A crawling robot with elastic plate and rope tension balance

Abstract

This invention discloses a crawling robot with tension balance between elastic plates and ropes, comprising an upper elastic plate, a lower elastic plate, five rope groups, and five drive devices. The upper and lower elastic plates are each connected to one end of one of the five rope groups, and the other ends of the rope groups are connected to five independent drive devices. The length of each rope group is individually controlled by a drive device. The upper and lower elastic plates are always in a state of elastic tension, generating friction with the environment. By controlling the length of the rope groups, the curvature of the elastic plates is controlled, enabling the crawling robot to move through narrow gaps. The relative pose of the upper and lower elastic plates of the crawling robot disclosed in this invention can be fully controlled; that is, the upper and lower elastic plates can perform three degrees of freedom of creeping translation (horizontal, vertical, and turning), and the shape of the elastic rods can be controlled.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a crawling robot with a tension balance between an elastic plate and ropes. Background Technology

[0002] In practical engineering applications, due to long-term use and wear, some components require periodic wear inspection. However, some components have narrow gaps, making manual internal inspection difficult. Using robot-assisted methods can greatly improve inspection efficiency. However, common crawling robots are ill-suited to such environments and struggle to perform crawling movements.

[0003] Patent applications with publication numbers CN114367969A, CN114589686A, and CN114770535A describe three types of pipe-crawling robots and methods using a tensioned integral structure. While these pipe-crawling robots can crawl inside pipes, their cross-sectional areas are too large, making them unsuitable for narrow spaces. They cannot turn at bends, and the large number of parts and complex connections result in poor stability and reliability.

[0004] Therefore, those skilled in the art are dedicated to developing a crawling robot that can crawl in narrow slit environments, adapt to different widths and lengths of narrow slits, and be able to turn. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to realize a crawling robot that can crawl in narrow gaps and turn. This crawling robot needs to be simple in structure, easy to operate, and stable and reliable.

[0006] 1. To achieve the above objectives, this invention provides a crawling robot with balanced elastic plates and rope tension, characterized by comprising upper and lower elastic plates, rope sets, and drive devices. The upper and lower elastic plates are each connected to one end of five rope sets, and the other ends of the five rope sets are connected to five independent drive devices. The length of each rope set is individually controlled by the drive device. The upper and lower elastic plates are always in a state of elastic tension, generating friction with the environment. By controlling the length of the rope sets, the curvature change of the elastic plates is controlled, enabling the crawling robot to move through narrow gaps. The crawling robot disclosed in this invention allows for complete control over the relative pose of the upper and lower elastic plates, meaning the elastic plates can perform three degrees of freedom of creeping translation (horizontal, vertical, and turning), and the shape of the elastic rods can be controlled.

[0007] In a preferred embodiment of the present invention, the upper elastic plate and the lower elastic plate are the same in size and material, but different sizes and materials may also be used.

[0008] Furthermore, the driving device is a motor, with a pair of winding wheels coaxially mounted on the motor. Each rope group also consists of two ropes, which are fixedly connected to the winding wheels. The length of the rope group is controlled by the rotation of the motor, enabling the robot to crawl. Alternatively, the driving device can be a linear drive such as an electric push rod, a pneumatic cylinder, or a hydraulic cylinder, directly connected to the rope group.

[0009] Furthermore, the rope assembly and the winding reel are located on the outside of the upper and lower elastic plates or the motor, respectively, to prevent the elastic plates from causing wear on the rope assembly and to prevent knots from forming between the rope assemblies during rapid rotation, thereby improving the product's lifespan.

[0010] Furthermore, the rope assembly is constantly subjected to tensile stress during the robot's crawling process. The rope assemblies in the same group are of equal length, and the length of each rope assembly is individually controlled by the motor or other components connected to it.

[0011] Furthermore, the two sets of ropes connected to the lower elastic plate approximately in the middle can be replaced by a single set of ropes. This single set of ropes only needs to be fixed to the lower elastic plate, and the lower elastic plate can pass between the two ropes of the rope set.

[0012] Furthermore, the experimental method for the crawling robot with elastic plate and rope tension balance according to the present invention includes the following 6 steps:

[0013] Step 1: The upper and lower elastic plates are in a radially contracted state, simultaneously supporting the environment and generating friction.

