Light double-hand clamping type climbing robot for columnar object

Abstract

In order to solve the problems that high-altitude operation of building supporting components and trees is difficult, equipment climbing is limited and the like, the invention provides a light double-hand clamping type climbing robot which comprises a clamping manipulator, a rotating mechanism and two supporting arms. The clamping manipulator is composed of a square frame, a four-point clamping mechanism and a single-point clamping mechanism, the clamping mechanisms on the two sides simulate finger bending, the number of wedge-shaped blocks can be adjusted according to different working requirements to change the bending degree, and the four-point clamping mechanism is composed of a quick-release frame and four clamping units and is designed to be a multi-contact clamping face; the single-point clamping mechanism is composed of a quick-release frame and a clamping unit and is designed to be a single-contact clamping face. The two are driven by a motor gear on a square motor and a worm in a matched mode, the automatic locking function is achieved, and the clamping reliability is improved; the rotating mechanism is connected with the square frame and the supporting arm, free rotation of the clamping mechanical arm can be achieved in the climbing process, the climbing capacity is improved, and the climbing robot can move in multiple directions. The double supporting arms are composed of driving mechanisms and hollow frames, turnover type climbing or peristaltic type climbing can be selected according to task requirements and environmental conditions, turnover type climbing is flexible to adapt to different heights and angles, and the climbing efficiency is high; peristaltic climbing simulates biological movement, and stable movement of a complex surface is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a two-handed clamping robot which adopts a flexible supporting arm as a main body and is suitable for climbing building supporting components or trees. Background Art

[0002] The supporting components and columns of ancient wooden buildings need to be monitored and maintained regularly to ensure the safety and stability of the buildings. At the same time, trees in cities also need to be monitored and maintained regularly to maintain the beauty of the urban environment. These maintenance tasks usually involve high-altitude operations, and traditional high-altitude operations mainly rely on manual operations, such as the use of ladders, scaffolding and other tools. These methods are not only inefficient, but also have extremely high safety risks.

[0003] At present, there are also a variety of climbing devices for building support components or trees in China. Before the present invention, the Chinese invention patent "A flip climbing robot" with application number 202210894042.9 and publication number CN115230836A proposed a flip climbing robot, including a flexible body with bidirectional bending and flexible grippers arranged at both ends of the body. The flexible body includes a first flexible ridge and a first pneumatic bending device on both sides, while the flexible gripper includes a second flexible ridge and a second pneumatic bending device on one side; the second flexible ridges of the two flexible grippers are respectively connected to the two ends of the first flexible ridge to form an integral structure; the first pneumatic bending device and the second pneumatic bending device are connected and driven by a control device to achieve the bending and flipping of the flexible body and the flexible gripper. This bidirectional bending ability enables the robot to transition between rods spliced ​​at different angles, and the flip climbing allows the robot to maintain a faster crawling speed. This invention is designed with flexible materials. Although it has the characteristics of fast climbing speed and a large range of climbed rod diameters, it is only suitable for single climbing and cannot guarantee the stability and safety of the robot in completing various tasks while climbing, such as carrying detection equipment, various tools, etc.; the flexible gripper is designed as a columnar clamping form, which means that the clamped object can only be limited to slightly smooth columnar and rod-shaped components, and is not suitable for columnar objects with complex and rugged surfaces, and has insufficient climbing ability for rough and complex surfaces.

[0004] The Chinese invention patent "A pneumatic climbing robot with flexible joints" with application number 201911278018.7 and publication number CN111055943A proposes a pneumatic climbing robot with flexible joints, which consists of three parts: a flexible spine mechanism, a spine drive mechanism and a clasping mechanism. The flexible spine mechanism includes a rubber tube, a spring, a vertebral segment and an elastic ring to provide flexibility and bending ability; the spine drive mechanism includes a spine pneumatic muscle and a spine cable to drive the bending and extension of the flexible spine mechanism; the clasping mechanism includes a first box, a second box and a soft claw to firmly hold the tree trunk or rod during climbing. Through the contraction and expansion of the spine pneumatic muscles, the spine cable is driven to pull or release the vertebral segment to achieve the bending and extension of the flexible spine mechanism. The holding mechanism is composed of a rubber tube, a spring, a vertebral block and an elastic ring, which improves the clamping effect on irregular components. The overall structure adopts a soft design, which improves the flexibility of the robot and can achieve climbing in different directions. However, the force of the claw-type clamping is relatively weak. The claws designed with soft materials cannot achieve automatic locking and cannot guarantee the stability of clamping during climbing. On slippery or irregular surfaces, the deformation and gripping force of the soft claws are slightly insufficient. The overly light design makes it impossible for the robot to guarantee its load-bearing capacity for tasks that require loads, and it cannot complete work needs other than climbing.

