A climbing robot

Abstract

The present invention provides a climbing robot, comprising a fixed frame, a box body arranged on the fixed frame, an obstacle crossing mechanism arranged on the box body, and a climbing mechanism arranged on the obstacle crossing mechanism. A movable block is mounted on the rotating shaft via a first spring, threaded rods are movably mounted on both ends of the movable block, bearing seats are mounted on the threaded rods on the periphery of the first bevel gear, a fixed block is mounted between the two sets of bearing seats, a rotating block is mounted in the fixed block and fixedly connected to the second bevel gear. A clamping block is mounted at the lower end of the rotating shaft to cooperate with a movable groove on the rotating block. The obstacle crossing mechanism allows a larger space to be created between the device and the climbing object for obstacle crossing, and after the obstacle crossing is completed, the device is allowed to fit the climbing object again, thereby reducing wind resistance and improving climbing stability. The climbing mechanism comprises movable arms on both sides, the lower ends of the movable arms are fixedly connected to a shell, an active roller is fixed to the active side shell, and an auxiliary roller is fixed to the driven side shell, which can effectively improve climbing efficiency.

Description

Technical Field

[0001] The present 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 both military and civilian sectors, playing a crucial role in time-consuming, labor-intensive, or high-risk operations such as military reconnaissance, ammunition inspection, and maintenance and inspection of high-voltage power towers and energy pipelines. However, some existing climbing robots still suffer from slow climbing speeds and low efficiency. Furthermore, their obstacle range is limited, preventing them from quickly scaling high obstacles. Furthermore, their center of gravity is located far from the object being climbed, resulting in high wind resistance and poor safety and stability. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems in the prior art that robots have slow climbing speed, limited obstacle crossing range, cannot quickly climb over higher obstacles, and have a center of gravity far away from the climbing object, resulting in 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;

[0005] 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, the rotating shaft is provided with a threaded groove, 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 threaded rod polished rod parts on the left and right sides are fixedly connected to the first bevel gear, and the threaded rod polished rod parts 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 fixed between the two sets of bearing seats, and the inside of the fixed block is connected to the rotating block through the bearing; the upper end of the rotating block is fixed 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 fixed 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;

[0006] The climbing mechanism includes movable arms threadedly connected to the threaded rod on both sides, the lower end of the movable 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 movable arm on the right is also fixedly connected to the shell, and an auxiliary roller is installed in the shell on the right.

[0007] Furthermore, the obstacle crossing mechanism includes 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.

[0008] Furthermore, a square block is provided at one end of the threaded rod close to the box body, which is slidably matched with a sliding groove at a corresponding position on the box body.

[0009] 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.

[0010] 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, thereby forming a V-shaped groove in the middle.

[0011] 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 is a V-shaped groove.

[0012] 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.

[0013] Furthermore, a second spring is installed between the protective shell and the electromagnet.

[0014] Beneficial effects:

[0015] During obstacle climbing, the obstacle-climbing mechanism pulls the front housing away from the object, increasing the space between them. The rotating motor then rotates the housing into the fixed frame, reducing the robot's footprint while creating more space between them for climbing, allowing for climbing over tall obstacles. The electric push rod then extends the robot's front section forward. Once the obstacle is cleared, the front mechanism clamps the robot. The rotating motor rotates the housing away from the object, driving it a certain distance toward the object, reducing the space between them. This allows the robot to adhere to the object during climbing, reducing wind resistance and improving climbing stability. The front electromagnet now engages the object, while the rear electromagnet deactivates it, and the obstacle-climbing operation continues as described above. When there are no obstacles, the electromagnets disengage, allowing the robot to roll upwards over the object, improving climbing efficiency. Furthermore, the electromagnets automatically control the position of the robot in the event of looseness or slippage. Therefore, the device has an anti-fall mechanism, which can effectively improve the safety and stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the overall structure of the climbing robot of the present invention;

[0017] Figure 2 This is a schematic diagram of the working state of the climbing robot of the present invention;

[0018] Figure 3 Schematic diagram of the partial structure of the obstacle-crossing mechanism of the climbing robot of the present invention;

[0019] Figure 4 Schematic diagram of the partial structure of the climbing mechanism of the climbing robot of the present invention;

[0020] Figure 5 Schematic diagram of the claw structure of the climbing robot of the present invention;

[0021] Figure 6 It is a structural diagram of the card block;

[0022] Reference numerals: 1-fixed frame, 2-box, 3-obstacle crossing mechanism, 4-climbing mechanism;

[0023] 101-Sensor, 102-Camera;

[0024] 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;

[0025] 401 - moving arm, 402 - housing, 403 - gear, 404 - motor, 405 - driving roller, 406 - slot, 407 - auxiliary roller, 408 - protective housing, 409 - electromagnet, 4010 - second spring. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions 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 intended to limit the present invention.

[0027] The application principle of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] Example 1:

[0029] Please refer to Figures 1-6 A climbing robot includes two fixed frames 1 arranged symmetrically on the left and right, a box 2 arranged on the fixed frames 1, an obstacle crossing mechanism 3 arranged on the box 2, and a climbing mechanism 4 arranged on the obstacle crossing mechanism 3.

