Climbing robot

Abstract

The invention provides a climbing robot. The climbing robot comprises a fixing frame, a box body arranged on the fixing frame, an obstacle crossing mechanism arranged on the box body and a climbing mechanism arranged on the obstacle crossing mechanism. A movable block is installed on the rotating shaft through a first spring, threaded rods are movably installed at the two ends of the movable block, bearing seats are installed on the threaded rods on the periphery of the first bevel gear, a fixed block is installed between the two bearing seats, and a rotating block is arranged in the fixed block and fixedly connected with the second bevel gear. Clamping blocks are installed at the lower ends of the rotating shafts and matched with movable grooves in the rotating blocks. And through the obstacle crossing mechanism, a large space is formed between the device and the climbing object for obstacle crossing, after obstacle crossing is completed, the device is attached to the climbing object again, wind resistance is reduced, and the climbing stability is improved. The climbing mechanism comprises moving arms on the two sides, shells are fixedly connected to the lower ends of the moving arms, driving rollers are fixed to the shell on the driving side, auxiliary rollers are fixed to the shell on the driven side, and the climbing efficiency can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a climbing robot. Background Art

[0002] Climbing robots are widely used in military and civilian fields, and play a very important role in time-consuming, labor-intensive or high-risk operation scenarios such as military reconnaissance, ammunition inspection, high-voltage tower and energy pipeline maintenance and inspection. However, some existing climbing robots still have problems such as slow climbing speed and unsatisfactory work efficiency. At the same time, their obstacle crossing range is limited, and they cannot quickly climb over high obstacles. In addition, the center of gravity is far away from the climbing object, the wind resistance is large, and the safety and stability are poor. Summary of the invention

[0003] The purpose of the present invention is to solve the problems in the prior art that the robot has a slow climbing speed, a limited obstacle crossing range, cannot quickly climb over higher obstacles, has a center of gravity far away from the climbing object, and has poor safety and stability.

[0004] To achieve the above-mentioned object, the present invention provides a climbing robot, comprising two fixed frames arranged symmetrically on both sides, a box body arranged on the fixed frames, an obstacle crossing mechanism arranged on the box body, and a climbing mechanism arranged on the obstacle crossing mechanism; A rotating motor is installed at one end of the fixed frame, a hollow motor is installed on the box body, and a rotating shaft is directly installed at the output end of the hollow motor, a threaded groove is provided on the rotating shaft, and a movable block is threadedly connected to the rotating shaft through the threaded groove, and threaded rods are installed on the left and right sides of the movable block through bearings, and the polished rod parts of the threaded rods on the left and right sides are fixedly connected to the first bevel gear, and the polished rod parts of the threaded rods on the left and right sides are connected to the bearing support through bearings, and the bearing support is located on the outside of the first bevel gear; a fixed block is fixedly connected between the two groups of bearing seats, and a rotating block is connected to the bearing inside the fixed block; the upper end of the rotating block is fixedly connected to the second bevel gear, and the second bevel gear is located at the lower end of the movable block and meshes with the first bevel gear, the second bevel gear is sleeved on the rotating shaft and the rotating shaft does not contact the second bevel gear; a clamping block is fixedly connected to the lower end of the rotating shaft, and a movable groove is provided on the rotating block, and the clamping block is adapted to the movable groove; The climbing mechanism includes moving arms threadedly connected to the threaded rod on both sides, the lower end of the moving arm on the left is fixedly connected to a shell, a motor is fixedly installed on the shell on the left, an active roller is installed in the shell on the left, and the output end of the motor passes through the shell and is connected to a gear, a slot is processed on the active roller, and the gear is correctly matched with the slot on the active roller; the lower end of the moving arm on the right is also fixedly connected to the shell, and an auxiliary roller is installed in the shell on the right.

[0005] Furthermore, the obstacle surmounting mechanism comprises an electric push rod arranged between the two groups of the fixing frames, a camera is installed on the outer side of the fixing frame on one side of the electric push rod, and a distance measuring sensor is installed on the outer side of the fixing frame on the other side.

