Eagle claw climbing structure suitable for cylindrical wall surface

Abstract

The invention discloses an eagle claw climbing structure suitable for a cylindrical wall surface, and relates to the technical field of wall-climbing robots, the eagle claw climbing structure comprises an upper joint structure, a lower joint structure and a tail end structure which are sequentially installed and connected, and the tail end structure comprises a sole and at least two toe structures arranged at the front end and the rear end of the sole respectively; the fixed end of a toe driving machine of the toe structure is fixedly installed on the sole, and the output end of the toe driving machine outputs the motion of driving a pricking needle of the toe structure to lift up or grab down so as to desorb or grab the wall surface. The upper joint structure, the lower joint structure and the toe structure cooperate to act, the toe structure performs bending gripping and stretching loosening actions to realize gripping and desorption of a cylindrical wall surface, the upper joint structure performs forward stretching and backward retracting actions to drive the foot sole and the toe structure to extend forwards or retract backwards, and the lower joint structure performs pitching action, so that the foot sole and the toe structure are driven to move forwards or backwards. And the foot sole and toe structures are driven to pitch up or down, so that the wall-climbing robot can adapt to the operation of the wall surface environment, and the application environment of the wall-climbing robot is further expanded.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, and in particular to an eagle claw climbing structure suitable for cylindrical walls. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Robots are widely used in the manufacturing industry, construction industry and other fields, and are especially commonly used to assist or replace humans in dangerous operations or work in areas that humans cannot reach.

[0003] Wall-climbing robots are a common type of robot that can walk on the outer wall and have the ability to stay. Before the widespread use of wall-climbing robots, the top detection of high-rise buildings has always been a technical problem in the relevant engineering field, especially the top detection is difficult to carry out and there are safety hazards. The application of wall-climbing robots in the top detection of high-rise buildings allows wall-climbing robots to replace humans to carry out operations on steep walls, effectively improving work efficiency and ensuring work safety.

[0004] In the existing technology, wall-climbing robots use electromagnetic adsorption, air pressure adsorption and other methods to adsorb the wall surface, and have been relatively maturely applied in fields mainly requiring plane climbing tasks, such as high-rise building exterior wall cleaning, tank exterior wall inspection, and hull welding. However, existing wall-climbing robots have difficulty climbing cylindrical walls with a small radius of curvature, and cannot stay on the top of an object for surveying.

[0005] Through prior art search, there are the following known technical solutions: Prior art 1: A self-locking climbing robot Application number: CN201921041680.6, application date: 2019.07.05, publication (announcement) date: 2020.05.19.

[0006] Prior art 1 discloses a pole climbing robot that can maintain a self-locking state when stopped, which completely utilizes its own structure to achieve self-locking, does not consume additional energy, and the self-locking state will not hinder the normal climbing of the pole climbing robot. The technical solution adopted by the utility model is as follows: a stationary self-locking pole climbing robot, which includes a rectangular main frame, two U-shaped frames, four corners of one side of the main frame are respectively fixedly connected with L-shaped connectors, axles are respectively installed between the two L-shaped connectors at the upper and lower ends of the main frame, wheels are installed at both ends of the axles, one opening edge of the two U-shaped frames is respectively connected to the upper and lower beams of the main frame through hinges, and the inner side of the other opening edge of each U-shaped frame is installed with axles and wheels through L-shaped connectors, and an electric telescopic rod is connected between the opening edges of the two U-shaped frames away from the main frame.

[0007] However, the prior art 1 relies on the friction of the wheel pattern to achieve climbing and self-locking, and the rod body is prone to slipping when it is wet and slippery, and the prior art 1 is not suitable for climbing a column with foreign matter and branches on the side wall.

[0008] Prior art 2: A new tree climbing and pruning robot Application number: CN201920018753.3, application date: 2019.01.07, publication (announcement) date: 2020.05.08.

[0009] Prior art 2 relates to a climbing robot, specifically a new type of climbing tree pruning robot, comprising a frame, a climbing part, a clamping part, a cutting part and a control system, wherein the climbing, clamping and cutting parts are all installed on the frame, and the control system is connected to the climbing part and the clamping part through a logic circuit to control the climbing motor 2 and the stepper motor push-pull rod 6.