[0030] The obstacle-crossing mechanism 3 includes an electric push rod 302 positioned between the two sets of fixed frames 1. A camera 102 is mounted on the outer side of the fixed frame 1 on one side of the push rod 302. Camera 102 records the climbing direction of the device and automatically activates the obstacle-crossing mechanism 3 to overcome obstacles when an obstacle is detected. A distance sensor 101 is mounted on the outer side of the fixed frame 1 on the other side of the push rod 302. Sensor 101 and camera 102 are located on the same side of the fixed frame 1. The distance sensor 101 detects the distance between the device and the ground. When the distance between the device and the ground decreases, indicating a loosening or sliding movement, an electromagnet 409 is automatically energized to secure the device, enhancing its safety and stability.

[0031] 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. A threaded groove 308 is provided on the rotating shaft 304, and a movable block 306 is threadedly connected to the rotating shaft 304 through the threaded groove 308. A spring 305 is sleeved on the rotating shaft 304 and positioned between the movable block 306 and the hollow motor 303. Threaded rods 307 are mounted on the left and right sides of the movable block 306 via bearings. The polished rod portions of the left and right threaded rods 307 are fixedly connected to the first bevel gear 3010. The polished rod portions of the left and right threaded rods 307 are connected to the bearing support 3011 via bearings. The bearing support 3011 is located outside the first bevel gear 3010. The threaded rods 307 located outside the bearing support 3011 are threaded. The left and right sets of threaded rods 307 have the same threaded direction. A square block is provided at one end of the threaded rods 307 near the housing 2, which slides into a corresponding slot on the housing 2. A fixed block 3012 is fixedly connected between the two sets of bearing seats 3011. The interior of the fixed block 3012 is connected to the rotating block 3015 via a bearing 3016. The inner ring of the lower bearing supports the rotating block 3015. The upper end of the rotating block 3015 is fixedly connected to the second bevel gear 309, which 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 diameter of the rotating shaft 304. The second bevel gear 309 is sleeved on the rotating shaft 304 without contacting the rotating shaft 304 and the second bevel gear 309. The lower end of the rotating shaft 304 is fixedly connected to a clamping block 3014, and a movable groove 3013 is provided on the rotating block 3015, and the clamping block 3014 is adapted to fit the movable groove 3013.

[0032] 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 .

[0033] 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.

[0034] 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 disengaged from the thread groove 308.

[0035] Therefore, when the rotating shaft 304 drives the movable block 306 to move up and down, due to the presence of the bearing 304, the threaded rod 307 can rise and fall together with the first bevel gear 3010 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, it can drive the second bevel gear 309 to move up and down synchronously, so that the first bevel gear 3010 and the second bevel gear 309 can always remain in a meshing state. The obstacle crossing mechanism 3 is provided with two sets of first bevel gears 3010, both of which are engaged with the second bevel gear 309. The thread directions of the two sets of threaded rods 307 corresponding to the two sets of first bevel gears 3010 are consistent. When the second bevel gear 309 rotates, it drives the two sets 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.

[0036] Furthermore, two groups of the clamping blocks 3014 and the movable grooves 3013 are provided, and the clamping blocks 3014 are adapted to the movable grooves 3013. When the hollow motor 303 works to move the fixed block 3012 downward, the clamping blocks 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 blocks 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 descend while driving the climbing mechanism 4 to clamp the climbing object to perform climbing work.

[0037] Specifically, in the initial state of the device, the climbing mechanism 4 is disengaged, with the movable block 306 located at the lower edge of the threaded groove 308. The preparation process involves moving the device to the work location and activating the rotary motor 301. This drives the housing 2 to rotate, moving it out of the fixed frame 1, and positioning the climbing mechanism 4 downward. Subsequently, the hollow motor 303 is activated, which drives the rotating shaft 304 to rotate, causing the movable block 306 to engage with the lower starting position of the threaded groove 308. The threaded groove 308 then drives the movable block 306 upward. Rotation of the rotating shaft 304, through the engagement of the locking block 3014 with the movable groove 3013, drives the second bevel gear 309 to rotate. This engagement with the first bevel gear 3010 drives the threaded rod 307 to rotate, thereby simultaneously driving the climbing mechanism 4 upward and toward the climbing object, thereby clamping the climbing object until the movable block 306 disengages from the threaded 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 object and stops moving upward, thereby using the climbing mechanism 4 to clamp the climbing object and fix the device for subsequent climbing work.