[0006] Furthermore, a square block is provided at one end of the threaded rod close to the box body, and is slidably matched with a sliding groove at a corresponding position on the box body.

[0007] Furthermore, through holes are processed on the clamping block, and the clamping block and the rotating shaft are fixedly connected by using screws through a group of through holes on the clamping block to fix the rotating shaft.

[0008] Furthermore, the diameters of the upper and lower ends of the active roller and the auxiliary roller are the same and larger than the diameter in the middle, so that a V-shaped groove is formed in the middle.

[0009] Furthermore, protective shells are installed on both sides of the shell, and electromagnets are installed in the protective shells, and the middle of the electromagnets forms a V-shaped groove.

[0010] Furthermore, the height of the V-shaped groove of the electromagnet is lower than the height of the V-shaped grooves of the active roller and the auxiliary roller.

[0011] Furthermore, a second spring is installed between the protective shell and the electromagnet.

[0012] Beneficial effects: Through the obstacle-crossing mechanism, when the device is performing obstacle-crossing work, the obstacle-crossing mechanism will drive the front box body away from the climbing object by a certain distance, increase the space between the front box body and the climbing object, and then the rotating motor will work to rotate the front box body into the fixed frame, while reducing the occupied area, so that there is a large space between the front box body and the climbing object for obstacle crossing, and it can cross higher obstacles. Then the electric push rod works, and the front part of the robot extends forward. After the obstacle crossing is completed, the front mechanism performs a clamping action. The rotating motor works to rotate out of the front box body, and the mechanism drives the front box body to move a certain distance in the direction of the climbing object, reducing the size of the space between them, so that the device fits the climbing object during climbing work, reduces wind resistance, and improves climbing stability. At this time, the front electromagnet fits the climbing object, and the rear electromagnet ends the fit, and the obstacle-crossing action is performed as above. In the case of no obstacles, the electromagnet does not adsorb the climbing object, and the climbing work can be driven by the third motor to rotate the active roller so that the device rolls up and climbs on the climbing object, thereby improving the climbing efficiency of the device. At the same time, the position of the device can be automatically limited by the electromagnet when the device is loose and slipping. Therefore, the device has an anti-fall mechanism, which can effectively improve the safety and stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the climbing robot of the present invention; Figure 2This is a schematic diagram of the working state of the climbing robot of the present invention; Figure 3 It is a schematic diagram of the partial structure of the obstacle surmounting mechanism of the climbing robot of the present invention; Figure 4 It is a schematic diagram of the local structure of the climbing mechanism of the climbing robot of the present invention; Figure 5 This is a schematic diagram of the claw structure of the climbing robot of the present invention; Figure 6 It is a structural schematic diagram of the card block; Reference numerals: 1-fixed frame, 2-box, 3-obstacle-crossing mechanism, 4-climbing mechanism; 101-sensor, 102-camera; 301-rotating motor, 302-electric push rod, 303-hollow motor, 304-rotating shaft, 305-first spring, 306-movable block, 307-threaded rod, 308-threaded groove, 309-second bevel gear, 3010-first bevel gear, 3011-bearing support, 3012-fixed block, 3013-movable groove, 3015-rotating block, 3016-bearing; 401 - moving arm, 402 - housing, 403 - gear, 404 - motor, 405 - driving roller, 406 - slot, 407 - auxiliary roller, 408 - protective shell, 409 - electromagnet, 4010 - second spring. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0015] The application principle of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0016] Embodiment 1: Please refer to Figure 1-Figure 6 A climbing robot includes two fixed frames 1 arranged symmetrically on the left and right, a box body 2 arranged on the fixed frames 1, an obstacle crossing mechanism 3 arranged on the box body 2, and a climbing mechanism 4 arranged on the obstacle crossing mechanism 3.

