Curved surface adaptive robot

Abstract

According to the curved surface adaptive robot, in the operation process, the robot can avoid an operation area to walk, and the stability of walking on the curved surface can be maintained. The curved surface adaptation robot comprises a robot base, the robot base comprises a bottom wall and a side wall, the bottom wall is opposite to the operation surface, and the side wall is perpendicular to the bottom wall; the walking wheel is used for walking on the working surface and comprises a wheel body and a first rotating shaft, the first rotating shaft is parallel to the diameter direction of the wheel body and parallel to the bottom wall, and the wheel body can rotate around the first rotating shaft; the rotating rod comprises a fixed end and rotating ends, the rotating ends are arranged on the two sides of the fixed end in the extending direction of the rotating rod, the rotating ends can rotate around the fixed end on the plane perpendicular to the bottom wall, and the rotating ends are at least connected with one walking wheel; three supporting points are arranged on the surface of the robot base, the projections of the three supporting points on the plane where the bottom wall is located are not collinear, the supporting points are used for being connected with a walking wheel or a fixed end, and at least one supporting point in the three supporting points is connected with the fixed end.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular, to a curved surface adaptive robot. Background Art

[0002] With the development of science and technology, large-scale machinery and equipment are increasingly used in various industries. However, when large-scale machinery and equipment need to be operated in high-altitude areas, workers often need to be transported to high places for operation. This operation method has high risk factors and low work efficiency. Therefore, using industrial robots to operate in high-altitude areas is a safe and efficient choice.

[0003] Since the surfaces of machinery and equipment are mostly irregular curved surfaces, most current industrial robots use three wheels to support the contact surface to ensure the stability of the robot. However, in some operations, the working area is located directly below the robot, which requires the robot to walk along the working area to perform the operation, but also requires the walking wheels to avoid contact with the working area, which will affect the robot's movement performance or cause damage to the working area. Therefore, it is necessary to provide a new industrial robot that can avoid the working area while maintaining the stability of the robot walking on the curved surface. Summary of the invention

[0004] The present application provides a curved surface adaptive robot, which can avoid the working area while maintaining the stability of the curved surface adaptive robot walking on the curved surface.

[0005] In a first aspect, a curved surface adaptive robot is provided, comprising: a robot base, comprising a bottom wall and side walls, the bottom wall being arranged opposite to a working surface, and the side walls being perpendicular to the bottom wall; at least four walking wheels, connected to the robot base, and used for walking on the working surface along a first direction, the first direction being parallel to the bottom wall, the walking wheel comprising a wheel body and a first rotating shaft, the first rotating shaft being parallel to a diameter direction of the wheel body and parallel to the bottom wall, the wheel body being able to rotate around the first rotating shaft, the at least four walking wheels being distributed in four quadrants centered on the center of mass of the robot base and having a first direction and a second direction as coordinate directions, the second direction being perpendicular to the first direction and parallel to the bottom wall; a rotating rod, comprising a fixed end and a rotating end, the fixed end being connected to a surface of the robot base, the rotating end being arranged on both sides of the fixed end along an extension direction of the rotating rod, the rotating end being able to rotate around the fixed end on a plane perpendicular to the bottom wall, and two of the at least four walking wheels being respectively connected to the rotating ends on both sides of the fixed end.

[0006] In the curved surface adaptive robot provided in the embodiment of the present application, the rotating rod can provide the walking wheel with a degree of freedom in a direction perpendicular to the bottom wall, and the first rotating shaft can provide the walking wheel itself with a degree of rotational freedom. The walking wheel connected to the rotating rod can adjust its own position and posture according to the curved surface changes of the working surface through the rotation of the rotating rod and its own rotation around the first rotating shaft, so as to maintain contact with the working surface. At the same time, multiple walking wheels are connected to the robot base through the rotating rod, which can generate a unique spatial position at the support point on the robot base, and provide support for the robot base at three support points, thereby improving the adaptability of the curved surface adaptive robot to the curved surface and the stability of walking on the curved surface.

[0007] In addition, the curved surface adaptive robot provided in the embodiment of the present application can set multiple walking wheels at intervals around the working area. While maintaining the walking stability of the curved surface adaptive robot, the walking wheels only move around the working area and do not directly contact the working area, thereby reducing the damage caused to the working area by the curved surface adaptive robot during operation.

[0008] In some embodiments, the curved surface adaptable robot includes a pressure mechanism, which is used to provide pressure between the curved surface adaptable robot and the working surface, and the direction of the pressure points to the working surface.