[0038] Specifically, the obstacle surmounting process operates as follows: when the camera 102 detects an obstacle ahead, it causes the hollow motor 303 to rotate in the opposite direction. At this point, the reaction force of the first spring 305, compressed by the previous operation, causes the movable block 306 to immediately connect with the upper edge of the threaded groove 308, thereby driving the movable block 306 downward. When the hollow motor 303 drives the rotating shaft 304 in the opposite direction, it drives the second bevel gear 309 in the opposite direction through the locking block 3014 and the locking groove 3013. This, in turn, engages with the first bevel gear 3010, driving the threaded rod 307 in the opposite direction. This drives the climbing mechanism 4 downward, simultaneously separating it at a uniform speed. Because the movable block 306 has a limited range of motion, the climbing mechanism 4 remains in contact with the object being climbed during its movement. Therefore, during this process, the movable block 306 lifts the housing 2 and the fixed frame 1 away from the object being climbed, creating a sufficient space between the housing 2 and the object for surmounting the obstacle, until the movable block 306 separates from the threaded groove 308. At this point, the hollow motor 303 drives the rotating shaft 304 to continue rotating, while driving the climbing mechanism 4 to continue the separation process, while not driving the climbing mechanism 4 to move downward, until it is separated from the climbing object and released from the clamping state. The rotating motor 301 is then activated to rotate the box 2 back to the fixed frame 1, thereby reducing the device's footprint. This allows the fixed frame 1 to be close to the climbing object while leaving more space between them for the device to traverse obstacles, thus avoiding obstacles that could affect the device's safety and stability. This allows the device to traverse larger obstacles, thereby increasing its applicability, reducing wind resistance, and improving its stability. When the electric push rod 302 is started, the electric push rod 302 will push the fixed frame 1 in the front to move, so that it can cross the obstacle. Then, the box body 2 is screwed out of the fixed frame 1 again by the rotating motor 301, and the rotating shaft 304 is 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 in the first time, which will drive the movable block 306 to move upward and drive the climbing mechanism 4 to converge and clamp. Because the climbing mechanism 4 is very close to the climbing object when it is out of the clamping state, the climbing mechanism 4 can contact the climbing object and enter the engaged clamping state when it converges. At this time, the movable block 306 continues to move upward, causing the box body 2 to move towards the climbing object, reducing the space between the box body 2 and the climbing object, lowering the center of gravity of the device, reducing wind resistance, and improving 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.

[0039] The climbing mechanism 4 includes a movable arm 401 threadedly connected to the threaded rod 307 on both sides. The lower end of the left movable arm 401 is fixedly connected to a housing 402. A motor 404 is fixedly mounted on the left housing 402, and the output end of the motor 404 extends through the housing 402 and is connected to a gear 403. A driving roller 405 is machined with a slot 406 and mounted within the housing 402. The gear 403 matches the slot 406 on the driving roller 405. The lower end of the right movable arm 401 is also fixedly connected to the housing 402. An auxiliary roller 407 is mounted within the right housing 402. The upper and lower diameters of the driving roller 405 and the auxiliary roller 407 are the same, and larger than the diameter in the middle, forming a V-shaped groove in the middle. The V-shaped groove in the middle of the roller can be used to clamp onto the corners of the climbing object, thereby securing the machine body.

[0040] 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 fix it, thereby improving stability.

[0041] Furthermore, a second spring 4010 is installed between the protective shell 408 and the electromagnet 409. When the machine is climbing, the second spring 4010 is relaxed, maintaining a certain distance between the electromagnet 409 and the object being climbed. The center of the electromagnet 409 forms a V-shaped groove, the height of which is lower than the V-shaped grooves of the active roller 405 and the auxiliary roller 407, to prevent wear on the electromagnet 409. When the machine encounters an obstacle, the electromagnet 409 is energized, allowing it to fully conform to the object being climbed and secure the machine. After the obstacle is overcome, the electromagnet 409 is de-energized, and the elastic deformation of the second spring 4010 causes it to retract, increasing the practicality of the device.

[0042] Operation process: When the climbing mechanism 4 is driven by the obstacle surmounting mechanism 3 to converge, the active roller 305 and the auxiliary roller 407 clamp the corners of the climbing object to fix the position of the device. Then, the third motor 404 is started, which drives the gear 403 to rotate. The gear 403 engages with the clamping slot 406 and then drives the active roller 405 to rotate, thereby driving the entire device to move on the climbing object to perform the climbing operation, improving climbing efficiency. When obstacle surmounting is required, the operation of Example 1 is carried out. When the climbing mechanism 4 on the front fixing frame 1 separates from the climbing object, the electromagnet 409 on the rear climbing mechanism 4 is energized, thereby fixing the device to the climbing object. When the front fixing frame 1 successfully overcomes the obstacle, it is fixed by the electromagnet 409 on the front climbing mechanism 4. Then, the electromagnet 409 on the rear climbing mechanism 4 is de-energized, and the climbing mechanism 4 is separated from the climbing object to perform the obstacle surmounting operation.

[0043] 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 principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A climbing robot, characterized in that: It includes two fixed frames arranged symmetrically 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 threaded rod polished rod parts on the left and right sides are fixedly connected to the first bevel gear, and the threaded rod polished rod parts 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 fixed between the two sets of bearing seats, and the inside of the fixed block is connected to the rotating block through a bearing; the upper end of the rotating block is fixed 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 fixed 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 movable arms threadedly connected to the threaded rod on both sides, the lower end of the movable 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 movable 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 includes an electric push rod arranged between the two groups of 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: One end of the threaded rod close to the box body is provided with a square block, which 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: 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.

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 that 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 an electromagnet is installed in the protective shell. The middle of the electromagnet is 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 6, characterized in that: A second spring is installed between the protective shell and the electromagnet.

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