[0005] In addition, before the robot performs the climbing process, it is first necessary to clamp and fix the columnar structure. The existing clamping mechanism is "A robot double-claw clamping device" with application number 202211293241.0 and publication number CN115351812A. A robot double-claw clamping device includes a linear guide, a slide, a mounting frame, a connecting frame and a clamping mechanism. The linear guide provides a sliding track, the slide slides on the guide rail, and the mounting frame and the connecting frame are used to fix and support the clamping mechanism. In addition, a coating mechanism and a ball screw are also equipped to drive the cylindrical protective film to perform mobile wrapping on the outside of the tubular object. The two claws of the clamping mechanism rotate by ball or roller to achieve clamping of the tubular object. The coating mechanism uses a ball screw to drive the cylindrical protective film to drive the center of the ring frame to rotate stably, thereby wrapping the tubular object with a protective film. However, the shape and size of the clamping mechanism of this structure limit the types and range of tubular objects it can clamp; for non-tubular objects or objects with irregular shapes, the two claws cannot fit the shape of the object, resulting in unstable clamping force; the winding and removal of the protective film requires additional time and operation, the structure is slightly complicated, and cannot achieve quick disassembly and installation; although the clamping mechanism adopts a double-claw ball or roller rotation design, it does not have an automatic locking function and cannot guarantee precise clamping force. Summary of the invention

[0006] In order to solve the problems of difficult high-altitude operations on building support components or trees and a single equipment climbing method, the present invention provides a light two-handed clamping climbing robot for columnar objects.

[0007] The technical solutions adopted are as follows:

[0008] The clamping robot consists of a square frame, a single-point clamping mechanism connected to one side of the square frame, and a four-point clamping mechanism connected to the other side of the square frame; the rotating mechanism consists of a rotating drive motor and baffles on both sides; the main and auxiliary support arms consist of a driving mechanism, hollow baffles on both sides and an internal hollow frame.

[0009] A light two-handed gripping climbing robot for a column, comprising:

[0010] The square frame is a rectangular enclosure structure used to fix the motor. It consists of an upper and lower base, which are fixedly connected by a heat dissipation baffle. The stepper motor is fixed inside the square frame. The transmission system is set above the stepper motor, and the rotating mechanism is connected below. Fixed frames are set on both sides, which are respectively connected to the four-point clamping mechanism and the single-point clamping mechanism.

[0011] The four-point clamping mechanism is composed of an upper and lower quick-release frame and four clamping units. It is connected to the worm guide block above the square frame through a curved rod, and a guide rod is set between the worm guide block and the square frame to maintain the vertical movement of the worm guide block. A rotating shaft is set between the bottom end and the square frame, so that the four-point clamping mechanism can rotate around the rotating shaft; the driving worm in the transmission system enables the worm guide block to be retracted and tightened, driving the four-point clamping mechanism to complete the rotation clamping. The upper and lower quick-release frames are fixed with four clamping units, and wedge blocks are set between the quick-release frames. The degree of bending can be adjusted by increasing or decreasing the number of wedge blocks to form an arc-shaped structure. In conjunction with the four-point clamping unit, it simulates the action of four fingers naturally approaching the clamped object, and realizes a complete clamping action with the single-point clamping mechanism.

[0012] The single-point clamping mechanism is composed of several quick-release frames and a clamping unit. Wedge blocks are arranged between the quick-release frames, and the degree of bending can be adjusted by increasing or decreasing the number of wedge blocks, and a bending structure simulating the thumb of a human hand is formed by splicing; the single-point clamping mechanism is connected to the driven worm on one side of the square frame, and a guide rod for fixing and guiding is arranged. The stepper motor drives the bevel gear to drive the worm to rotate, and the worm drives the slider to move in the horizontal direction, so that the single-point clamping mechanism moves closer to the clamped object, and cooperates with the four-point clamping mechanism to realize a human hand clamping action simulating four fingers and thumbs approaching and locking.