[0009] The pressure mechanism can make the curved surface adaptive robot fit closely to the working surface, improve the stability of the curved surface adaptive robot walking on the working surface, especially when the curved surface adaptive robot walks on three-dimensional curved surfaces, such as vertical walls such as wind turbine towers, to avoid the curved surface adaptive robot falling off the working surface.

[0010] In some embodiments, the pressure mechanism includes a magnet, and the wheel body is arranged on both sides of the magnet in a direction perpendicular to the radial direction of the wheel body, and the magnetic attraction force of the magnet is directed toward the working surface.

[0011] The magnets on the walking wheel are helpful in guiding the wheel body to adjust to a state of being in contact with the working surface, and can provide an approximately constant magnetic adsorption force for the walking wheel on the metal surface, which is helpful in improving the stability of the curved surface adaptation robot walking on the working surface.

[0012] In some embodiments, the pressure mechanism includes a fan configured to exhaust air so that the curved surface adapts to the pressure exerted by the robot toward the working surface.

[0013] The fan can provide pressure for the curved surface adaptable robot on the working surface where magnetic adsorption force cannot be generated, thereby improving the stability of the curved surface adaptable robot on the working surface.

[0014] In some embodiments, at least four walking wheels include a first walking wheel, the first walking wheel includes a second rotating shaft and a third rotating shaft, the second rotating shaft is perpendicular to the diameter direction of the wheel body, the third rotating shaft is perpendicular to the second rotating shaft, and intersects or is not in the same plane as the straight line where the first rotating shaft is located, and the first walking wheel can rotate around the third rotating shaft.

[0015] The multi-directional wheel has a rotational freedom in a plane formed by a first direction and a second direction, which can make the curved surface adaptation robot more flexible in turning on the curved surface. At the same time, the rotating rod, the first rotating shaft and the third rotating shaft can provide the wheel body with freedom in different directions in three-dimensional space, which is conducive to improving the flexibility of the walking wheel in adjusting the position and posture on the curved surface, thereby improving the stability of the curved surface adaptation robot walking on the curved surface.

[0016] In some embodiments, at least four walking wheels include two driving wheels and two first walking wheels. The driving wheels are used to drive the curved surface adaptable robot to walk on the working surface. The first rotating shaft of the driving wheel is connected to the robot base, and the third rotating shaft of the first walking wheel is connected to the rotating end.

[0017] The two driving wheels can provide power for the curved surface adaptive robot to walk, and the two multi-directional wheels connected to the rotating rod can make the curved surface adaptive robot have better curved surface adaptability. At the same time, during the walking process of the curved surface adaptive robot, it can avoid the working area and improve the working effect.

[0018] In some embodiments, the curved surface adaptive robot includes: a working component, which is arranged on one side of the robot base in a first direction and is used to work on the working surface, and the first direction is parallel to the bottom wall.

[0019] The operation component is arranged on one side of the curved surface adaptive robot, which is beneficial to controlling the curved surface adaptive robot to use the operation component to operate on the operation surface while walking along the operation area, and is also beneficial to maintaining the stability of the curved surface adaptive robot during walking.

[0020] In some embodiments, the working assembly includes a first connecting frame, a second connecting frame and a working head, the first connecting frame is connected to the robot base, the first connecting frame and the second connecting frame are slidably connected in a third direction, and the working head is arranged on a side of the second connecting frame close to the working surface in the third direction, and the third direction is perpendicular to the bottom wall.

[0021] The movable connection between the first connecting frame and the second connecting frame can enable the working head to have a certain obstacle-crossing ability, reduce the possibility of the working head being stuck by protrusions, and improve the flexibility of adjusting the working component on the working surface.

[0022] In some embodiments, the operating assembly includes a first elastic member, one end of the first elastic member in the third direction is connected to the first connecting frame, and the other end of the first elastic member is connected to the second connecting frame.

[0023] The first elastic member can enable the second connecting frame to return to the initial position after moving in the third direction, so that the working head can remain in a position in contact with the working surface after crossing the obstacle, which is conducive to realizing automated control of the working process.

[0024] In some embodiments, the operating component includes a push rod, which includes a driving part and a moving part. The driving part is connected to the first connecting frame and is used to drive the moving part to move in a third direction; the second connecting frame has a protrusion, which is arranged on the moving path of the moving part.