[0010] However, the prior art 2 requires cutting off the upper branches before climbing up when climbing trees, which is not concealed, and its applicable occasions are quite different from the actual application occasions in nature.

[0011] Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above prior arts does not destroy the creativity of the present invention. Summary of the invention

[0012] The present invention is to avoid the deficiencies of the above-mentioned prior art and provides an eagle claw climbing structure suitable for cylindrical wall surfaces.

[0013] The present invention adopts the following technical solutions to solve the technical problems: an eagle claw climbing structure suitable for a cylindrical wall, an upper joint structure, a lower joint structure and a terminal structure are sequentially installed and connected, the fixed end of the upper joint structure is installed and connected with the frame of the robot, and the output end outputs to drive the lower joint structure and the terminal structure to extend forward or retract backward; the fixed end of the lower joint structure is installed and connected with the output end of the upper joint structure, and the output end outputs to drive the terminal structure to move upward or downward; The terminal structure includes a sole and at least two toe structures, at least one of the toe structures is a rear toe structure arranged at the rear end of the sole, and the rest are front toe structures arranged at the front end of the sole; The front end of the toe structure is a toe driver, and the end is a needle-shaped needle; the fixed end of the toe driver is fixedly mounted on the sole, and the output end drives the needle to lift up or down to detach or grasp the wall.

[0014] Furthermore, the toe structure further comprises a driving gear, a transmission gear, a transmission pulley, a driven pulley, a transmission belt, a finger joint and a fingertip, and the puncture needle is mounted and fixed to the rear end of the fingertip; The front end and the rear end of the knuckle are rotatably mounted and connected to the sole and the fingertip, respectively; a primary rotation pair is formed between the front end of the knuckle and the sole to support the knuckle to lift up or grasp downward and swing relative to the sole; a secondary rotation pair is formed between the front end of the fingertip and the rear end of the knuckle to support the fingertip to lift up or grasp downward and swing relative to the knuckle; The transmission gear and the transmission pulley are coaxially arranged with the primary rotating pair, and the two are fixedly installed as a whole, and are fixedly installed with the finger joint; the driven pulley is coaxially arranged with the secondary rotating pair, and is fixedly installed with the finger tip; the transmission belt is tensioned on the transmission pulley and the driven pulley; The driving gear is meshed with the transmission gear and is fixedly mounted on the output end of the toe driving machine.

[0015] Furthermore, a driver mounting seat and a finger joint mounting seat are provided on the sole of the foot in one-to-one correspondence with the toe driver and the finger joint; The fixed end of the toe driving machine is fixedly mounted on the sole of the foot through the corresponding driving machine mounting seat, and the front end of the finger joint is rotatably mounted and connected to the sole of the foot through the finger joint mounting seat.

[0016] Furthermore, the knuckles, the fingertips and the puncture needle are overall in an upwardly convex arc structure.

[0017] Further, the upper joint structure includes an upper joint driving machine and a connecting rod structure; The fixed end of the upper joint drive motor serves as the fixed end of the upper joint structure and is installed and connected to the frame of the robot, and its output end is installed and fixed to the input end of the connecting rod structure; the output end of the connecting rod structure serves as the output end of the upper joint structure and is installed and fixed to the input end of the lower joint structure.

[0018] Furthermore, the connecting rod structure is an unequal length double crank four-link structure, and the upper joint driving machine is installed and connected to the front end of the double crank in the unequal length double crank four-link structure.

[0019] Further, the lower joint structure includes a lower joint driving machine and a lower joint rod; The fixed end of the lower joint drive motor serves as the fixed end of the lower joint structure, and is installed and connected to the output end of the upper joint structure, and its output end is installed and fixed to the front end of the lower joint rod; the rear end of the lower joint rod serves as the output end of the lower joint structure, and is installed and fixed to the sole of the foot.

[0020] Furthermore, the terminal structure includes one rear toe structure and three front toe structures, and the three front toe structures are evenly distributed at the front end of the sole.