[0013] The rotating mechanism is a structure used to connect the square frame and the support arm, so that the clamping manipulator can rotate freely with the support arm as the axis. It is composed of a circular frame and a hollow support frame. A keyway is set inside the hollow support frame to fix the motor shaft; the circular frame is composed of upper and lower circular bases, and the stepper motor is fixed inside; the upper and lower circular bases are connected by a short fixed rod, and the motor shaft is connected and fixed with a rotating rod, and the rotating mechanism is connected to the two support arms by a short baffle.

[0014] The main and auxiliary support arms are a key structure that connects the two ends of the clamping manipulator and realizes climbing. The two support arms are connected to cooperate to realize flip climbing or creeping climbing. They are composed of a driving mechanism, hollow baffles on both sides and an internal hollow frame. Three battery packs are set between the hollow frames for energy supply. The driving mechanism is composed of an upper and lower circular base and a number of light baffles; the circular bases are connected by short fixed rods, a stepper motor is fixed inside, and a rotating rod is connected and fixed to the motor shaft; the light baffle is fixed on both sides of the driving mechanism, the lower circular base on one side is connected to a light baffle, and the light baffle is connected to the hollow baffle on one side, connected by a rotating rod, and the other side is connected to one end of the rotating rod, and is also connected to the hollow baffle on the other side. The support arms are connected by short baffles.

[0015] Preferably, the clamping manipulator can adjust the bending degree of the four-point clamping mechanism or the single-point clamping mechanism by increasing or decreasing the number of wedge blocks to adapt to a variety of climbing objects.

[0016] Preferably, the four-point clamping mechanism is provided with multi-contact clamping, with a total of four clamping units.

[0017] Preferably, in the four-point clamping mechanism, a ball-type universal joint is arranged between the four clamping units and the quick-release frame, so that each clamping unit can rotate with multiple degrees of freedom when approaching the clamped object, thereby adapting to columnar components of different shapes and sizes.

[0018] Preferably, in the single-point clamping mechanism, an upper quick-release frame connected to the clamping unit is connected to the lower portion via an octagonal pin.

[0019] Preferably, in the single-point clamping mechanism, a ball-type universal joint is provided between a single clamping unit and the quick-release frame.

[0020] Preferably, a rubber pad is provided on the surface of the clamping unit.

[0021] Preferably, the frame constituting the single-point clamping mechanism is larger than the frame of the four-point clamping mechanism. The single-point clamping requires a stronger force to stably clamp the object, while the four-point clamping pays more attention to the uniform distribution of force.

[0022] Preferably, the rotating mechanism is arranged at the bottom end of the clamping robot, connected to the bottom of the square frame, and fixed between the baffles on both sides. A hollow frame is arranged in the middle of the rotating mechanism to connect the rotating rod.

[0023] The beneficial effects of the present invention are:

[0024] The clamping manipulator described in the present application imitates the structural design of a human hand, with four contact points designed to simulate four fingers and a single contact point to simulate the thumb, forming a stable and reliable clamping mechanism. During the clamping process, the four fingers quickly move toward the clamped object by means of a curved rod connection, while the thumb uses a worm-driven slider to fix the clamped object at a more stable and slow speed, ensuring the stability of the clamping process.

[0025] The dual support arms are connected by a drive mechanism, allowing the robot to achieve two forms of movement: flip climbing and creeping climbing. Flip climbing enables it to move flexibly on columnar components, which can quickly adapt to structures of different heights and angles and improve work efficiency; creeping climbing simulates the movement of organisms, allowing the robot to move steadily on complex surfaces. The two climbing methods combine efficiency and safety, which can significantly improve the quality and effect of aerial work.

[0026] It adopts a single motor gear with worm drive, and has an automatic locking function after clamping, which ensures the stability and safety of the clamping process and can effectively prevent the object from accidentally slipping during operation. The high efficiency of the motor is combined with the precise control of the worm drive to improve the reliability and stability of clamping.

