Impedance-controlled wall-climbing robot and impedance control method

Abstract

This invention provides an impedance-controlled wall-climbing robot and an impedance control method. The impedance-controlled wall-climbing robot includes a wall-adhering device and at least one climbing device. The climbing device drives the wall-adhering device to move on the wall surface. The climbing device includes: a climbing component, which includes climbing wheels; a driving component, which includes an elastic driving element with an elastic hollow area, and is drivenly connected to the climbing wheels through the elastic driving element; and a detection component, at least a portion of which is connected to the driving component and is used to detect the rotation angle of the driving component, and at least another portion of which is connected to the climbing component and is used to detect the rotation angle of the climbing wheels. The angle change of the elastic driving element is determined based on the difference between the detected rotation angle of the driving component and the rotation angle of the climbing wheels. This invention solves the problem of difficulty in determining the operating state of wall-climbing robots in the prior art.

Description

Technical Field

[0001] This invention relates to the field of special robot technology, and more specifically, to an impedance-controlled wall-climbing robot and an impedance control method. Background Technology

[0002] Wall-climbing robots are mobile robots capable of climbing various types of walls, carrying tools and auxiliary equipment to complete specific tasks. Developed for research in exploration, inspection, wall cleaning, and rescue, they primarily replace humans in dangerous and heavy-duty on-site work. Eliminating the need for scaffolding, they improve work efficiency, enhance work quality, and ensure safety. Facing complex walls with varying materials and numerous obstacles severely tests a robot's climbing ability, as falls are extremely dangerous. Therefore, a robot climbing device applicable to various scenarios with fall protection is necessary to ensure the safety and stability of these specialized robots.

[0003] Chinese patent application CN202020181356.0, entitled "A Rope Climbing Machine," describes a rope climbing mechanism suitable only for lifting goods. It can only handle large, lightweight objects, employs a rope sling method, and can only be used in a single manner, failing to guarantee the balance and stability of the suspended object. Chinese patent application CN201711379731.1, entitled "A Rope Climbing Robot," describes a robot that uses three gears simultaneously meshing with a steel wire cable. By driving the rotation of these three gears, the robot achieves its rope climbing function. While this device enables the robot to climb ropes, its center of gravity is on the cable, preventing it from constantly operating on the wall surface. Chinese patent application number CN201911313789.5, entitled "A working method of a rope-climbing robot", describes a rope-climbing robot that uses a rope passing through a sprocket, with the sprocket wrapped around a movable spindle multiple times, and a motor driving the spindle to rotate to achieve the rope-climbing function. However, this device is intended for human-operated tasks, where the rope-climbing is manually controlled, and cannot be used with a robot. Even if multiple units are used in combination, it is impossible to guarantee that the robot is not tilted when it is lifted, which affects the robot's operation.

[0004] In other words, existing wall-climbing robots have the problem of difficulty in determining their operational status. Summary of the Invention

[0005] The main objective of this invention is to provide an impedance-controlled wall-climbing robot and an impedance control method to solve the problem of difficulty in judging the operating status of wall-climbing robots in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, an impedance-controlled wall-climbing robot is provided, comprising a wall-adhering device and at least one climbing device. The climbing device is used to drive the wall-adhering device to move on the wall surface. The climbing device includes: a climbing assembly, which includes climbing wheels; a driving assembly, which includes an elastic driving member having an elastic hollow area, and the driving assembly is drivenly connected to the climbing wheels through the elastic driving member; and a detection assembly, at least a portion of which is connected to the driving assembly and is used to detect the rotation angle of the driving assembly, and at least another portion of which is connected to the climbing assembly and is used to detect the rotation angle of the climbing wheels. The detection assembly determines the angular change of the elastic driving member based on the difference between the detected rotation angle of the driving assembly and the rotation angle of the climbing wheels.

[0007] Furthermore, the detection assembly includes two angle measuring parts, the drive assembly has an output shaft, the climbing wheel has a roller shaft, the output shaft is connected to the roller shaft via an elastic drive member, and the two angle measuring parts are respectively connected to the output shaft and the roller shaft.

[0008] Furthermore, the output shaft has a connector that is fixedly connected to the elastic drive element.

[0009] Furthermore, the connector has a mounting groove, and at least a portion of the elastic drive member is embedded in the mounting groove and connected to the circumferential groove wall of the mounting groove.

[0010] Furthermore, the drive assembly has an output shaft, the climbing wheel has a roller shaft, and the elastic drive component includes: a connecting ring connected to the output shaft; a connecting block disposed within the connecting ring, the connecting block having a central through hole, one end of the roller shaft extending into the central through hole; and at least one elastic body, one end of which is connected to the inner wall of the connecting ring, and the other end of which is connected to the outer wall of the connecting block, wherein the area within the connecting ring not occupied by the elastic body and the connecting block forms an elastic hollow area.