[0021] The present invention provides an eagle claw climbing structure suitable for a cylindrical wall, which has the following beneficial effects: The upper joint structure, lower joint structure and toe structure of the present invention act in coordination, and the toe structure performs bending, clenching and stretching and relaxing actions, thereby achieving side grasping and detaching of upright cylindrical wall surfaces with a small curvature radius, and achieving top parking and detachment of transverse cylindrical structures with a small curvature radius. The upper joint structure performs forward extension and backward retraction actions, driving the lower joint structure, sole and toe structure to extend forward or retract backward, and the lower joint structure performs a pitching action, driving the sole and toe structure to pitch up or down, so that the wall-climbing robot can adapt to operations in such wall environments, further expanding the applicable environment of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the toe structure of the present invention; Figure 3 It is a structural schematic diagram of the sole of the foot of the present invention; Figure 4 It is a schematic structural diagram of the upper joint structure and the lower joint structure of the present invention.

[0023] In the figure: 1. upper joint structure, 11. upper joint driver, 12. connecting rod structure; 2. lower joint structure, 21. lower joint driver, 22. lower joint rod; 3. sole, 31. driver mounting seat, 32. knuckle mounting seat; 4. toe structure, 41. toe driver, 42. driving gear, 43. transmission gear, 44. driven pulley, 45. transmission belt, 46. knuckle, 47. fingertip, 48. needle. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] An eagle claw climbing structure suitable for cylindrical walls, such as Figure 1~Figure 4As shown, the structural relationship is as follows: the upper joint structure 1, the lower joint structure 2 and the terminal structure are installed and connected in sequence, the fixed end of the upper joint structure 1 is installed and connected to the frame of the robot, and the output end output drives the lower joint structure 2 and the terminal structure to extend forward or retract backward; the fixed end of the lower joint structure 2 is installed and connected to the output end of the upper joint structure 1, and the output end output drives the terminal structure to move upward or downward; The terminal structure includes a sole 3 and at least two toe structures 4, wherein at least one of the toe structures 4 is a rear toe structure arranged at the rear end of the sole 3, and the rest are front toe structures arranged at the front end of the sole 3; The front end of the toe structure 4 is a toe driver 41, and the rear end is a needle-shaped pricking needle 48; the fixed end of the toe driver 41 is fixedly mounted on the sole 3, and the output end drives the pricking needle 48 to lift up or down to detach or grasp the wall.

[0026] In actual configuration, the toe driving machine 41 is preferably a driving motor.

[0027] Preferably, the toe structure 4 further comprises a driving gear 42, a transmission gear 43, a transmission pulley, a driven pulley 44, a transmission belt 45, a finger joint 46 and a fingertip 47, and the puncture needle 48 is mounted and fixed to the rear end of the fingertip 47; The front end and rear end of the knuckle 46 are rotatably mounted and connected to the sole 3 and the fingertip 47 respectively. A primary rotation pair is formed between the front end of the knuckle 46 and the sole 3 to support the knuckle 46 to lift up or grasp and swing relative to the sole 3. A secondary rotation pair is formed between the front end of the fingertip 47 and the rear end of the knuckle 46 to support the fingertip 47 to lift up or grasp and swing relative to the knuckle 46. The transmission gear 43 and the transmission pulley are coaxially arranged with the primary rotating pair, and the two are fixedly installed as a whole, and are fixedly installed with the finger joint 46. The driven pulley 44 is coaxially arranged with the secondary rotating pair, and is fixedly installed with the finger tip 47. The transmission belt 45 is tensioned on the transmission pulley and the driven pulley 44. The driving gear 42 is meshed with the transmission gear 43 and is fixedly mounted on the output end of the toe driving machine 41 .

[0028] Preferably, a driver mounting seat 31 and a finger joint mounting seat 32 are provided on the sole 3 in one-to-one correspondence with the toe driver 41 and the finger joint 46; The fixed end of the toe driver 41 is fixedly mounted on the sole 3 via the corresponding driver mounting seat 31 , and the front end of the knuckle 46 is rotatably mounted and connected to the sole 3 via the knuckle mounting seat 32 .

[0029] Preferably, the knuckle 46, the fingertip 47 and the needle 48 are in an upward convex arc structure as a whole.