[0027] A rotating mechanism is designed in the structure to allow the gripping manipulator to rotate 360° based on the support arm, which greatly broadens the robot's climbing ability. While climbing longitudinally, the grasping direction can be adjusted according to needs to achieve multi-angle climbing.

[0028] The structure is a light frame assembly structure, which has the advantages of rapid disassembly and reassembly; it adopts a modular concept, and each small part is not only easy to replace but also has the characteristics of low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 This is a schematic structural diagram of a lightweight two-handed gripping climbing robot for columnar objects provided in this application; Figure 2 This is a schematic diagram of the structure of the four-point clamping mechanism described in this application; Figure 3This is a schematic diagram of the structure of the clamping unit in the four-point clamping mechanism described in this application; Figure 4 This is a schematic diagram of the structure of the single-point clamping mechanism described in this application; Figure 5 A schematic diagram of the structure of adjusting the relative position change of the eight-way pins by the single-point clamping mechanism described in this application; Figure 6 This is a schematic diagram of the square frame structure described in this application; Figure 7 This is a schematic diagram of the transmission system structure described in this application; Figure 8 This is a schematic diagram of the rotating mechanism structure described in this application; Fig. 9 This is a schematic diagram of the main support arm structure described in this application; Fig.10 This is a schematic diagram of the structure of the driving mechanism in the main support arm described in this application; Among them, A-clamping manipulator A, B-clamping manipulator B; 1- four-point clamping mechanism, 101- four-point clamping unit, 102- wedge block, 103- quick release frame, 1011- clamping claw head, 1012- ball universal joint, 1013- connection frame; 2-single point clamping mechanism, 201-single point clamping unit, 202-octagonal pin, 203-wedge block, 204-quick release frame; 3-square frame, 301-upper base, 302-lower base, 303-heat dissipation baffle, 304-fixed frame, 305-rotating shaft frame, 306-fixed guide rod, 307-transmission system, 3071-stepping motor, 3072-driving bevel gear, 3073-driven bevel gear, 3074-driving worm, 3075-worm guide block, 3076-slider, 3077-driven worm; 4-rotating mechanism, 401-upper circular base, 402-lower circular base, 403-short fixing rod, 404-side baffle, 405-hollow support frame, 406-key slot; 5-main support arm, 501-driving mechanism, 502-hollow baffle, 503-hollow frame, 5031-rotating rod, 5032-light baffle, 504-battery pack; 6-Secondary support arm. DETAILED DESCRIPTION

[0030] In order to more clearly explain the overall concept of the present application, the following is described in detail in combination with the accompanying drawings of the specification by way of example. In the following description, many specific details are set forth in order to fully understand the present application, but the present application can also be implemented in other ways different from those described herein, and therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below. In addition, in the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "side", "bottom", "longitudinal", "lateral", "vertical", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0031] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] As attached Figure 1 As shown, a light two-handed clamping climbing robot for columnar objects includes a clamping manipulator A and a four-point clamping mechanism 1, a single-point clamping mechanism 2 and a square frame 3 arranged in the clamping manipulator A. The four-point clamping mechanism 1 can rotate around one side of the square frame 3 to achieve clamping; the single-point clamping mechanism 2 can translate along the other side of the square frame 3 to achieve clamping and locking. The rotating mechanism 4 fixedly connected to the square frame 3 in the clamping manipulator A is connected to the main support arm 5. Through the rotating mechanism 4, the clamping manipulator A can rotate within a range of 360° around its center point. This design allows the manipulator to operate in multiple directions to meet different work requirements. The main support arm 5 is connected to the auxiliary support arm 6 through a driving mechanism 501. The main support arm 5 and the auxiliary support arm 6 are driven by the motor in the driving mechanism 501 to cooperate with each other to perform two different modes of climbing, namely, flipping or creeping.

[0033] As attached Figure 2 As shown, the four-point clamping mechanism 1 is designed as an arc structure, simulating the finger structure of a human hand when clamping. It is designed with multiple "fingers" to adapt to objects of different shapes and sizes, and achieve more flexible and accurate clamping. It is composed of a number of quick-release frames 103 and wedge blocks 102. The arc of the four-point clamping mechanism 1 can be changed by increasing or decreasing the number of wedge blocks 102 according to the shape and size of the clamped object. Figure 3 As shown, the four-point clamping mechanism 1 is provided with a four-point clamping unit 101, which is composed of a clamping claw head 1011 and a ball-type universal joint 1012. The clamping claw head 1011 can rotate freely at multiple angles and directions around the ball-type universal joint 1012, and is fixedly connected to the quick-release frame 103 on the four-point clamping mechanism 1 through a connecting frame 1013.

