A kinematically redundant robot climbing mechanism

Abstract

The present application relates to a kind of robots, the purpose is to provide a kind of kinematic redundancy robot climbing mechanism, to solve the problems of existing series, parallel climbing robot structure is cumbersome, positioning control is difficult, precision is low, workspace is small, the mechanism has the characteristics of large workspace, high precision.The technical scheme is a kind of kinematic redundancy robot climbing mechanism, characterized in that: the mechanism includes first suction mechanism, second suction mechanism and the kinematic redundancy parallel mechanism connected between first suction mechanism and second suction mechanism;The first suction mechanism includes sequentially connected first connecting rod, first rotary pair, second connecting rod and suction disc;The second suction mechanism structure is identical with first suction mechanism, and the first connecting rod in second suction mechanism is fixedly connected with the lower platform in kinematic redundancy parallel mechanism.

Description

Technical Field

[0001] This invention relates to a robot, specifically a motion-redundant robot climbing mechanism. Background Technology

[0002] Climbing robots are devices capable of climbing vertical or inclined surfaces, with a wide range of applications including building maintenance, industrial inspection, rescue missions, and scientific research. They can replace manual labor in high-altitude, confined, or hazardous environments, improving efficiency, reducing risks, and adapting to various complex environments. For example, climbing robots can inspect, repair, and clean industrial equipment at heights or in confined spaces, avoiding the risks and difficulties of manual operation; they can clean, maintain, and repair the exterior walls of high-rise buildings, improving efficiency and safety; and they can inspect and maintain high-voltage power lines, avoiding the risks and difficulties of manual operation. With continuous technological advancements and increasing application demands, climbing robots will see wider application and development in various fields.

[0003] Robotic climbing mechanisms require both a large workspace and high precision, but existing mechanisms cannot simultaneously meet these requirements. For example, common serial climbing robots (such as CN116902104A) are bulky, difficult to position and control, and have low precision, while parallel climbing robots (such as CN115649314A) have small workspaces and cannot meet practical application requirements. Therefore, a motion-redundant robotic climbing mechanism is proposed, which not only possesses the high precision of parallel robots but also achieves the large workspace of serial robots. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a motion-redundant robot climbing mechanism to solve the problems of bulky structure, difficult positioning and control, low accuracy and small working space of existing serial and parallel climbing robots. This mechanism has the characteristics of large working space and high accuracy.

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

[0006] A motion-redundant robot climbing mechanism, characterized in that: the mechanism includes a first adsorption mechanism, a second adsorption mechanism, and a motion-redundant parallel mechanism connected between the first adsorption mechanism and the second adsorption mechanism;

[0007] The first adsorption mechanism includes a first connecting rod, a first rotating joint, a second connecting rod, and a suction cup connected in sequence.

[0008] The second adsorption mechanism has the same structure as the first adsorption mechanism, and the first connecting rod in the second adsorption mechanism is fixedly connected to the lower platform in the motion redundancy parallel mechanism.

[0009] The motion redundancy parallel mechanism includes a first upper platform connected to the first link in the first adsorption mechanism, a second upper platform connected to the first upper platform via a second revolute joint, a lower platform connected to the first link in the second adsorption mechanism, two first branches with their ends hinged to the lower platform and the first upper platform respectively, and two first branches with their ends hinged to the lower platform and the second upper platform respectively.

[0010] The four first branches have the same structure; each first branch includes a third revolute joint, a first prismatic joint, and a fourth revolute joint connected in sequence.

[0011] In the first branch, the axis of rotation of the third rotary joint is parallel to the axis of rotation of the fourth rotary joint and is perpendicular to the axis of rotation of the first sliding joint.

[0012] The rotation axis of the third rotating joint is parallel to the rotation axis of the second rotating joint.

[0013] The rotation axes of the four third revolute joints in the four first branches are parallel to each other, and the rotation axes of the four fourth revolute joints are parallel to each other.

[0014] The motion redundancy parallel mechanism avoids entering a singular configuration by adjusting the angle of the second rotary joint connecting the first upper platform and the second upper platform.

[0015] The aforementioned motion-redundant robot climbing mechanism achieves motion by using servo electric cylinders to drive four first prismatic joints and servo motors to drive two first rotary joints.

[0016] The beneficial effects of this invention are:

[0017] The motion-redundant robot climbing mechanism proposed in this invention features a large workspace and high precision; it effectively solves the problems of existing serial and parallel climbing robots, such as bulky structure, difficult positioning and control, low precision, and small workspace. It can be used in applications requiring high-altitude or high-difficulty operations, such as building maintenance, industrial inspection, rescue missions, and scientific research. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a motion-redundant robot climbing mechanism.

[0019] Figure 2 This is a simplified structural diagram of a motion-redundant robot climbing mechanism.