[0011] Furthermore, there are multiple elastomers, each of which is composed of an elastic structure arranged in a meandering and bending manner; and / or different elastomers are arranged at different positions within the connecting ring to form multiple elastic regions.

[0012] Furthermore, the climbing assembly also includes a base frame, with climbing wheels rotatably disposed inside the base frame, and the base frame is fixedly connected to the wall-adhering device. The drive assembly is connected to the base frame, and there are at least two climbing wheels spaced apart along the height direction of the base frame.

[0013] Furthermore, the climbing assembly also includes a climbing rope, the first end of which is fixed to the wall surface. All the climbing wheels constitute a climbing wheel assembly, and the middle section of the climbing rope reciprocates around the climbing wheel assembly so that the second end of the climbing rope hangs down below the climbing wheel assembly.

[0014] Furthermore, the climbing assembly also includes at least one set of guide wheels, with the climbing rope wound around the climbing wheels via the guide wheels, the guide wheels being located above all the climbing wheels; and / or the guide wheels being located below all the climbing wheels.

[0015] Furthermore, the guide wheel assembly includes at least two pulleys arranged side by side in the horizontal direction, with the climbing rope passing between the two pulleys.

[0016] Furthermore, a weight compensation block is connected to the second end of the climbing rope.

[0017] Furthermore, the drive assembly is connected to the climbing wheel located at the bottom of the base frame among all the climbing wheels.

[0018] Furthermore, the two climbing devices are respectively positioned on the edge of a set of opposite sides of the wall-mounted device, and the two climbing devices are at the same horizontal height.

[0019] According to another aspect of the present invention, an impedance control method for a wall-climbing robot is provided. The wall-climbing robot using the above-mentioned impedance control detects the operating state of the wall-climbing robot. The impedance control method for the wall-climbing robot includes: acquiring the rotation angle of the drive component of the climbing device of the impedance-controlled wall-climbing robot; acquiring the rotation angle of the climbing wheel of the climbing component of the climbing device; calculating the difference between the rotation angle of the drive component and the rotation angle of the climbing wheel; comparing the difference with a preset angle change range to determine the operating state of the wall-climbing robot.

[0020] Furthermore, in the process of comparing the difference with a preset angle change to determine the operating state of the wall-climbing robot, the following steps are taken: the preset angle change range includes a first range, a second range, and a third range, wherein the maximum value of the first range is less than the minimum value of the second range, the maximum value of the second range is less than the minimum value of the third range, if the difference falls within the first range, the wall-climbing robot is determined to be in a normal operating state; if the difference falls within the second range, the wall-climbing robot is determined to be in a difficult operating state; if the difference falls within the third range, the wall-climbing robot is determined to be in a dangerous operating state.

[0021] Furthermore, the first range is greater than or equal to 0° and less than or equal to 1°; the second range is greater than 1° and less than or equal to 4°; and the third range is greater than 4° and less than or equal to 8°.

[0022] Furthermore, if the wall-climbing robot is in a dangerous operating state, the impedance control method for the wall-climbing robot also includes: reversing the motor of the drive component; and lowering the wall-climbing robot to the bottom of the wall.

[0023] Furthermore, before the process of rotating the drive assembly of the climbing device of the impedance-controlled wall-climbing robot, the process further includes: setting the two climbing devices at the edge positions of a set of opposite sides of the wall-attaching device of the impedance-controlled wall-climbing robot, and the two climbing devices being at the same horizontal height.

[0024] Furthermore, before comparing the difference with a preset range of angle changes to determine the operating status of the wall-climbing robot, the process also includes comparing the two differences between the two climbing devices to determine whether the wall-climbing robot has deviated.

[0025] Furthermore, if the two differences are different, it is determined that the wall-climbing robot has deviated from its intended path.

[0026] Furthermore, if the wall-climbing robot deviates from its operating position, before comparing the difference with a preset range of angle changes to determine the robot's operating status, the process includes adjusting the speed and direction of the motor on one side of the drive component to make the two differences equal.

[0027] According to the technical solution of this invention, the impedance-controlled wall-climbing robot includes a wall-adhering device and at least one climbing device. The climbing device is used to drive the wall-adhering device to move on the wall surface. The climbing device includes a climbing component, a driving component, and a detection component. The climbing component includes a climbing wheel. The driving component includes an elastic driving member with an elastic hollow area. The driving component is drivenly connected to the climbing wheel through the elastic driving member. At least a part of the detection component is connected to the driving component and is used to detect the rotation angle of the driving component. At least another part of the detection component is connected to the climbing component and is used to detect the rotation angle of the climbing wheel. The angle change of the elastic driving member is determined based on the difference between the detected rotation angle of the driving component and the rotation angle of the climbing wheel.