[0034] As attached Figure 4 As shown, the single-point clamping mechanism 2 is designed as a curved structure, simulating the physiological structure of the human thumb, better surrounding and clamping the object, and is composed of a plurality of quick-release frames 204 and wedge blocks 203. The bending degree of the single-point clamping mechanism 2 can be changed by increasing or decreasing the number of wedge blocks 203 according to the shape and size of the clamped object, so as to better achieve clamping, and a single-point clamping unit 201 simulating the human thumb is provided at the upper end of the single-point clamping mechanism 2 to ensure that the object remains stable during the clamping process.

[0035] As attached Figure 5 As shown, the upper end of the single-point clamping mechanism 2 where the single-point clamping unit 201 is located is connected to the lower end quick-release frame 204 by an octagonal pin 202. The insertion position of the octagonal pin 202 can be adjusted to change the relative position between the quick-release frames 204 according to different work needs.

[0036] As attached Figure 6 As shown, the square frame 3 constitutes the central part of the clamping manipulator A, B, and is composed of an upper base 301 and a lower base 302 to form an overall outline. A stepper motor is fixed inside, and the bases are fixed by a heat dissipation baffle 303. One side is connected to the four-point clamping mechanism 1 through a rotating shaft frame 305, and the other side is connected to the single-point clamping mechanism 2 through a driven worm 3077 connected to a fixed frame 304. A transmission system 306 is installed on the upper end of the square frame 3, and a fixed guide rod 307 is set to keep the transmission system stable and play a guiding role.

[0037] The present invention adopts a transmission system 307 driven by a single motor. By changing the speed or control mode of the motor, one motor drives multiple components, thereby realizing flexible adjustment of the entire transmission system. Figure 7As shown, the transmission system 307 is driven by a single stepping motor 3071, and the motor shaft controls the driving bevel gear 3072 and the driving worm 3074. The driving bevel gear 3072 is meshed with the driven hammer gear 3073, and the driven bevel gear 3073 is fixedly connected to the driven worm 3077. The driving bevel gear 3072 drives the driven worm 3077 connected to the driven bevel gear 3073 to work through the stepping motor 3071, so that the slider 3076 connected to the driven worm 3077 is displaced, and the translational sliding of the single-point clamping mechanism 2 is realized; the driving worm 3074 is driven by the stepping motor 3071, and drives the worm guide block 3075 to move longitudinally, and the fixed guide rod 306 on the worm guide block 3075 makes the worm guide block 3075 not change direction and move longitudinally, and the worm guide block 3075 drives the four-point clamping mechanism 1 through the connecting member to realize rotation clamping.

[0038] In order to adapt to complex environments, to be able to climb and work at high altitudes on tree branches and complex columnar components of buildings, and to improve the flexibility and adaptability of the climbing robot, the present application adopts a rotating mechanism 4. Figure 8 As shown, the rotating mechanism 4 is installed at the bottom of the square frame 3 in the clamping manipulator A and B, and is fixedly connected to the lower base 302. The clamping manipulator A and B are connected to the main support arm 5 and the auxiliary support arm 6 through the rotating mechanism 4, so that the clamping manipulator can rotate 360° on the basis of the support arm, which greatly broadens the climbing ability of the robot. While climbing vertically, the grasping direction can be adjusted according to work requirements, and the branches of trees or the complex surfaces of building support components can be easily grasped. The rotating mechanism 4 is composed of an upper circular base 401 and a lower circular base 402 as the central part, and the upper and lower circular bases are fixedly connected by a short fixing rod 403, and a stepper motor is fixed inside, and the motor shaft is connected to a key slot 406 set in the middle of a hollow support frame 405, and side baffles 404 are installed on both sides of the hollow support frame 405, and the lower circular base 402 is connected to the lower base 302 in the square frame 3, and the rotating mechanism 4 can be connected to the main support arm 5 and the auxiliary support arm 6 through the side baffles 404.