[0017] The obstacle-crossing mechanism 3 includes an electric push rod 302 disposed between two groups of the fixing frames 1. A camera 102 is installed on the outer side of the fixing frame 1 on one side of the electric push rod 302. The camera 102 will shoot the climbing direction of the device and automatically start the obstacle-crossing mechanism 3 to cross obstacles when an obstacle is detected. A distance-measuring sensor 101 is installed on the outer side of the fixing frame 1 on the other side of the electric push rod 302. The sensor 101 and the camera 102 are located on the same side of the fixing frame 1. The distance-measuring sensor 101 detects the distance between the device and the ground. When the distance between the device and the ground is reduced, indicating that it is loose and sliding, the electromagnet 409 will be automatically energized to fix the position of the device, thereby improving the safety and stability of the device.

[0018] A rotating motor 301 is installed at one end of the fixing frame 1, a hollow motor 303 is installed on the box body 2, and a rotating shaft 304 is directly installed on the output end of the hollow motor 303. The rotating shaft 304 is provided with a thread groove 308, and a movable block 306 is threadedly connected to the rotating shaft 304 through the thread groove 308. A spring 305 is sleeved on the rotating shaft 304, and the spring 305 is located between the movable block 306 and the hollow motor 303. The left and right sides of the movable block 306 are installed with threaded rods 307 through bearings. The polished rod parts of the threaded rods 307 on the left and right sides are fixedly connected to the first bevel gear 3010. The polished rod parts of the threaded rods 307 on the left and right sides are connected to the bearing support 3011 through bearings. The bearing support 3011 is located on the outside of the first bevel gear 3010; the threaded rod 307 part located on the outside of the bearing support 3011 is a threaded part, and the left and right groups of threaded rods 307 have the same thread rotation direction, and a square block is provided at one end of the threaded rod 307 close to the box body 2, which slides with the corresponding position of the slide groove on the box body 2. A fixed block 3012 is fixed between the two groups of bearing seats 3011, and the fixed block 3012 is connected to the rotating block 3015 through a bearing 3016. At the same time, the inner ring of the lower end bearing supports the rotating block 3015. The upper end of the rotating block 3015 is fixedly connected to the second bevel gear 309, and the second bevel gear 309 is located at the lower end of the movable block 306 and meshes with the first bevel gear 3010. The inner diameter of the second bevel gear 309 is larger than the shaft diameter of the rotating shaft 304. The second bevel gear 309 is sleeved on the rotating shaft 304, and the rotating shaft 304 does not contact the second bevel gear 309. A clamping block 3014 is fixedly connected to the lower end of the rotating shaft 304, and a movable groove 3013 is provided on the rotating block 3015, and the clamping block 3014 is adapted to the movable groove 3013.

[0019] Specifically, a through hole 601 is processed on the clamping block 3014 , and the clamping block 3014 and the rotating shaft 304 are fixedly connected by using screws through a group of through holes 601 on the clamping block 3014 to fix the rotating shaft 304 .

[0020] Specifically, the inner diameter of the rotating block 3015 contacts the rotating shaft 304 , and the rotating block 3015 is required to be able to rotate relative to the rotating shaft 304 , which can be achieved through machining accuracy or lubrication.

[0021] Specifically, when the hollow motor 303 drives the rotating shaft 304 to rotate, it drives the movable block 306 to move up and down through the thread groove 308 until the movable block 306 is separated from the thread groove 308.

[0022] Therefore, when the rotating shaft 304 drives the movable block 306 to move up and down, due to the existence of the bearing 304, the threaded rod 307 together with the first bevel gear 3010 can rise and fall without affecting the rotation. At the same time, since the bearing seat 3011 is fixedly connected to the fixed block 3012, the fixed block 3012 supports the rotating block 3015, and the rotating block 3015 is fixedly connected to the second bevel gear 309, the second bevel gear 309 can be driven to move up and down synchronously, so that the first bevel gear 3010 and the second bevel gear 309 can always maintain a meshing state. The obstacle crossing mechanism 3 is provided with two groups of first bevel gears 3010, and the two groups of first bevel gears 3010 are meshed with the second bevel gear 309. The thread directions of the two groups of threaded rods 307 corresponding to the two groups of first bevel gears 3010 are consistent. When the second bevel gear 309 rotates, it will drive the two groups of first bevel gears 3010 to rotate in opposite directions, thereby driving the threaded rod 307 to rotate, and then driving the climbing mechanism 4 located on the threaded rod 307 to perform separation or convergence adjustment work.