[0025] The push rod can improve the ability and control accuracy of the working component to cross obstacles. When it is difficult to cross obstacles through adaptive adjustment of the working head, the distance between the working head and the working surface can be controlled by controlling the movement of the push rod to assist the working head in crossing the obstacle.

[0026] In some embodiments, the working component includes a swing frame, a first end of the swing frame in the second direction is connected to the working head, a second end of the swing frame in the second direction is movably connected to a second connecting frame, and the second end can rotate in a plane perpendicular to the second direction, and the second direction is perpendicular to the first direction and parallel to the bottom wall.

[0027] The swing frame can drive the working head to rotate on a plane perpendicular to the second direction, and adjust the relative angle between the working head and the working surface, so that the working head can adapt to the changes of the curved surface, and can always be aligned with the working area during the operation process, thereby improving the working effect.

[0028] In some embodiments, the operating component includes a stopper connected to the second connecting frame and disposed on a rotation path of the swing frame, with a gap between the stopper and the swing frame.

[0029] The block can limit the rotation angle of the swing frame so that the swing frame drives the working head to rotate only within a certain range, reducing the possibility of excessive flipping of the working head and the swing frame, thereby enabling the working head to achieve stable detection on the working surface.

[0030] In some embodiments, the operating component includes a sliding rod, which is fixedly connected to the second connecting frame and passes through a stopper in the third direction, and the stopper can move along the sliding rod in the third direction.

[0031] On the one hand, the sliding rod can provide the block with freedom in the third direction, flexibly adjust the gap size between the block and the swing frame, and provide space for the rotation of the swing frame; on the other hand, the movement of the block in the third direction along the sliding rod can provide a certain range of buffering when the swing frame collides with the block, thereby reducing the damage to both the swing frame and the block when interference occurs.

[0032] In some embodiments, a second elastic member is disposed between the stopper and the second connecting frame, and the second elastic member is disposed between the second connecting frame and the stopper in the third direction.

[0033] The provision of the second elastic member further provides a buffer for the collision between the swing frame and the stopper, which can not only provide a certain adjustment space for the rotation angle of the swing frame, but also reduce the possibility of overturning caused by excessive rotation of the swing frame.

[0034] In some embodiments, the curved surface adaptive robot includes: a slide rail, which is connected to the surface of the robot base and extends along a second direction, the second direction is perpendicular to the first direction, and the slide rail has a slot; the working component includes a slider, which cooperates with the slot.

[0035] The matching slider and slot can realize the sliding adjustment of the working component in the second direction, and flexibly adjust the distance between the two relatively arranged working components in the second direction, so as to adapt to the requirements of working areas of different widths and improve the applicability of the curved surface to the robot for working areas of different sizes.

[0036] In some embodiments, the curved surface adaptive robot includes: a laser emitter, which is disposed on the surface of the robot base and is used to emit laser toward the working area; and a camera, which is used to identify the working object through the laser.

[0037] The combination of laser transmitter and camera can realize automatic positioning of the working area, improve the accuracy of identification of the working area and the efficiency of high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a curved surface adaptive robot provided in this application.

[0039] Figure 2 It is a structural schematic diagram of a walking wheel and a rotating rod provided by the present application.

[0040] Figure 3 This is a view of a curved surface adaptive robot on one side of the bottom wall and a cross-sectional schematic diagram in the BB direction provided by the present application.

[0041] Figure 4 It is a structural schematic diagram of another surface adaptive robot provided in this application.

[0042] Figure 5 It is a structural schematic diagram of an operating component and a slide rail provided in this application.

[0043] Figure 6 yes Figure 5 Schematic diagram of the structure of part A.

[0044] Figure 7yes Figure 5 A view of the structure in a first direction.

[0045] Figure 8 It is a structural schematic diagram of another surface adaptive robot provided in this application. DETAILED DESCRIPTION

[0046] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0047] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but within the tolerance range. "Parallel" is not strictly parallel, but within the tolerance range. All technical and scientific terms used in the present application have the same meaning as those generally understood by technicians in the technical field of the present application; the terms used in the present application and in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0048] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0049] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0050] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist, and B exists. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0051] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0052] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0053] The curved surface adaptable robot provided in the embodiment of the present application can be applied to surface operations on planes or curved surfaces, and is particularly suitable for surface operations on vertical, inclined or inaccessible walls. Specifically, it can be applied to surface operations on equipment such as ship hulls, oil storage tanks, water storage tanks, bridges, high towers, and wind turbine towers, and can also be applied to surface operations on large industrial equipment (such as boilers, reactors, etc.).