[0030] Preferably, the upper joint structure 1 includes an upper joint driving machine 11 and a connecting rod structure 12; The fixed end of the upper joint drive motor 11 serves as the fixed end of the upper joint structure 1 and is installed and connected to the robot's frame, and its output end is installed and fixed to the input end of the connecting rod structure 12; the output end of the connecting rod structure 12 serves as the output end of the upper joint structure 1 and is installed and fixed to the input end of the lower joint structure.

[0031] Preferably, the connecting rod structure 12 is an unequal length double crank four-link structure, and the upper joint driving machine 11 is installed and connected to the front end of the double crank in the unequal length double crank four-link structure.

[0032] In actual setting, the upper joint driving machine 11 is preferably a stepping motor.

[0033] Preferably, the lower joint structure 2 includes a lower joint driver 21 and a lower joint rod 22; The fixed end of the lower joint driver 21 serves as the fixed end of the lower joint structure 2 and is installed and connected to the output end of the upper joint structure 1, and its output end is installed and fixed to the front end of the lower joint rod 22; the rear end of the lower joint rod 22 serves as the output end of the lower joint structure 2 and is installed and fixed to the sole 3.

[0034] In actual setting, the lower joint driving machine 21 is preferably a pitch motor.

[0035] Preferably, the terminal structure includes a rear toe structure and three front toe structures, and the three front toe structures are evenly distributed at the front end of the sole 3 .

[0036] When the wall-climbing robot adopts the above-mentioned eagle claw climbing structure suitable for cylindrical walls as the terminal structure, at least two eagle claw climbing structures should be set. The two eagle claw climbing structures can grasp the wall according to actual needs, or take turns grasping and detaching from the wall to realize the stopping and walking of the wall-climbing robot.

[0037] The action of attaching and detaching a single eagle claw climbing structure includes the following processes: In the first step, the toe driving machine 41 in each toe structure 4 drives the driving gear 42 to rotate forward, driving the transmission gear 43 to rotate reversely, and then driving the finger joint 46 to do an upward swing motion; at the same time, the transmission pulley rotates synchronously with the transmission gear 43, and its rotation is transmitted to the driven pulley 44 through the transmission belt 45, driving the fingertip 47 and the thorn needle 48 at the end of the fingertip 47 to do an upward swing motion, so that each finger joint 46, fingertip 47 and thorn needle 48 are lifted up and opened as a whole, and detached from the wall.

[0038] In the second step, the lower joint driver 21 rotates forward, driving the sole 3 to do an upward movement through the lower joint rod 22, and the toe structures 4 move accordingly with the sole 3. At the same time, the upper joint driver 11 drives the lower joint structure 2 to do a forward extension movement through the connecting rod structure 12, and the sole 3 and the toe structures 4 thereon extend forward following the output end of the connecting rod structure 12, so that the sole 3 and the toe structures 4 thereon are close to the grasping position.

[0039] In the third step, the lower joint driving machine 21 is reversed, and the sole 3 is driven to do a downward movement through the lower joint rod 22, so that each toe structure 4 is aligned with the grasping position.

[0040] In the fourth step, the toe driving machine 41 in each toe structure 4 drives the driving gear 42 to rotate in the opposite direction, driving the transmission gear 43 to rotate forward, and then driving the finger joint 46 to do a downward swing movement; at the same time, the transmission pulley and the transmission gear 43 rotate synchronously, and its rotation is transmitted to the driven pulley 44 through the transmission belt 45, driving the finger tip 47 and the needle 48 at the end of the finger tip 47 to do a downward swing movement, so that each finger joint 46, finger tip 47 and needle 48 are grasped and grasped as a whole, and firmly grasp the wall surface.

[0041] The above-mentioned eagle claw climbing structure is suitable for climbing the side of a vertical cylindrical wall with a small curvature, and for stopping at the top of a horizontal cylindrical wall with a small curvature. It is particularly suitable for climbing the side walls of tree trunks in forest scenes, and stopping and surveying at the tops of tree branches.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An eagle claw climbing structure suitable for a cylindrical wall, wherein an upper joint structure (1), a lower joint structure (2) and an end structure are sequentially installed and connected, and characterized in that: The fixed end of the upper joint structure (1) is connected to the frame of the robot, and the output end drives the lower joint structure (2) and the terminal structure to move forward or backward; the fixed end of the lower joint structure (2) is connected to the output end of the upper joint structure (1), and the output end drives the terminal structure to move upward or downward; The terminal structure comprises a sole (3) and at least two toe structures (4), wherein at least one of the toe structures (4) serves as a rear toe structure and is arranged at the rear end of the sole (3), and the rest serve as front toe structures and are arranged at the front end of the sole (3); The front end of the toe structure (4) is a toe drive machine (41), and the rear end is a needle-shaped pricking needle (48); the fixed end of the toe drive machine (41) is fixedly mounted on the sole (3), and the output end drives the pricking needle (48) to move upward or downward to detach or grasp the wall surface.