[0039] Since different building columnar components or trees and different climbing environments have different requirements for climbing robots, this application designs two different climbing methods: flip climbing and creeping climbing. The most appropriate method can be selected according to specific needs to improve the success rate and efficiency of climbing. For building columnar components and trees with relatively smooth surfaces and relatively large diameters or circumferences, flip climbing can quickly reach the target height and is suitable for tasks that require quick response or are time-sensitive; for building columnar components and trees with relatively rough surfaces or relatively small diameters or circumferences, the robustness of creeping climbing and its ability to adapt to complex terrain are more important, such as climbing building components with uneven surfaces or trees with obstacles. Both methods have high requirements on the independent driving ability and flexibility of the climbing support arm.

[0040] As attached Fig. 9 As shown, the main support arm 5 is designed as a light frame structure, which ensures stability while allowing the robot to carry detection equipment or various tools during climbing. The support arm 5 is composed of hollow baffles 502 on both sides and a driving mechanism 503. The hollow baffles 502 on both sides are fixedly connected by a plurality of hollow frames 501. The driving mechanism 503 is composed of a plurality of light baffles 5032 inside, a driving motor is fixed inside, and a rotating rod 5031 is arranged in the middle, so that the support arm 5 can rotate around the other support arm.

[0041] The clamping method of the device is as follows: When approaching the columnar component or tree being climbed, the driving bevel gear 3072 and the driving worm 3074 are controlled by the operation of the stepper motor. The driving worm 3074 is driven by the stepper motor 3071, driving the worm guide block 3075 to move longitudinally, and the fixed guide rod 306 on the worm guide block 3075 makes the worm guide block 3075 not change the moving direction and move longitudinally. The worm guide block 3075 drives the four-point clamping mechanism 1 to rotate and approach the columnar component or tree being climbed through the connecting member; the driving bevel gear 3072 drives the driven worm 3077 connected to the driven bevel gear 3073 to rotate through the operation of the stepper motor 3071, so that the slider 3076 connected to the driven worm 3077 is displaced, and further the single-point clamping mechanism 2 is translated and moved closer to the climbed component. The above two methods are realized by driving the worm and gear by a single motor, which has an automatic locking function. The gear and the slider do not retreat during the clamping process, ensuring the stability of the clamping.

[0042] The flip climbing method of the device is as follows: The climbing robot uses its clamping manipulators A and B, including a four-point clamping mechanism 1 and a single-point clamping mechanism 2, and drives the worm guide block 3075 and the slider 3076 through a stepping motor, so that the four-point clamping mechanism 1 and the single-point clamping mechanism 2 can rotate and slide to complete the clamping, and clamp the climbed component or tree based on the automatic locking function. At this time, the main support arm 5 and the auxiliary support arm 6 should be in a relaxed state and not in contact with the climbed object. First, release the bottom clamping manipulator B, and the climbing robot operates the driving mechanism 503 to first complete the upward flipping of the auxiliary support arm 6 at the bottom. After it is lifted to a certain height, the main support arm 5 is then turned upward and lifted up a distance. At this time, the clamping manipulator A becomes the clamping manipulator at the bottom. Repeat the above steps to achieve flip-type climbing on the columnar component. Preferably, when the robot is lifted to a certain height, the square frame 3 and the clamping manipulator A or B can be rotated with the support arm as the axis by driving the rotating mechanism 4. After rotating to a certain angle, the driving support arm flips and cooperates, so that the clamping manipulator can flip to the columnar components in other directions to complete multi-directional flip climbing.

[0043] The creeping climbing method of the device is as follows: Similar to flip climbing, the robot clamps the columnar structure or tree through the clamping manipulator. First, release the upper clamping manipulator A, and the climbing robot operates the driving mechanism 503 to lift the upper main support arm 5 upward for a distance, which will drive the lower auxiliary support arm 6 to expand the angle between the two support arms; after lifting for a distance, the upper clamping manipulator A clamps the object to be climbed, releases the lower clamping manipulator B, and operates the driving mechanism 503 to lift the lower auxiliary support arm 6 upward for a distance. Since the upper clamping manipulator A remains in a clamped state, it will drive the upper main support arm 5 to reduce the angle between the two support arms. Repeat the above steps to simulate the creeping movement of invertebrates, and achieve creeping climbing on columnar structures by alternating contraction and extension.

