle robot according to claim 4, characterized in that: a second cross rod (6) is additionally arranged between the first clamping rod and the second clamping rod, one end of the second cross rod is hingedly connected to the middle of the first clamping rod through a second revolute pair (R2), and the other end is hingedly connected to the middle of the second clamping rod through a sixth revolute pair (R6); and the distance between the second revolute pair axis and the sixth revolute pair axis is equal to the distance between the third revolute pair axis and the fifth revolute pair axis, and the axes of the second revolute pair and the sixth revolute pair are parallel to the axis of the third revolute pair.

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