[0014] Step 2: The drive device tightens the rope assembly, and the upper elastic plate retracts radially, detaching from the environment;

[0015] Step 3: The drive device simultaneously extends the rope groups at both ends of the upper elastic plate, causing the upper elastic plate to move radially upward.

[0016] Step 4: The drive device extends the rope group connected to the middle of the upper elastic plate, and the upper elastic plate opens radially, comes into contact with the environment and generates friction.

[0017] Step 5: The drive device tightens a set of ropes connected to both ends of the lower elastic plate, causing the lower elastic plate to contract radially, reduce its curvature, and detach from the environment.

[0018] Step 6: The drive device tightens the two sets of ropes connected to both ends of the upper elastic plate, while the drive device extends the set of ropes connected to both ends of the lower elastic plate, causing the curvature of the lower elastic plate to increase and open radially, making contact with the environment again, thus completing one crawling cycle.

[0019] Because the relative pose between the upper and lower elastic plates of the robot can be controlled, the robot can crawl through curved pipes using a similar peristaltic gait. Furthermore, due to the large deformation characteristics of the elastic plates themselves, they can adapt to gaps of varying widths.

[0020] Technical effect

[0021] The crawling robot employing the elastic plate and rope tension balance of this invention can achieve crawling in three degrees of freedom: horizontal, vertical, and turning, and can adapt to narrow crevices. The elastic plate of this robot has significant deformation characteristics; when the width of the elastic plate is increased to a certain size, it can also crawl inside circular pipes.

[0022] The crawling robot of this invention has a wide range of applications, simple structure, convenient operation, and high safety.

[0023] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0024] Figure 1 This is a three-dimensional schematic diagram of a preferred embodiment of the crawling robot with tension balance between the elastic plate and the rope according to the present invention;

[0025] Figure 2 This is a front view of the overall structure of the crawling robot with plate and rope tension balance according to the present invention;

[0026] Figure 3 This is a schematic diagram of a partial rope connection of the crawling robot of the present invention;

[0027] Figure 4 This is a schematic diagram showing the connection between a local motor and an elastic plate in the crawling robot of the present invention;

[0028] Figure 5 This is a schematic diagram of the vertical crawling steps of a complete cycle of the crawling robot of the present invention;

[0029] Figure 6 This is a schematic diagram of the turning and crawling steps of the crawling robot of the present invention in one complete cycle;

[0030] Figure 7 This is a schematic diagram illustrating the adaptability of the present invention to environments with walls of different widths.

[0031] The specific parts shown in the diagram are: upper elastic plate 1, lower elastic plate 11, drive device 2, drive device 12, drive device 13, drive device 14, drive device 15, winding wheel 3, rope assembly 4, rope assembly 5, rope assembly 6, rope assembly 7, rope assembly 8, fastener 9, and motor base 10. Detailed Implementation

[0032] The preferred embodiments of the present invention are described below with reference to the accompanying drawings to make the technical content clearer and easier to understand. The present invention can be implemented through different embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0033] For ease of description, the terms "up," "down," "left," and "right" appear in this invention only to indicate that they are consistent with the up, down, left, and right directions in the accompanying drawings. They do not limit the structure and are merely for the purpose of describing the invention and simplifying the description. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0034] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0035] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0036] like Figure 1 As shown, the crawling robot of the present invention, which is a tension-balanced structure of elastic plates and ropes, specifically has a two-plate, five-rope, five-drive structure. The two plates refer to the upper elastic plate 1 and the lower elastic plate 11. The five ropes refer to five rope groups: rope group 4, rope group 5, rope group 6, rope group 7, and rope group 8, with each rope group consisting of two ropes. The five drive devices are drive device 2, drive device 12, drive device 13, drive device 14, and drive device 15.

[0037] The upper elastic plate 1 is fixedly connected to the driving device 2 and the driving device 12 at both ends, and rope group 4 and rope group 5 are fixedly connected to the upper elastic plate at both ends by bolts 9, respectively.

[0038] One end of the lower elastic plate 11 is connected to the drive device 13 and the rope group 8, and the other end is connected to the drive device 14 and the drive device 15.

[0039] Rope group 6 is connected to drive device 2 at one end and to the lower elastic plate at approximately the middle position at the other end; rope group 7 is connected to drive device 12 at one end and to the lower elastic plate 11 at approximately the middle position at the other end; rope group 6 and rope group 7 can be connected to the same position on the lower elastic plate at the same time, and rope group 6 and rope group 7 can also be the same group of ropes, as long as the group of ropes is connected to the lower elastic plate 12 at approximately the middle position.