[0044] The above description is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A lightweight two-handed gripping climbing robot for a column, characterized in that: include: The clamping robot comprises a four-point clamping mechanism, a single-point clamping mechanism and a square frame, wherein the four-point clamping mechanism and the single-point clamping mechanism are respectively connected to two sides of the square frame, wherein the four-point clamping mechanism is composed of four clamping units and a plurality of quick-release frames, and is designed as a multi-contact clamping surface, and rotational clamping is achieved by connecting a worm guide block on the square frame through a curved rod, and the single-point clamping mechanism is composed of a clamping unit and a plurality of quick-release frames, and sliding clamping is achieved by driving a slider through a worm.

2. A rotating mechanism, connected between the clamping manipulator and the support arm, enables the clamping manipulator to rotate freely with the support arm as the axis to complete climbing in multiple directions, and the rotating mechanism includes a rotating drive motor and baffles on both sides; The main and auxiliary support arms are composed of a driving mechanism, hollow baffles on both sides and an internal hollow frame. The double support arms are connected to the clamping manipulators at both ends to realize the robot's flipping climbing or creeping climbing.

3. The lightweight two-handed clamping climbing robot for a column according to claim 1, characterized in that: The robot can achieve two types of movement: flip climbing and creeping climbing. Flip climbing uses two supporting arms to flip upward alternately and repeat the action to achieve climbing. This method is suitable for structures of different heights and angles, with high efficiency and high speed; creeping climbing simulates the movement of organisms, and the two supporting arms move upward in sequence, allowing the robot to move steadily on complex surfaces.

4. The lightweight two-handed clamping climbing robot for a column according to claim 2, characterized in that: The clamping manipulator, the four clamping units of the four-point clamping mechanism and the one clamping unit of the single-point clamping mechanism, simulate the clamping action of human hands, and the four fingers and the thumb cooperate to lock and clamp the climbed object; a ball-type universal joint is arranged between the quick-release frames connected to the clamping units, so that each clamping unit can rotate with multiple degrees of freedom when approaching the clamped object, and adapt to columnar components of different shapes and sizes.

5. The lightweight two-handed clamping climbing robot for a column according to claim 3, characterized in that: The clamping manipulator adopts a single motor gear and a worm drive, and has an automatic locking function after clamping. The driving bevel gear and the driving worm are controlled by operating the stepper motor, and the driving worm is driven by the stepper motor to drive the worm guide block to move longitudinally, so as to realize the rotational approach of the four-point clamping mechanism; the driving bevel gear drives the driven worm connected to the driven bevel gear to rotate through the operation of the stepper motor, so as to displace the slider 3076 connected to the driven worm, so as to realize the translational approach of the single-point clamping mechanism.

6. The lightweight two-handed gripping climbing robot for a column according to claim 4, characterized in that: The clamping manipulator is composed of a four-point clamping mechanism and a single-point clamping mechanism composed of several quick-release frames, wherein wedge blocks are arranged between the quick-release frames so that the two end mechanisms form a bending structure simulating a finger. By increasing or decreasing the number of wedge blocks, the bending degree of the single-point clamping mechanism or the four-point clamping mechanism is adjusted to adapt to various task requirements or the shape of the object being climbed; the single-point clamping mechanism, the upper quick-release frame connected to the clamping unit is connected to the lower part through an octagonal pin.

7. The lightweight two-handed gripping climbing robot for a column according to claim 5, characterized in that: The bottom of the clamping manipulator is fixed with a rotating mechanism, which is composed of a circular frame and a hollow support frame, and is connected to the bottom of the square frame. A keyway is arranged inside the hollow support frame to fix the motor shaft, and the motor shaft fixes the rotating rod. Through the rotating mechanism, the clamping manipulator can rotate 360° around the support arm, so that the robot can move in multiple directions during the climbing process.

8. The lightweight two-handed gripping climbing robot for a column according to any one of claims 1 to 6, characterized in that: The components such as the gripping manipulator, the support arm and the rotating mechanism all adopt a light frame assembly structure, which is convenient for quick disassembly and reassembly, and each component is modularly designed to facilitate replacement and reduce costs.

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