[0028] By incorporating an elastic drive component into the drive assembly, the climbing wheel can be rotated using this component, enabling active control of the wall-climbing robot's climbing and protection. However, there is a slight delay in the power output from the drive assembly to the climbing wheel, resulting in a difference between the rotation angles of the drive assembly and the climbing wheel. By using a detection component to measure this difference, the change in the elastic drive component's angle can be determined, thus enabling the assessment of the wall-climbing robot's operating status and allowing for timely adjustments when the robot malfunctions. Attached Figure Description

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1A schematic diagram of the climbing device according to Embodiment 1 of the present invention is shown; and

[0031] Figure 2 It shows Figure 1 A cross-sectional view of the climbing device in the middle;

[0032] Figure 3 A schematic diagram of the elastic drive component according to Embodiment 1 of the present invention is shown;

[0033] Figure 4 A schematic diagram of the impedance-controlled wall-climbing robot according to Embodiment 1 of the present invention is shown;

[0034] Figure 5 A schematic flowchart of an impedance control method according to any optional embodiment of the present invention is shown.

[0035] The above figures include the following reference numerals:

[0036] 10. Wall-mounting device; 20. Climbing device; 21. Climbing assembly; 211. Climbing wheel; 212. Roller; 213. Bearing seat; 22. Drive assembly; 221. Elastic drive component; 2211. Connecting ring; 2212. Connecting block; 2213. Elastic body; 2214. Central through hole; 2215. Threaded hole; 222. Output shaft; 223. Connecting component; 224. Motor; 225. Worm gear reducer; 23. Detection assembly; 231. Angle measuring unit; 24. Base frame; 241. Connecting plate; 242. Connecting rod; 25. Climbing rope; 26. Guide wheel assembly; 261. Pulley; 27. Weight compensation block; 28. Protective shell. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0039] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0040] To address the problem of difficulty in determining the operating status of wall-climbing robots in existing technologies, this invention provides an impedance-controlled wall-climbing robot and an impedance control method.

[0041] like Figures 1 to 5 As shown, the impedance-controlled wall-climbing robot includes a wall-adhering device 10 and at least one climbing device 20. The climbing device 20 is used to drive the wall-adhering device 10 to move on the wall surface. The climbing device 20 includes a climbing component 21, a driving component 22, and a detection component 23. The climbing component 21 includes a climbing wheel 211. The driving component 22 includes an elastic driving member 221, which has an elastic hollow area. The driving component 22 is drivenly connected to the climbing wheel 211 through the elastic driving member 221. At least a part of the detection component 23 is connected to the driving component 22 and is used to detect the rotation angle of the driving component 22. At least another part of the detection component 23 is connected to the climbing component 21 and is used to detect the rotation angle of the climbing wheel 211. The angular change of the elastic driving member 221 is determined based on the difference between the detected rotation angle of the driving component 22 and the rotation angle of the climbing wheel 211.

[0042] By setting an elastic drive element 221 in the drive assembly 22, the climbing wheel 211 can be driven to rotate by the elastic drive element 221, which enables active control of the climbing robot's climbing and protection. At the same time, there is a certain delay in the power output provided by the drive assembly 22 to the climbing wheel 211, and there is a difference between the rotation angle of the drive assembly 22 and the rotation angle of the climbing wheel 211. By setting a detection component 23 to obtain the difference in rotation angle, the change in angle of the elastic drive element 221 can be determined, thereby determining the operating status of the climbing robot and making timely adjustments when the climbing robot cannot work normally.

[0043] like Figure 1 and Figure 2 As shown, the detection component 23 includes two angle measuring units 231, the drive component 22 has an output shaft 222, and the climbing wheel 211 has a roller shaft 212. The output shaft 222 is connected to the roller shaft 212 via an elastic drive member 221, and the two angle measuring units 231 are respectively connected to the output shaft 222 and the roller shaft 212. By connecting the two angle measuring units 231 to the output shaft 222 and the roller shaft 212 respectively, the rotation angle of the output shaft 222 and the roller shaft 212 can be measured in real time, so as to determine the angular change of the elastic drive member 221 using the difference in rotation angle.

[0044] like Figure 2 As shown, the output shaft 222 has a connector 223, which is fixedly connected to the elastic drive member 221. The connector 223 connects the output shaft 222 and the elastic drive member 221, ensuring that the output of the output shaft 222 is synchronously transmitted to the elastic drive member 221.

[0045] Preferably, the elastic drive component 221 is a series elastic drive component, which has good impact resistance and force sensing capabilities, further ensuring the stable transmission of the output of the drive component 22. By using the series elastic drive component to transmit torque, active control of the climbing robot's ascent and protection is achieved, avoiding the risks caused by sudden changes in load torque during instantaneous falls.