[0020] Figure 3 This is a three-dimensional structural diagram of the first (or second) adsorption mechanism.

[0021] Figure 4 This is a three-dimensional structural diagram of a motion-redundant parallel mechanism.

[0022] Figure 5This is a schematic diagram of the three-dimensional structure of the first branch.

[0023] Figure 6 A schematic diagram illustrating how a climbing robot uses an inchworm gait to climb a wall.

[0024] Figure 7 This diagram illustrates a climbing robot using a twisting gait to climb walls and overcome obstacles.

[0025] Figure 8 This diagram illustrates a climbing robot using a flipping gait to climb walls and overcome obstacles.

[0026] Figure 9 This is a schematic diagram illustrating the transition and switching between different walls for a climbing robot.

[0027] The diagram is labeled as follows: First adsorption mechanism 1, Motion Redundancy Parallel Mechanism 2, Second Adsorption Mechanism 3, First Link 11, First Rotary Joint 12, Second Link 13 (the first link and the second link cooperate to form the first rotary joint), Suction Cup 14, First Upper Platform 21, Second Upper Platform 22, Lower Platform 23, Second Rotary Joint 24, Third Rotary Joint 31, First Sliding Joint Sleeve 32, First Sliding Joint Telescopic Rod 33 (the first sliding joint sleeve and the first sliding joint telescopic rod cooperate to form the first sliding joint), Fourth Rotary Joint 34, First Suction Cup G1, Second Suction Cup G2. Detailed Implementation

[0028] The present invention will be further described below with reference to the examples shown in the accompanying drawings.

[0029] Figure 1 This is a three-dimensional structural diagram of a motion-redundant robot climbing mechanism, including a first adsorption mechanism 1, a motion-redundant parallel mechanism 2, and a second adsorption mechanism 3.

[0030] Figure 2 This is a schematic diagram of the climbing mechanism for a motion-redundant robot.

[0031] Figure 3 This is a three-dimensional structural diagram of the first (or second) adsorption mechanism, including a first connecting rod 11, a first rotating joint 12, a second connecting rod 13 (the first connecting rod and the second connecting rod cooperate to form the first rotating joint), and a suction cup 14.

[0032] Wherein: the first link in the first adsorption mechanism is fixedly connected to the first upper platform in the motion redundant parallel mechanism; the structure of the second adsorption mechanism is the same as that of the first adsorption mechanism, and the first link in the second adsorption mechanism is fixedly connected to the lower platform in the motion redundant parallel mechanism.

[0033] Figure 4This is a three-dimensional structural diagram of a motion-redundant parallel mechanism, including a first upper platform 21, a second upper platform 22, a lower platform 23, and four first branches connecting the lower platform and the upper platforms (including the first and second upper platforms). Two of the first branches are hinged at both ends to the lower platform and the first upper platform, respectively, and the other two first branches are hinged at both ends to the lower platform and the second upper platform, respectively. The first and second upper platforms are connected by a second revolute joint 24.

[0034] Figure 5 This is a three-dimensional structural diagram of the first branch, including a third rotary joint 31, a first sliding joint sleeve 32, a first sliding joint telescopic rod 33 (the first sliding joint sleeve and the first sliding joint telescopic rod cooperate to form the first sliding joint), and a fourth rotary joint 34, which are connected sequentially between the lower platform and the first upper platform (or the second upper platform).

[0035] Wherein: the axis of rotation of the third rotary joint is parallel to the axis of rotation of the fourth rotary joint and is perpendicular to the axis of rotation of the first sliding joint;

[0036] The axes of rotation of the four third rotary joints in the four first branches are parallel to each other, and the axes of rotation of the four fourth rotary joints are parallel to each other. The axis of rotation of the third rotary joint in the first branch is parallel to the axis of rotation of the second rotary joint in the motion redundancy parallel mechanism.

[0037] The motion redundancy parallel mechanism can avoid entering a singular configuration by adjusting the angle of the second rotary joint connecting the first upper platform and the second upper platform.

[0038] The aforementioned motion-redundant robot climbing mechanism is driven by four first prismatic joints by servo electric cylinders (omitted in the figure) and two first rotary joints by servo motors (omitted in the figure) to achieve motion.

[0039] Figure 6 This diagram illustrates a climbing robot using an inchworm gait. The process and steps are as follows: 1) The robot is attracted and supported by the first suction cup G1. The second suction cup G2 is released, driving the four first sliding joints to move the second suction cup G2 to the target position, such as... Figure 6 As shown in (a) and (b); 2) The robot uses the second suction cup G2 to adhere to the wall surface to support the entire system, and releases the first suction cup G1, as shown in (a) and (b); Figure 6 As shown in (c); 3) The robot drives four first locating joints to move the first suction cup G1 to the target position, as shown in (c). Figure 6 As shown in (c) and (d); 4) Repeat the above steps. Figures 6 to 9 In the diagram, Q1, Q2, Q3, and Q4 represent the first prismatic joints in the four first branches; I1 represents the first revolute joint in the first link, and I2 represents the first revolute joint in the second link.