[0040] The other end of rope group 4 is connected to drive device 15; the other end of rope group 5 is connected to drive device 13; the other end of rope group 8 is connected to drive device 14. Figure 3 , Figure 4 );

[0041] The drive unit controls the curvature of the upper elastic plate 1 and the lower elastic plate 11 by adjusting the length of the rope assembly, thereby enabling the crawling robot to crawl.

[0042] Because this invention uses an elastic plate, its length, width, and thickness are relatively easy to change, allowing for the selection of a suitable elastic plate based on the actual conditions of the construction site. Thus, the crawling robot of this invention can crawl both inside circular pipes and in narrow crevices. The lengths of the five rope groups of the crawling robot are independently controlled by five drive devices, enabling it to achieve horizontal, vertical, and turning three-degree-of-freedom pose control according to environmental requirements. Figure 5 and Figure 6 (As shown). This greatly expands the application scenarios of crawling robots and meets the needs of different working conditions.

[0043] like Figure 2 As shown, the five rope groups are always subjected to tensile stress. The rope groups in the same group are of equal length, and the length of each rope group is controlled by a different motor.

[0044] like Figure 3 As shown, the control device preferably uses a motor 2. A pair of winding pulleys 3 are coaxially mounted on the motor 2, respectively positioned on both sides of the motor 2 and extending beyond the width of the upper elastic plate. Rope groups 6 are fixedly connected to the two winding pulleys 3, thus placing the rope groups 6 on the outer side of the upper elastic plate 2. Because the rope groups are located outside the elastic plate, they do not contact the elastic plate during its creeping deformation, preventing friction and potential breakage, thus extending the rope group's lifespan. Furthermore, this also prevents the ropes from becoming tangled or knotted.

[0045] The control device can also be directly connected to the rope using linear drive mechanisms such as electric actuators, pneumatic cylinders, and hydraulic cylinders.

[0046] like Figure 5 As shown, the crawling robot's movement process in a narrow gap includes the following steps:

[0047] Step 1: Under the tension of the rope assembly, the upper and lower elastic plates are in a radially contracted state, while supporting the environment and generating friction with the environment.

[0048] Step 2: Drive device 2 tightens rope group 6, and at the same time drive device 12 tightens rope group 7, so that the radial contraction curvature of the upper elastic plate 1 decreases and it is separated from the environment.

[0049] Step 3: Drive device 13 extends rope group 5, and at the same time drive device 15 extends rope group 4, so that the upper elastic plate 1 moves radially upward.

[0050] Step 4: Drive device 2 extends rope group 6, and at the same time drive device 12 extends rope group 7, so that the curvature of the upper elastic plate 1 increases and it opens radially, generating frictional force when in contact with the environment again.

[0051] Step 5: The drive device 14 tightens the rope assembly 8, causing the lower elastic plate 11 to contract radially and reduce its curvature, thus detaching it from the environment.

[0052] Step 6: Drive device 15 tightens rope group 4, drive device 13 tightens rope group 5, and at the same time drive device 14 lengthens rope group 8, so that the curvature of the lower elastic plate 11 increases and it opens radially, making contact with the environment again, thus completing one crawling cycle.

[0053] Repeating steps 1-6 above will enable the continuous worm-like crawling of the crawling robot of the present invention;

[0054] If each drive unit individually controls the length of the rope group, and the tension and extension of the rope group are not synchronized, then the crawling robot can turn (e.g., Figure 6 (As shown).

[0055] In addition, such as Figure 7 As shown, due to the large deformation characteristics of the elastic plate, it can adapt to gap environments of different widths. If the width of the elastic plate is increased, it can also crawl inside circular or similar circular pipes.

[0056] The rope assembly described in this invention preferably uses non-stretchable rigid cables. This makes it easy to control the robot's posture during crawling, especially when turning. The length of each rope assembly can be calculated based on the curvature of the curve, allowing for rapid turning directly through the control drive device. This avoids getting stuck in the curve or requiring multiple adjustments to complete the turn, thus greatly improving work efficiency.