[0054] When using industrial robots to work on the working surface, it is often necessary to avoid the working area to reduce damage or interference to the working area. For example, in the process of inspecting welds, the robot needs to walk along the welds to detect the welds, and it needs to avoid the wheels pressing on the raised welds, which will cause the robot to move unsteadily. At the same time, it also needs to be able to achieve stable straight-line walking and turning on the curved surface. Similarly, in the process of spraying, welding, and inspecting the working surface, it is also necessary to avoid the wheels pressing on the working area, while ensuring the robot's stable walking on the curved surface.

[0055] Most of the current curved surface adaptive robots use three wheels to contact the working surface to ensure the stability of the robot on the working surface, that is, three walking wheels are set to provide support and walking power for the robot. However, in the process of walking along the working area, even if the two symmetrically set wheels can provide walking clearance for the working area, the third wheel on the robot will pass through the working area; if the robot is equipped with four wheels, only three of them can fit with the curved surface, especially when the robot is turning, the fourth wheel is easy to leave the working surface, making it difficult to ensure the stability of the robot's walking.

[0056] Therefore, an embodiment of the present application provides a curved surface adaptive robot, in which at least two wheels have three degrees of freedom, and can adjust the posture of the wheels according to the actual situation of the curved surface, so that each wheel remains in contact with the working surface. In this way, the working area can be avoided by setting the wheels on both sides of the working area, and the stability of the curved surface adaptive robot walking on the working surface can be maintained.

[0057] The curved surface adaptive robot 1 provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0058] Figure 1 shows a schematic diagram of the overall structure of a curved surface adaptive robot 1 provided in the present application, Figure 2 FIG. 2 shows a schematic diagram of the structure of the rotating rod 20 and the walking wheel 30 on the curved surface adaptable robot 1. Figure 1 and Figure 2 As shown, the curved surface adaptable robot 1 includes a robot base 10 , at least four walking wheels 30 and a rotating rod 20 .

[0059] The curved surface adaptable robot 1 provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0060] Figure 1 shows a schematic diagram of the overall structure of a curved surface adaptive robot 1 provided in the present application, Figure 2 FIG. 2 shows a schematic diagram of the structure of the rotating rod 20 and the walking wheel 30 on the curved surface adaptable robot 1. Figure 1 and Figure 2 As shown, the curved surface adaptable robot 1 includes a robot base 10 , walking wheels 30 and a rotating rod 20 .

[0061] The robot base 10 includes a bottom wall 11 and a side wall 12 . The bottom wall 11 is arranged opposite to the working surface, and the side wall 12 is perpendicular to the bottom wall 11 .

[0062] The travel wheel 30 is used for traveling on the working surface. The travel wheel 30 comprises a wheel body 301 and a first rotating shaft 302 . The first rotating shaft 302 is parallel to the diameter direction of the wheel body 301 and parallel to the bottom wall 11 . The wheel body 301 can rotate around the first rotating shaft 302 .

[0063] The rotating rod 20 includes a fixed end 201 and a rotating end 202. The rotating end 202 is arranged on both sides of the fixed end 201 along the extension direction of the rotating rod 20. The rotating end 202 can rotate around the fixed end 201 on a plane perpendicular to the bottom wall 11. The rotating end 202 is connected to at least one walking wheel 30.

[0064] The surface of the robot base 10 is provided with three support points, and the projections of the three support points on the plane where the bottom wall 11 is located are not collinear. The support points are used to connect with the walking wheels 30 or the fixed end 201, and at least one of the three support points is connected with the fixed end 201.

[0065] The robot base 10 refers to the part of the curved surface adaptive robot 1 used to accommodate components such as circuits and batteries, including a bottom wall 11, side walls 12 and a top wall (not shown in the figure). The bottom wall 11 of the robot base 10 is arranged opposite to the working surface, and the side walls 12 are perpendicular to the bottom wall 11 and enclosed with the bottom wall 11 to form a receiving space, in which the circuits, batteries and other components of the curved surface adaptive robot 1 are accommodated. The top wall of the robot base 10 is parallel to the bottom wall 11, and is arranged on the side of the bottom wall 11 away from the working surface, covering the receiving space formed by the bottom wall 11 and the side walls 12.