[0046] like Figure 2 As shown, the drive assembly 22 has an output shaft 222, the climbing wheel 211 has a roller shaft 212, and the elastic drive component 221 includes a connecting ring 2211, a connecting block 2212, and at least one elastic body 2213. The connecting ring 2211 is connected to the output shaft 222. The connecting block 2212 is disposed inside the connecting ring 2211 and has a central through hole 2214. One end of the roller shaft 212 extends into the central through hole 2214. One end of the elastic body 2213 is connected to the inner wall of the connecting ring 2211, and the other end of the elastic body 2213 is connected to the outer wall of the connecting block 2212. The area inside the connecting ring 2211 that is not occupied by the elastic body 2213 and the connecting block 2212 forms an elastic hollow area. By setting the elastic body 2213 to connect the connecting ring 2211 and the connecting block 2212 respectively, the torque transmission between the connecting ring 2211 and the connecting block 2212 is delayed by the elastic body 2213. Since the connecting ring 2211 and the connecting block 2212 have different rotation angles, the connecting ring 2211 connects to the output shaft 222, and the connecting block 2212 connects to the roller shaft 212. This delays the torque output from the output shaft 222 to the roller shaft 212, allowing the detection component 23 to detect the difference in rotation angles between the output shaft 222 and the roller shaft 212. Because the area within the connecting ring 2211 not occupied by the elastic body 2213 and the connecting block 2212 forms an elastic hollow area, space can be provided for the deformation of the elastic body 2213.

[0047] Optionally, there are multiple elastic bodies 2213, each of which is composed of an elastic structure with a tortuous bend, so as to effectively ensure that the difference in rotation angle between the connecting ring 2211 and the connecting block 2212 is sufficiently obvious.

[0048] Optionally, different elastic bodies 2213 are arranged at different positions within the connecting ring 2211 to form multiple elastic regions, which can ensure that the torque is delayed in the circumferential direction of the connecting ring 2211.

[0049] like Figure 2As shown, the climbing component 21 also includes a base frame 24, with climbing wheels 211 rotatably disposed inside the base frame 24. The base frame 24 is fixedly connected to the wall-adhering device 10, and the drive component 22 is connected to the base frame 24. There are at least two climbing wheels 211 spaced apart along the height direction of the base frame 24. By setting the base frame 24, placing the climbing wheels 211 inside it, and connecting the drive component 22 to the base frame 24, the rotational stability of the climbing wheels 211 can be ensured. Setting at least two climbing wheels 211 spaced apart along the height direction of the base frame 24 can improve the stability of the wall-climbing robot's ascent and descent on the wall and reduce lateral swaying. By placing the base frame 24 on the wall-adhering device 10, synchronous ascent and descent of the climbing device 20 and the wall-adhering device 10 can be achieved.

[0050] like Figure 2 As shown, the climbing assembly 21 also includes a climbing rope 25. The first end of the climbing rope 25 is used to fix it to the wall surface. All the climbing wheels 211 constitute a climbing wheel assembly. The middle section of the climbing rope 25 is repeatedly wound around the climbing wheel assembly so that the second end of the climbing rope 25 hangs down below the climbing wheel assembly. By repeatedly winding the climbing rope 25 around the climbing wheel assembly and setting the two ends of the climbing rope 25 on the upper and lower sides of the climbing wheel assembly respectively, the climbing rope 25 can be used to guide the climbing wheel assembly, and at the same time, the climbing rope 25 can also provide an upward force for the climbing wheel assembly.

[0051] It should be noted that the climbing rope 25 does not provide tension at all times. When the wall-climbing robot is rising steadily and at a constant speed, the tension of the climbing rope 25 on the climbing wheel assembly is very small and close to zero, mainly serving a guiding function. In other words, the wall-climbing robot of this application can detect its own weight and robot position status, and automatically adjust the tension of the climbing rope 25 to achieve automatic climbing and protection functions, enabling the wall-climbing robot to move more safely and flexibly on the wall and perform tasks.

[0052] Specifically, when the climbing ropes 25 are wound around the climbing wheel assembly, they are arranged closely in sequence along the extension direction of the roller shaft 212.

[0053] like Figure 2 As shown, the climbing assembly 21 also includes at least one set of guide wheels 26. The climbing rope 25 is wound around the climbing wheels 211 via the guide wheels 26. The guide wheels 26 can be located above or below all the climbing wheels 211. By setting at least two sets of guide wheels 26 above or below all the climbing wheels 211, the climbing rope 25 can be guided. At the same time, the position of the climbing rope 25 relative to the exit position of the climbing wheels is fixed, which improves the stability of the wall-climbing robot when climbing and avoids swaying from side to side.

[0054] Specifically, the guide wheel assembly 26 includes at least two pulleys 261 arranged side by side in the horizontal direction, and the climbing rope 25 passes between the two pulleys 261 to ensure the stability of the climbing rope 25.

[0055] like Figure 4 As shown, the second end of the climbing rope 25 is connected to a weight compensation block 27 to prevent the climbing wheel assembly from slipping off the climbing rope 25 and to ensure safe operation.