[0023] Furthermore, two groups of the clamping block 3014 and the movable groove 3013 are provided, and the clamping block 3014 is adapted to the movable groove 3013. When the hollow motor 303 works to move the fixed block 3012 downward, the clamping block 3014 will be stuck in a deeper position in the movable groove 3013. At this time, the hollow motor 303 continues to drive the rotating shaft 304 together with the clamping block 3014 to rotate, which will drive the rotating block 3015 to rotate, and then the second bevel gear 309 to rotate, thereby driving the climbing mechanism 4 to clamp the climbing object for climbing while driving the climbing mechanism 4 to descend.

[0024] Specifically, in the initial state of the device, the climbing mechanism 4 is in a separated state, and the movable block 306 is located at the lower edge of the thread groove 308. The preparation process is as follows: after the device is moved to the work site, the rotating motor 301 is started, and the rotating motor 301 drives the box 2 to rotate so that it moves out of the fixed frame 1, so that the climbing mechanism 4 faces downward. Then the hollow motor 303 is started, and the hollow motor 303 drives the rotating shaft 304 to rotate, and the movable block 306 is combined with the starting position below the thread groove 308, so that the thread groove 308 drives the movable block 306 to move upward. When the rotating shaft 304 rotates, the second bevel gear 309 is driven to rotate through the engagement of the clamping block 3014 and the movable groove 3013, and the engagement of the second bevel gear 309 with the first bevel gear 3010 drives the threaded rod 307 to rotate, so that the movable block 306 drives the climbing mechanism 4 to move upward and drives the climbing mechanism 4 to move together, so as to clamp the climbing object until the movable block 306 is separated from the thread groove 308. At this time, the hollow motor 303 continues to drive the rotating shaft 304 to rotate and does not drive the movable block 306 to move, so that the climbing mechanism 4 continues to clamp the climbing object while stopping moving upward, so as to use the climbing mechanism 4 to clamp the climbing object and fix the device for subsequent climbing work.