[0057] 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. A crawling robot with elastic plate and rope tension balance, characterized in that, It includes an upper elastic plate (1), a lower elastic plate (11), a rope assembly, and a driving device; the rope assembly consists of a first rope assembly (4), a second rope assembly (5), a third rope assembly (6), a fourth rope assembly (7), and a fifth rope assembly (8); the driving device consists of a first driving device (2), a second driving device (12), a third driving device (13), a fourth driving device (14), and a fifth driving device (15). The upper elastic plate (1) is connected at one end to the first driving device (2) and the first rope group (4), and at the other end to the second driving device (12) and the second rope group (5). The lower elastic plate (11) is connected at one end to the third driving device (13) and the fifth rope group (8), and at the other end to the fourth driving device (14) and the fifth driving device (15). The third rope group (6) is connected at one end to the first driving device (2) and at the other end to the approximate middle position of the lower elastic plate (11); The fourth rope group (7) is connected at one end to the second drive device (12) and at the other end to the approximate middle position of the lower elastic plate (11); The other end of the first rope group (4) is connected to the fifth drive device (15). The other end of the second rope assembly (5) is connected to the second drive device (12); The other end of the fifth rope group (8) is connected to the fourth drive device (14). The drive device controls the curvature of the upper elastic plate (1) and the lower elastic plate (11) by adjusting the length of the rope assembly to enable the crawling robot to move in a creeping motion.

2. The crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, The upper elastic plate (1) and the lower elastic plate (11) are the same in size and material.

3. The crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, The driving device is an electric motor.

4. The crawling robot with elastic plate and rope tension balance as described in claim 3, characterized in that, The motor is equipped with two winding wheels coaxially, and each rope group consists of two ropes, which are fixedly connected to the winding wheels respectively.

5. The crawling robot with tension balance between the elastic plate and the rope as described in claim 4, characterized in that, The rope assembly and the winding reel are located on the outside of the upper and lower elastic plates or the motor, respectively.

6. The crawling robot with elastic plate and rope tension balance as described in claim 1, characterized in that, The ropes are always subjected to tensile stress, and the ropes in the same group are of the same length. The length of each group of ropes is individually controlled by the drive device connected to it.

7. The crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, The drive device is directly connected to the rope assembly in the form of a linear drive by an electric push rod, a pneumatic cylinder, or a hydraulic cylinder.

8. The crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, The relative pose of the upper elastic plate (1) and the lower elastic plate (11) can be fully controlled, that is, the upper and lower elastic plates can move horizontally, vertically and turning with a total of three degrees of freedom of creeping translation.

9. The crawling robot with tension balance between the elastic plate and the rope as described in claim 1, characterized in that, The third rope group (6) and the fourth rope group (7) are the same group of ropes and are fixedly connected to the lower elastic plate (11) at approximately the middle position; the lower elastic plate (11) is located between the two ropes of the third rope group (6) and the fourth rope group (7).

10. The experimental method for balancing the elastic plate and rope tension of a crawling robot as described in claims 1-9, characterized in that, The experimental method includes the following steps: Step 1: The upper and lower elastic plates are in a radially contracted state, supporting the environment at both ends simultaneously; Step 2, the first driving device (2) tightens the third rope group (6), and at the same time the second driving device (12) tightens the fourth rope group (7), so that the radial contraction curvature of the upper elastic plate becomes smaller and it is separated from the environment; Step 3, the third driving device (13) lengthens the second rope group (5), and at the same time the fifth driving device (15) lengthens the first rope group (4), so that the upper elastic plate (1) moves radially upward; Step 4: The first driving device (2) lengthens the third rope group (6), and at the same time the second driving device (12) lengthens the fourth rope group (7), so that the curvature of the upper elastic plate (1) increases and it opens radially, making contact with the environment again. Step 5, the fourth driving device (14) tightens the fifth rope group (8), causing the lower elastic plate (11) to shrink radially and become less curved, thus separating it from the environment; Step 6: The fifth drive device (15) tightens the first rope group (4), the third drive device (13) tightens the second rope group (5), and at the same time the fourth drive device (14) lengthens the fifth rope group (8), so that the curvature of the lower elastic plate (11) increases and it opens radially, making contact with the environment again, thus completing one crawling cycle. Repeating steps 1-6 above will enable the continuous crawling of the crawling robot with the elastic plate and rope tension in balance. If each drive unit controls the length of the rope group individually, the crawling robot can turn when the lengths of the rope groups being tightened and loosened are not consistent.

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