[0056] like Figure 5 As shown, the present invention also provides an impedance control method for a wall-climbing robot. The wall-climbing robot using the impedance control method of the present invention detects its operating status. The impedance control method for the wall-climbing robot includes: Step S10: acquiring the rotation angle of the drive component 22 of the climbing device 20 of the impedance-controlled wall-climbing robot; Step S20: acquiring the rotation angle of the climbing wheel 211 of the climbing component 21 of the climbing device; Step S30: calculating the difference between the rotation angle of the drive component 22 and the rotation angle of the climbing wheel 211; Step S40: comparing the difference with a preset angle change range to determine the operating status of the wall-climbing robot.

[0057] Since the wall-climbing robot with impedance control of the present invention uses an elastic drive component 221 to connect the drive component 22 and the climbing wheel 211 respectively, and collects the rotation angle of the drive component 22 and the climbing wheel 211 respectively, and obtains the difference of the rotation angle in real time, it can promptly determine the working state of the elastic drive component 221, and thus determine the working state of the wall-climbing robot.

[0058] Specifically, in the process of comparing the difference with a preset angle change to determine the operating status of the wall-climbing robot, the following steps are taken: the preset angle change range includes a first range, a second range, and a third range, wherein the maximum value of the first range is less than the minimum value of the second range, and the maximum value of the second range is less than the minimum value of the third range. If the difference falls within the first range, the wall-climbing robot is determined to be in a normal operating state; if the difference falls within the second range, the wall-climbing robot is determined to be in a difficult operating state; and if the difference falls within the third range, the wall-climbing robot is determined to be in a dangerous operating state.

[0059] It should be noted that when the wall-climbing robot is in normal operating condition, it adheres stably to the wall surface and moves steadily, accelerating or climbing at a constant speed vertically along the wall. When the wall-climbing robot is in a difficult operating condition, there may be obstacles on the wall that need to be overcome, the robot is decelerating, the wall is tilted rather than vertical, or the robot is relatively light. When the wall-climbing robot is in a dangerous operating condition, the suction force on the wall is weak or it may even detach from the wall. In this case, the robot relies entirely on its climbing mechanism to climb, and should be lowered and adjusted.

[0060] It should be noted that when the wall-climbing robot needs to stop to perform operations, the angular change of the elastic drive component 221 should be zero.

[0061] It should be noted that within the preset angle change range, the elastic drive component 221 can deflect clockwise or counterclockwise.

[0062] Specifically, if the wall-climbing robot is in a dangerous operating state, the impedance control method for the wall-climbing robot also includes: reversing the motor 224 of the drive assembly 22; and lowering the wall-climbing robot to the bottom of the wall. This can provide cushioning protection when the wall-climbing robot falls, prevent the climbing rope from breaking after being under heavy load for a long time, and ensure the safety of the wall-climbing robot during operation.

[0063] It should be noted that when the wall-climbing robot's adsorption function fails and it detaches from the wall, the robot remains stationary due to the tension of the climbing rope 25 in the climbing device 20. At this time, the torque corresponding to the angular deflection of the elastic drive component 221 just offsets the weight of the wall-climbing robot. The motor 224 of the drive component 22 should then be reversed to lower the wall-climbing robot to the bottom of the wall.

[0064] After the wall-climbing robot of this application is started, the drive component 22 drives the climbing wheel 211 to rotate, and the wall-climbing robot begins to climb the rope. During the process of leaving the ground, under the influence of the wall-climbing robot's gravity, the elastic drive component 221 undergoes a certain angle of torsion, and the angle change continuously increases. The detection component 23 detects the difference in rotation angle between the output shaft 222 and the roller shaft 212, and detects the load torque, which serves as feedback for the continuously rotating elastic drive component 221. Based on the difference, the motor is adjusted through an impedance control method.

[0065] When working on a wall, the static friction between the wall-climbing robot and the wall counteracts some of the gravity, causing a change in the torsion angle of the elastic drive component 221. Based on this change in angle, it can be determined whether the wall-climbing robot is in a state of imminent fall. When the wall-climbing robot no longer adheres to the wall, it will not fall because the climbing rope 25 is wrapped around the climbing wheel assembly; instead, it will remain in place.

[0066] Example 1

[0067] like Figures 1 to 5 As shown, the two climbing devices 20 are respectively positioned on the edge of a set of opposite sides of the wall-adhering device 10, and the two climbing devices 20 are at the same horizontal height. This arrangement ensures that the wall-adhering device 10 is subjected to uniform force in the horizontal direction, preventing the wall-adhering device 10 from tilting on the wall due to the different horizontal heights of the climbing devices 20. Furthermore, the tilting of the wall-climbing robot during the climbing process can be determined by whether the angle changes of the elastic drive members 221 of the two climbing devices 20 are the same.