[0025] Specifically, the obstacle crossing process is as follows: when the camera 102 detects an obstacle ahead, the hollow motor 303 will rotate in the opposite direction. At this time, the reaction force of the first spring 305 compressed by the previous operation causes the movable block 306 to be connected to the upper edge of the thread groove 308 for the first time, thereby driving the movable block 306 to move downward. When the hollow motor 303 drives the rotating shaft 304 to rotate in the opposite direction, it will drive the second bevel gear 309 to rotate in the opposite direction through the clamping block 3014 and the clamping groove 3013, thereby engaging with the first bevel gear 3010 to drive the threaded rod 307 to reverse, and drive the climbing mechanism 4 to move downward and drive it to separate synchronously and uniformly. Because the movable block 306 has a limited range of motion, the climbing mechanism 4 is still in contact with the climbing object during the movement of the movable block 306. Therefore, in this process, when the movable block 306 moves downward, it will lift the box body 2 together with the fixed frame 1 away from the climbing object, so that there is a certain space between the box body 2 and the climbing object to cross the obstacle until the movable block 306 is separated from the thread groove 308. At this time, when the hollow motor 303 drives the rotating shaft 304 to continue rotating, it will drive the climbing mechanism 4 to continue to separate while not continuing to drive the climbing mechanism 4 to move downward until it is separated from the climbing object and out of the clamping state. Then the rotating motor 301 is started to rotate the box body 2 back to the fixing frame 1 to reduce the area occupied by the device, so that the fixing frame 1 is not far away from the climbing object, and there is a large space between them for the device to pass over obstacles, avoiding the situation where the obstacles affect the safety and stability of the device, and can pass over larger obstacles, thereby increasing the application range of the device, while reducing wind resistance and improving the stability of the device. When the electric push rod 302 is started, the electric push rod 302 will push the fixed frame 1 located in the front to move so that it can cross the obstacle, and then the box body 2 will be screwed out of the fixed frame 1 again by the rotating motor 301, and the rotating shaft 304 will be driven to rotate forward by the hollow motor 303. The first spring 305 will pull the movable block 306 upward due to its own elastic tension, so that it can be threadedly connected with the thread groove 308 for transmission work at the first time, and will drive the movable block 306 to move upward while driving the climbing mechanism 4 to converge for clamping work. Because the climbing mechanism 4 and the climbing object are out of the clamping state, the climbing mechanism 4 is very close to the climbing object, so that when the climbing mechanism 4 converges, it can contact the climbing object for the first time to enter the engaged clamping state. At this time, the movable block 306 continues to move upward, which will make the box body 2 close to the climbing object, reduce the space between the box body 2 and the climbing object, lower the center of gravity of the device, reduce wind resistance, and improve the stability of the device. At this time, the movable block 306 stops moving upward because it is separated from the thread groove 308. The continued rotation of the rotating shaft 304 will drive the climbing mechanism 4 to continue to move closer, so that it can firmly fit the climbing object to improve the clamping stability. Then, the above steps are used to move the fixed frame 1 at the bottom over the obstacle to complete the obstacle crossing work.

[0026] The climbing mechanism 4 includes a moving arm 401 with two sides threadedly connected to the threaded rod 307. The lower end of the left moving arm 401 is fixedly connected to a housing 402. A motor 404 is fixedly installed on the left housing 402, and the output end of the motor 404 passes through the housing 402 and is connected to a gear 403. A slot 406 is processed on the active roller 405, and the active roller 405 is installed in the housing 402. The gear 403 matches the slot 406 on the active roller 405. The lower end of the right moving arm 401 is also fixedly connected to the housing 402. An auxiliary roller 407 is installed in the right housing 402, wherein the upper and lower ends of the active roller 405 and the auxiliary roller 407 have the same diameter and are larger than the middle diameter, so that a V-shaped groove is formed in the middle. The V-shaped groove in the middle of the roller can be used to clamp at the corner of the climbing object to achieve fuselage fixation.

[0027] Furthermore, a protective shell 408 is installed on both sides of the shell 402, and an electromagnet 409 is installed in the protective shell 408. The protective shell 408 protects the electromagnet 409, and the electromagnet 409 can be energized, so that the device can be adsorbed on the climbing object through the electromagnet 409 to be fixed, thereby improving stability.

[0028] Furthermore, a second spring 4010 is installed between the protective shell 408 and the electromagnet 409. When the machine is in a climbing state, the second spring 4010 is in a relaxed state, and a certain distance is maintained between the electromagnet 409 and the climbing object, and the middle part of the electromagnet 409 forms a V-shaped groove, and the height of the V-shaped groove of the electromagnet 409 is lower than the height of the V-shaped groove of the active roller 405 and the auxiliary roller 407 to avoid wear on the electromagnet 409. When the machine encounters an obstacle, the electromagnet 409 is energized to make it fit completely with the climbing object and fix the machine body. After the obstacle is surmounted, the electromagnet 409 is de-energized, and the electromagnet can be retracted due to the elastic deformation of the second spring 4010, thereby increasing the practicality of the device.