[0066] The walking wheel 30 is a structure on the curved surface adaptive robot 1 that drives the robot base 10 to walk along the working surface. The walking wheel 30 may be, for example, a driving wheel 31, which generally includes a wheel and a driving motor, and the driving motor is used to drive the wheel to rotate, thereby providing power for the walking of the curved surface adaptive robot 1. Furthermore, the wheel of the driving wheel 31 may specifically be one or more of a rolling wheel, a Mecanum wheel, and a universal wheel, which, driven by the driving motor, provides the curved surface adaptive robot 1 with walking freedom in multiple directions.

[0067] In some embodiments, the walking wheel 30 may be, for example, a driven wheel, which does not provide power itself, and moves along with the movement of the robot base 10 during the walking of the robot base 10. Further, the driven wheel may be one or more of a rolling wheel, a Mecanum wheel, and a universal wheel, and may have walking freedom in multiple directions during the walking of the curved surface adaptive robot 1.

[0068] like Figure 1 and Figure 2 As shown, the walking wheel 30 includes a wheel body 301 and a first rotating shaft 302. The wheel body 301 is used to walk along a first direction X on the working surface, wherein the first direction X is parallel to the bottom wall 11. The first rotating shaft 302 is parallel to the diameter direction of the wheel body 301 and to the bottom wall 11, and the wheel body 301 can rotate with the first rotating shaft 302 as the rotating axis. In the case where the working surface is an irregular curved surface, the wheel body 301 can adjust the angle around the first rotating shaft 302 according to the actual situation of the working surface during walking to maintain contact with the working surface.

[0069] The rotating rod 20 is connected to the surface of the robot base 10, such as Figure 1 and Figure 2As shown, the rotating rod 20 includes a fixed end 201 and a rotating end 202. The fixed end 201 refers to a structure on the rotating rod 20 for realizing connection. For example, when the rotating rod 20 is connected to the robot base 10, the fixed end 201 on the rotating rod 20 is connected to the surface of the robot base 10. In some embodiments, Figure 2 As shown, the fixed end 201 may include a fixed shaft 2011 and a rotating part 2012, the fixed shaft 2011 is fixedly connected to the surface of the robot base 10, and the rotating part 2012 is sleeved on the fixed shaft 2011 and rotates around the fixed shaft 2011. Optionally, the fixed end 201 may be directly connected to the surface of the robot base 10, and the rotating end 202 and the fixed end 201 rotate relative to the surface of the robot base 10, that is, the fixed shaft 2011 and the rotating part 2012 are fixedly connected.

[0070] The rotating end 202 refers to the portion of the rotating rod 20 that is away from the fixed end 201 along the extension direction of the rotating rod 20 and can rotate around the fixed end 201. The rotating rod 20 usually has a long strip structure extending in a certain direction, and the extension direction of the rotating rod 20 refers to the length direction of the long strip structure. In some embodiments, the fixed end 201 is disposed at one end of the rotating rod 20 along the extension direction, and the rotating end 202 is the other end of the rotating rod 20 along the extension direction. In some embodiments, as Figure 1 and Figure 2 As shown, the fixed end 201 of the rotating rod 20 is disposed in the middle area of ​​the rotating rod 20 , and the rotating ends 202 are distributed on both sides of the fixed end 201 along the extending direction of the rotating rod 20 .

[0071] At least one running wheel 30 is connected to each of the two ends of the rotating rod 20, i.e., the two rotating ends 202. In one embodiment, the fixed end 201 of the rotating rod 20 is connected to the surface of the robot base 10, and each of the two rotating ends 202 is connected to a running wheel 30, and rotates around the fixed end 201 on a plane perpendicular to the bottom wall 11, providing a degree of freedom in a direction perpendicular to the bottom wall 11 for the running wheel 30 to adapt to the curved surface.

[0072] In another embodiment, the curved surface adaptive robot 1 includes a first rotating rod and a second rotating rod. The structures of the first rotating rod and the second rotating rod can be the same as Figure 1 and Figure 2The structure of the rotating rod 20 shown in FIG. 1 is the same. The fixed end 201 of the first rotating rod is connected to the surface of the robot base 10, the rotating end 202 of the first rotating rod is connected to the fixed end 201 of the second rotating rod, and the two rotating ends 202 of the second rotating rod are each connected to a walking wheel 30, that is, it is equivalent to the rotating end 202 of the first rotating rod being connected to multiple walking wheels 30. In some embodiments, the two rotating ends 202 of the first rotating rod can each be connected to a second rotating rod, that is, respectively connected to a fixed end 201 of a second rotating rod; in other embodiments, one rotating end 202 of the first rotating rod is connected to the fixed end 201 of the second rotating rod, and the other rotating end 202 is connected to the walking wheel 30. By analogy, the rotating end 202 of each rotating rod 20 can be connected to the fixed end 201 of another rotating rod 20 to realize the arrangement of multiple walking wheels 30.