[0068] like Figure 2 As shown, the base frame 24 includes two connecting plates 241 arranged opposite to each other, and two climbing wheels 211 are arranged on opposite sides of the two connecting plates 241. The roller shafts 212 of the climbing wheels 211 are arranged along the extension direction perpendicular to the connecting plates 241, and the two ends of the roller shafts 212 pass through the connecting plates 241.

[0069] Specifically, the connecting plate 241 is provided with bolt holes, and is connected to the wall-adhering device 10 by bolts. The wall-adhering device 10 has grooves to ensure the positioning of the climbing device 20.

[0070] like Figure 2 As shown, the base frame 24 also includes three connecting rods 242. The two ends of the connecting rods 242 are detachably connected to two connecting plates 241. While ensuring the stability of the connecting plates 241, the connecting rods 242 can be removed when installing the climbing rope 25 to avoid obstructing the climbing rope 25 from tangling. It also facilitates the assembly and disassembly of the base frame 24.

[0071] like Figure 2 As shown, two sets of guide wheel groups 26 are respectively set above and below all climbing wheels 211. The guide wheel group 26 includes two pulleys 261 arranged side by side in the horizontal direction, and the climbing rope 25 passes through the two pulleys 261.

[0072] It should be noted that during the installation process, first remove the connecting rod 242, pass one end of the climbing rope 25 through the guide wheel assembly 26 located above, then repeatedly wrap it around the climbing wheel assembly, and then lead it out from the guide wheel assembly 26 below the climbing wheel assembly and connect it to the weight compensation block 27, and then reinstall the connecting rod 242.

[0073] Specifically, the guide wheel assembly 26 is fixed on the connecting plate 241.

[0074] Specifically, one end of the roller 212 of the climbing wheel 211 located at the bottom of the base frame 24 passes through the connecting plate 241 and is connected to an angle measuring part 231, and the other end of the roller 212 passes through the opposite connecting plate 241 and is connected to the elastic drive member 221.

[0075] Specifically, the roller 212 is connected to the connecting plate 241 via the bearing seat 213.

[0076] Specifically, roller 212 is keyed to climbing wheel 211.

[0077] like Figure 2 As shown, the drive assembly 22 is connected to the climbing wheel 211 located at the bottom of the base frame 24 among all the climbing wheels 211, which helps to reduce the space occupied by the climbing device 20 and improve the space utilization of the wall-climbing robot.

[0078] like Figure 2 As shown, the drive assembly 22 includes a motor 224 and a worm gear reducer 225. The worm gear reducer 225 has an output shaft 222, and the motor 224 is used to drive the output shaft 222 of the worm gear reducer 225 to rotate.

[0079] Specifically, one end of the output shaft 222 is keyed to the connector 223 and rotates coaxially, while the other end of the output shaft 222 is connected to another angle measuring unit 231.

[0080] Preferably, the angle measuring unit 231 is an angle encoder.

[0081] like Figure 3 As shown, four elastic bodies 2213 are evenly distributed around the circumference of the connecting ring 2211 to form four elastic regions. Each elastic body 2213 is composed of an elastic structure with a meandering and bending configuration. The central through hole 2214 of the connecting block 2212 is D-shaped to match the cross-sectional shape of the roller 212, ensuring that the connecting block 2212 and the roller 212 rotate coaxially.

[0082] like Figure 3 As shown, four threaded holes 2215 are evenly distributed circumferentially on the connecting ring 2211. The connecting member 223 has a threaded post extending into the connecting ring 2211. The threaded post extends into the threaded hole, so that the connecting member 223 and the connecting ring 2211 are stably connected and rotate coaxially.

[0083] like Figure 1 As shown, the climbing assembly 21 also includes a protective housing 28 to protect one end of the output shaft 222, the connector 223, the elastic drive 221, and one end of the roller 212 from being exposed.

[0084] It should be noted that the protective housing 28, the angle measuring part 231, the rotating shaft of the output shaft 222, the connecting part 223, the elastic driving part 221, the roller shaft 212, the wheel body of the climbing wheel 211, and the bearing seat 213 are all coaxially connected and cooperate with each other.

[0085] In this embodiment, the first range is greater than or equal to 0° and less than or equal to 1°; the second range is greater than 1° and less than or equal to 4°; and the third range is greater than 4° and less than or equal to 8°.

[0086] It should be noted that when the angular change of the elastic drive member 221 is greater than 8°, the elastic drive member 221 will undergo permanent deformation. Therefore, in this embodiment, the angular change of the elastic drive member 221 will not exceed 8°. If it is necessary to change the maximum bearing torque of the elastic drive member 221, the thickness of the elastic drive member 221 can be changed.