[0029] Operation process: When the climbing mechanism 4 is driven to move together by the obstacle-crossing mechanism 3, the corners of the climbing object will be clamped by the active roller 305 and the auxiliary roller 407 to fix the position of the device, and then the third motor 404 will be started, and the third motor 404 will drive the gear 403 to rotate, and the gear 403 will mesh with the card slot 406 to drive the active roller 405 to rotate, thereby driving the entire device to move on the climbing object to perform climbing work and improve climbing efficiency. When obstacle-crossing work is required, the operation of Example 1 is performed. When the climbing mechanism 4 on the front fixed frame 1 is separated from the climbing object, the electromagnet 409 on the rear climbing mechanism 4 will be energized, so that the device is fixed and adsorbed on the climbing object. When the front fixed frame 1 successfully crosses the obstacle, it will be fixed by the electromagnet 409 on the front climbing mechanism 4, and then the electromagnet 409 at the rear will be powered off and then the climbing mechanism 4 will be separated from the climbing object to perform obstacle-crossing work.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A climbing robot, characterized in that: It includes two fixed frames symmetrically arranged on the left and right, a box body arranged on the fixed frames, an obstacle-crossing mechanism arranged on the box body, and a climbing mechanism arranged on the obstacle-crossing mechanism; A rotating motor is installed at one end of the fixed frame, a hollow motor is installed on the box body, and a rotating shaft is directly installed on the output end of the hollow motor, a threaded groove is provided on the rotating shaft, and a movable block is threadedly connected to the rotating shaft through the threaded groove, and threaded rods are installed on the left and right sides of the movable block through bearings, and the polished rod parts of the threaded rods on the left and right sides are fixedly connected to the first bevel gear, and the polished rod parts of the threaded rods on the left and right sides are connected to the bearing support through bearings, and the bearing support is located on the outside of the first bevel gear; a fixed block is fixedly connected between the two groups of bearing seats, and a rotating block is connected to the bearing inside the fixed block; the upper end of the rotating block is fixedly connected to the second bevel gear, and the second bevel gear is located at the lower end of the movable block and meshes with the first bevel gear, the second bevel gear is sleeved on the rotating shaft, and the rotating shaft does not contact the second bevel gear; a clamping block is fixedly connected to the lower end of the rotating shaft, and a movable groove is provided on the rotating block, and the clamping block is adapted to the movable groove; The climbing mechanism includes moving arms threadedly connected to the threaded rod on both sides, the lower end of the moving arm on the left is fixedly connected to a shell, a motor is fixedly installed on the shell on the left, an active roller is installed in the shell on the left, and the output end of the motor passes through the shell and is connected to a gear, a slot is processed on the active roller, and the gear is correctly matched with the slot on the active roller; the lower end of the moving arm on the right is also fixedly connected to the shell, and an auxiliary roller is installed in the shell on the right.

2. The climbing robot according to claim 1, characterized in that: The obstacle-crossing mechanism comprises an electric push rod arranged between two groups of the fixing frames, a camera is installed on the outer side of the fixing frame on one side of the electric push rod, and a distance-measuring sensor is installed on the outer side of the fixing frame on the other side.

3. The climbing robot according to claim 1, characterized in that: A square block is arranged at one end of the threaded rod close to the box body, and is slidably matched with a sliding groove at a corresponding position on the box body.

4. The climbing robot according to claim 1, characterized in that: A through hole is processed on the clamping block, and the clamping block and the rotating shaft are fixedly connected by using screws through a group of through holes on the clamping block to fix the rotating shaft.

5. The climbing robot according to claim 1, characterized in that: The diameters of the upper and lower ends of the active roller and the auxiliary roller are the same and larger than the diameter in the middle, so a V-shaped groove is formed in the middle.

6. The climbing robot according to claim 1, characterized in that: Protective shells are installed on both sides of the shell, and electromagnets are installed in the protective shells. The middle of the electromagnet forms a V-shaped groove.

7. The climbing robot according to claim 5 or 6, characterized in that: The height of the V-shaped groove of the electromagnet is lower than the height of the V-shaped grooves of the active roller and the auxiliary roller.

8. The climbing robot according to claim 1, characterized in that: A second spring is installed between the protective shell and the electromagnet.

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