2. The eagle claw climbing structure suitable for cylindrical wall according to claim 1, characterized in that: The toe structure (4) further comprises a driving gear (42), a transmission gear (43), a transmission pulley, a driven pulley (44), a transmission belt (45), a finger joint (46) and a fingertip (47), and the puncture needle (48) is mounted and fixed to the rear end of the fingertip (47); The front end and the rear end of the knuckle (46) are rotatably mounted and connected to the sole (3) and the fingertip (47) respectively; a primary rotation pair is formed between the front end of the knuckle (46) and the sole (3) to support the knuckle (46) to lift up or grasp downward and swing relative to the sole (3); and a secondary rotation pair is formed between the front end of the fingertip (47) and the rear end of the knuckle (46) to support the fingertip (47) to lift up or grasp downward and swing relative to the knuckle (46); The transmission gear (43) and the transmission pulley are coaxially arranged with the primary rotating pair, and the two are fixedly mounted as a whole, and are fixedly mounted with the finger joint (46); the driven pulley (44) is coaxially arranged with the secondary rotating pair, and is fixedly mounted with the finger tip (47); the transmission belt (45) is tensioned on the transmission pulley and the driven pulley (44); The driving gear (42) is meshed with the transmission gear (43) and is fixedly mounted on the output end of the toe driving machine (41).

3. The eagle claw climbing structure suitable for cylindrical wall according to claim 2, characterized in that: A driver mounting seat (31) and a finger joint mounting seat (32) are provided on the sole (3) in one-to-one correspondence with the toe driver (41) and the finger joint (46); The fixed end of the toe driving machine (41) is fixedly mounted on the sole (3) via the corresponding driving machine mounting seat (31), and the front end of the finger joint (46) is rotatably mounted and connected to the sole (3) via the finger joint mounting seat (32).

4. An eagle claw climbing structure suitable for a cylindrical wall according to any one of claims 1 to 3, characterized in that: The knuckle (46), the fingertip (47) and the puncture needle (48) are overall in an upwardly convex arc-shaped structure.

5. The eagle claw climbing structure suitable for cylindrical wall according to claim 1, characterized in that: The upper joint structure (1) comprises an upper joint driving machine (11) and a connecting rod structure (12); The fixed end of the upper joint drive machine (11) serves as the fixed end of the upper joint structure (1) and is mounted and connected to the frame of the robot, and its output end is mounted and fixed to the input end of the connecting rod structure (12); the output end of the connecting rod structure (12) serves as the output end of the upper joint structure (1) and is mounted and fixed to the input end of the lower joint structure.

6. The eagle claw climbing structure suitable for cylindrical wall according to claim 5, characterized in that: The connecting rod structure (12) is an unequal length double crank four-link structure, and the upper joint drive machine (11) is mounted and connected to the front end of the double crank in the unequal length double crank four-link structure.

7. The eagle claw climbing structure suitable for cylindrical wall according to claim 1, characterized in that: The lower joint structure (2) comprises a lower joint driving machine (21) and a lower joint rod (22); The fixed end of the lower joint drive motor (21) serves as the fixed end of the lower joint structure (2) and is mounted and connected to the output end of the upper joint structure (1), and its output end is mounted and fixed to the front end of the lower joint rod (22); the rear end of the lower joint rod (22) serves as the output end of the lower joint structure (2) and is mounted and fixed to the sole (3).

8. The eagle claw climbing structure suitable for cylindrical wall according to claim 1, characterized in that: The terminal structure includes a rear toe structure and three front toe structures, and the three front toe structures are evenly distributed at the front end of the sole (3).

Images