[0087] In this embodiment, before the process of measuring the rotation angle of the drive component 22 of the climbing device 20 of the impedance-controlled wall-climbing robot, the method further includes: setting the two climbing devices 20 respectively on the edge positions of a set of opposite sides of the wall-adhering device 10 of the impedance-controlled wall-climbing robot, and the two climbing devices 20 being at the same horizontal height. This step is to realize the position setting of the climbing device 20 of the wall-climbing robot in this embodiment, so as to realize the function of determining whether the wall-climbing robot has deviated.

[0088] Specifically, before comparing the difference with a preset range of angle changes to determine the operating status of the wall-climbing robot, the process also includes comparing two differences between the two climbing devices 20 to determine if the wall-climbing robot has deviated. If the two differences are different, it is determined that the wall-climbing robot has deviated.

[0089] If the wall-climbing robot deviates from its designated position, before comparing the difference with a preset range of angle changes to determine the robot's operating status, the process includes adjusting the speed and direction of the motor 224 of one side of the drive assembly 22 to make the two differences equal. This step corrects the robot's deviation, allowing it to resume vertical climbing.

[0090] Example 2

[0091] The difference from Embodiment 1 is that the connection method between the elastic drive member 221 and the connector 223 is different.

[0092] In a specific embodiment not shown, the connector 223 has a mounting groove, and at least a portion of the elastic drive member 221 is embedded in the mounting groove and connected to the circumferential wall of the mounting groove. This arrangement helps to ensure that the elastic drive member 221 and the connector 223 rotate synchronously and ensures a stable connection.

[0093] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0094] 1. By setting an elastic drive element 221 in the drive component 22, the climbing wheel 211 can be driven to rotate by the elastic drive element 221, which can realize the active control of the climbing robot's climbing and protection. At the same time, there is a certain delay when the power output provided by the drive component 22 is delivered to the climbing wheel 211, and the rotation angle of the drive component 22 and the rotation angle of the climbing wheel 211 are different.

[0095] 2. By setting the detection component 23 to obtain the difference in rotation angle, the change in angle of the elastic drive component 221 can be determined, thereby determining the operating status of the wall-climbing robot and making timely adjustments when the wall-climbing robot cannot work properly.

[0096] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0097] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0098] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An impedance-controlled wall-climbing robot, characterized in that, Includes a wall-adhering device (10) and at least one climbing device (20), the climbing device (20) being used to move the wall-adhering device (10) on the wall surface, the climbing device (20) comprising: Climbing assembly (21), the climbing assembly (21) includes climbing wheels (211); The drive assembly (22) includes an elastic drive member (221) having an elastic hollow area, and the drive assembly (22) is driven to the climbing wheel (211) through the elastic drive member (221). A detection component (23) is provided, at least a portion of which is connected to the drive component (22). The detection component (23) is used to detect the rotation angle of the drive component (22). At least another portion of the detection component (23) is connected to the climbing component (21). The detection component (23) is used to detect the rotation angle of the climbing wheel (211). The angle change of the elastic drive member (221) is determined based on the difference between the detected rotation angle of the drive component (22) and the rotation angle of the climbing wheel (211). The drive assembly (22) has an output shaft (222), the climbing wheel (211) has a roller (212), and the elastic drive element (221) includes: A connecting ring (2211) is connected to the output shaft (222); A connecting block (2212) is disposed inside the connecting ring (2211). The connecting block (2212) has a central through hole (2214), and one end of the roller (212) extends into the central through hole (2214). At least one elastic body (2213) is provided, one end of which is connected to the inner wall of the connecting ring (2211), and the other end of which is connected to the outer wall of the connecting block (2212). The area inside the connecting ring (2211) not occupied by the elastic body (2213) and the connecting block (2212) forms the elastic hollow area.

2. The impedance-controlled wall-climbing robot according to claim 1, characterized in that, The detection component (23) includes two angle measuring units (231), the drive component (22) has an output shaft (222), the climbing wheel (211) has a roller (212), the output shaft (222) is connected to the roller (212) through the elastic drive member (221), and the two angle measuring units (231) are respectively connected to the output shaft (222) and the roller (212).

3. The impedance-controlled wall-climbing robot according to claim 2, characterized in that, The output shaft (222) has a connector (223) which is fixedly connected to the elastic drive member (221).

4. The impedance-controlled wall-climbing robot according to claim 3, characterized in that, The connector (223) has a mounting groove, and at least a portion of the elastic drive (221) is embedded in the mounting groove and connected to the circumferential wall of the mounting groove.

5. The impedance-controlled wall-climbing robot according to claim 1, characterized in that, The elastomer (2213) is multiple. Each of the aforementioned elastomers (2213) is composed of an elastic structure arranged in a tortuous and bent manner; and / or Different elastomers (2213) are disposed at different positions within the connecting ring (2211) to form multiple elastic regions.