[0040] Figure 7 This is a schematic diagram of a climbing robot using a twisting gait. The process and steps are as follows: 1) The robot is attracted and supported by the first suction cup G1. The second suction cup G2 is released, and the four first sliding joints are driven to move the second suction cup G2 away from the wall surface, as shown... Figure 7 As shown in (a) and (b); 2) The robot rotates the first revolute I1 connected to the first suction cup Gl, causing the robot to twist 180°, as shown in (a) and (b); Figure 7 As shown in (b) and (c); 3) The robot drives four first prismatic joints to move the second suction cup G2 close to the wall and reach the target position, as shown in Figures (b and (c)); Figure 7 As shown in (c) and (d); 4) The robot uses the second suction cup G2 to adhere to the wall to support the entire system, and releases the first suction cup G1, as shown in (c) and (d); Figure 7 As shown in (d); 5) The motion of the remaining half cycle is similar to steps 1-4 (omitted here); 6) Repeat the above steps.

[0041] Figure 8 This is a schematic diagram of a climbing robot using a flipping gait. The process and steps are as follows: 1) The robot is attracted and supported by the first suction cup G1. The second suction cup G2 is released, and the four first sliding joints are driven to move the second suction cup G2 away from the wall surface, as shown... Figure 8 As shown in (a) and (b); 2) The robot continues to drive the four first prismatic joints, causing the robot to flip, as shown in (a) and (b). Figure 8 As shown in (b) and (c); 3) The robot continues to drive the four first prismatic joints, causing the second suction cup G2 to move close to the wall and reach the target position, as shown in (b) and (c). Figure 8 As shown in (c); 4) The robot uses the second suction cup G2 to adhere to the target wall to support the entire system, and releases the first suction cup G1, as shown in (c). Figure 8 As shown in (d); 5) The motion of the remaining half cycle is similar to steps 1-4 (omitted here); 6) Repeat the above steps.

[0042] Figure 9 This diagram illustrates the transition and switching between different wall surfaces for a climbing robot. Because the robot has multiple degrees of freedom and is agile, the aforementioned twisting and flipping gait can effectively overcome some obstacles, such as... Figure 7 He Ru Figure 8 As shown, one or more of the above three gait patterns can be used to transition and switch between different walls.

Claims

1. A motion-redundant robot climbing mechanism, characterized in that: The mechanism includes a first adsorption mechanism (1), a second adsorption mechanism (3), and a motion redundant parallel mechanism (2) connecting the first adsorption mechanism and the second adsorption mechanism; The first adsorption mechanism includes a first connecting rod (11), a first rotating pair (12), a second connecting rod (13), and a suction cup (14) connected in sequence; The second adsorption mechanism has the same structure as the first adsorption mechanism, and the first connecting rod in the second adsorption mechanism is fixedly connected to the lower platform in the motion redundancy parallel mechanism. The motion redundancy parallel mechanism includes a first upper platform (21) connected to the first link in the first adsorption mechanism, a second upper platform (22) connected to the first upper platform through a second rotating joint (24), a lower platform (23) connected to the first link in the second adsorption mechanism, two first branches with the lower platform and the first upper platform respectively at both ends, and two first branches with the lower platform and the second upper platform respectively at both ends. The four first branches have the same structure; each first branch includes a third revolute joint (31), a first prismatic joint, and a fourth revolute joint (34) connected in sequence.

2. The motion-redundant robot climbing mechanism according to claim 1, characterized in that: In the first branch: the axis of rotation of the third rotary joint is parallel to the axis of rotation of the fourth rotary joint and is perpendicular to the axis of rotation of the first sliding joint.

3. The motion-redundant robot climbing mechanism according to claim 2, characterized in that: The rotation axis of the third rotating joint in the first branch is parallel to the rotation axis of the second rotating joint in the motion redundant parallel mechanism.

4. The motion-redundant robot climbing mechanism according to claim 3, characterized in that: Of the four first branches: the rotation axes of the four third revolute joints are parallel to each other, and the rotation axes of the four fourth revolute joints are parallel to each other.

5. The motion-redundant robot climbing mechanism according to claim 4, characterized in that: The motion redundancy parallel mechanism avoids entering a singular configuration by adjusting the angle of the second rotary joint connecting the first upper platform and the second upper platform.

6. The motion-redundant robot climbing mechanism according to claim 5, characterized in that: The aforementioned motion-redundant robot climbing mechanism achieves motion by using servo electric cylinders to drive four first prismatic joints and servo motors to drive two first rotary joints.

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