6. The impedance-controlled wall-climbing robot according to claim 1, characterized in that, The climbing assembly (21) also includes a base frame (24), the climbing wheels (211) are rotatably disposed inside the base frame (24), and the base frame (24) is fixedly connected to the wall-adhering device (10). The drive assembly (22) is connected to the base frame (24), and there are at least two climbing wheels (211) spaced apart along the height direction of the base frame (24).

7. The impedance-controlled wall-climbing robot according to claim 6, characterized in that, The climbing assembly (21) also includes a climbing rope (25), the first end of which is used to fix to the wall surface. All the climbing wheels (211) constitute a climbing wheel group. The middle section of the climbing rope (25) is repeatedly wound around the climbing wheel group so that the second end of the climbing rope (25) hangs down below the climbing wheel group.

8. The impedance-controlled wall-climbing robot according to claim 7, characterized in that, The climbing assembly (21) further includes at least one set of guide wheels (26), and the climbing rope (25) is wound around the climbing wheel (211) via the guide wheels (26). The guide wheel assembly (26) is located above all the climbing wheels (211); and / or The guide wheel assembly (26) is located below all the climbing wheels (211).

9. The impedance-controlled wall-climbing robot according to claim 8, characterized in that, The guide wheel assembly (26) includes at least two pulleys (261) arranged side by side in the horizontal direction, and the climbing rope (25) passes between the two pulleys (261).

10. The impedance-controlled wall-climbing robot according to claim 7, characterized in that, The second end of the climbing rope (25) is connected to a weight compensation block (27).

11. The impedance-controlled wall-climbing robot according to claim 6, characterized in that, The drive assembly (22) is connected to the climbing wheel (211) located at the bottom of the base frame (24) among all the climbing wheels (211).

12. The impedance-controlled wall-climbing robot according to any one of claims 1 to 11, characterized in that, The two climbing devices (20) are respectively located at the edge of a set of opposite sides of the wall-mounting device (10), and the two climbing devices (20) are at the same horizontal height.

13. An impedance control method for a wall-climbing robot, characterized in that, The wall-climbing robot, employing impedance control as described in any one of claims 1 to 12, detects the operating state of the wall-climbing robot, wherein the impedance control method for the wall-climbing robot comprises: The rotation angle of the drive component (22) of the climbing device (20) of the impedance-controlled wall-climbing robot is collected; The rotation angle of the climbing wheel (211) of the climbing component (21) of the climbing device (20) is collected; Calculate the difference between the rotation angle of the drive assembly (22) and the rotation angle of the climbing wheel (211); The difference is compared with a preset range of angle changes to determine the operating status of the wall-climbing robot.

14. The impedance control method for a wall-climbing robot according to claim 13, characterized in that, The process of comparing the difference with a preset angle change to determine the operating status of the wall-climbing robot includes: The preset angle change range includes a first range, a second range, and a third range, wherein the maximum value of the first range is less than the minimum value of the second range, and the maximum value of the second range is less than the minimum value of the third range. If the difference falls within the first range, the wall-climbing robot is determined to be in normal operating condition. If the difference falls within the second range, the wall-climbing robot is determined to be in a difficult operating state. If the difference falls within the third range, the wall-climbing robot is determined to be in a dangerous operating state.

15. The impedance control method for a wall-climbing robot according to claim 14, characterized in that, The first range is greater than or equal to 0° and less than or equal to 1°; The second range is greater than 1° and less than or equal to 4°; The third range is greater than 4° and less than or equal to 8°.

16. The impedance control method for a wall-climbing robot according to claim 14, characterized in that, If the wall-climbing robot is in a dangerous operating state, the impedance control method for the wall-climbing robot further includes: This reverses the motor (224) of the drive assembly (22); The wall-climbing robot is lowered to the bottom of the wall.

17. The impedance control method for a wall-climbing robot according to claim 13, characterized in that, Before the process of acquiring the rotation angle of the drive assembly (22) of the climbing device (20) of the impedance-controlled wall-climbing robot, the process further includes: setting the two climbing devices (20) on the edge positions of a set of opposite sides of the wall-adhering device (10) of the impedance-controlled wall-climbing robot, and the two climbing devices (20) being at the same horizontal height.

18. The impedance control method for a wall-climbing robot according to claim 17, characterized in that, Before performing the process of comparing the difference with a preset angle change range to determine the operating status of the wall-climbing robot, the process further includes: comparing the two differences between the two climbing devices (20) to determine whether the wall-climbing robot has deviated.

19. The impedance control method for a wall-climbing robot according to claim 18, characterized in that, If the two differences are different, it is determined that the wall-climbing robot has deviated from its operating position.

20. The impedance control method for a wall-climbing robot according to claim 18, characterized in that, If the wall-climbing robot deviates from its operating position, before comparing the difference with a preset angle change range to determine the operating state of the wall-climbing robot, the process further includes: adjusting the speed and direction of the motor (224) of the drive component (22) on one side so that the two differences are the same.

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