[0073] In another embodiment, the surface of the curved surface adaptive robot 1 can be connected to multiple rotating rods 20, and the rotating end 202 of each rotating rod 20 can be connected to the fixed end 201 of another rotating rod 20 or to the walking wheel 30, and each rotating end 202 can rotate around the fixed end 201 in a plane perpendicular to the bottom wall 11.

[0074] In the curved surface adaptive robot 1 provided in the embodiment of the present application, the walking wheel 30 connected to the surface of the robot base 10 and the fixed end 201 of the rotating rod 20 are connected to the support points on the surface of the robot base 10. Specifically, the surface of the robot base 10 is provided with three support points, and the projections of these three support points on the plane where the bottom wall 11 is located are not collinear, and the walking wheel 30 directly or indirectly connected to the support points is in contact with the working surface. At least one of the support points is connected to the fixed end 201 of the rotating rod 20, and the rotating end 202 of the rotating rod 20 is connected to the walking wheel 30, or is connected to the fixed end 201 of another rotating rod 20; the other support points are connected to the walking wheel 30. In other words, the three support points can all be connected to the fixed end 201 of the rotating rod 20, or a part of them can be connected to the fixed end 201 of the rotating rod 20, and the other part can be connected to the walking wheel 30. Among them, the walking wheel 30 connected to the rotating rod 20 is in contact with the working surface, and the support point connected to the fixed end 201 produces a unique spatial position and supports the robot base.

[0075] The curved surface adaptive robot 1 can adjust the position and posture of the walking wheel 30 by rotating the rotating rod 20 around the fixed end 201 and the walking wheel 30 around the first rotating shaft 302, so that at least four walking wheels 30 on the curved surface adaptive robot 1 can fit the curved surface. Taking the curved surface adaptive robot 1 including four walking wheels 30 as an example, the first walking wheel and the second walking wheel of the four walking wheels 30 are respectively connected to the two rotating ends 202 of the rotating rod 20, and the third walking wheel and the fourth walking wheel are respectively connected to the robot base 10. When the curved surface adaptive robot 1 walks on the curved surface, the first walking wheel and the second walking wheel are adaptively rotated simultaneously around the fixed end 201 of the middle area of ​​the rotating rod 20 to adjust the position of the first walking wheel and the second walking wheel relative to the working surface. In a possible embodiment, the first walking wheel, the third walking wheel and the fourth walking wheel remain in contact with the working surface, and the second walking wheel rotates driven by the rotating end 202, and has a tendency to separate from the working surface. At the same time, the wheel body 301 of the second running wheel can rotate around the first rotating shaft 302, and the wheel body 301 of the second running wheel can be adjusted to fit the working surface. In addition, the support point where the first running wheel and the second running wheel are connected at the fixed end 201 generates a unique spatial position, so that the four running wheels 30 on the curved surface adaptive robot 1 are all in contact with the working surface, and the stability of the curved surface adaptive robot 1 walking on the curved surface is maintained.

[0076] In some embodiments, the fixed end 201 of the rotating rod 20 can be set on the side wall 12 of the robot base 10. Take the rotating end 202 of the rotating rod 20 directly connected to the walking wheel 30 as an example. Figure 1 and Figure 2 As shown, the fixed end 201 of the rotating rod 20 is connected to the side wall 12 of the robot base 10 parallel to the second direction Y, the rotating rod 20 extends along the second direction Y, and the rotating ends 202 at both ends of the rotating rod 20 are respectively connected to two running wheels 30 spaced apart along the second direction Y. Optionally, the fixed end 201 of the rotating rod 20 can also be connected to the side wall 12 of the robot base 10 perpendicular to the second direction Y, and the rotating ends 202 at both ends of the rotating rod 20 are respectively connected to two running wheels 30 spaced apart along the first direction X. Optionally, the fixed end 201 of the rotating rod 20 can be connected to the top wall or bottom wall 11 of the robot base 10, and the rotating ends 202 at both ends of the rotating rod 20 can be respectively connected to two running wheels 30 spaced apart along the first direction X, or can be respectively connected to two running wheels 30 spaced apart along the second direction Y, or can be respectively connected to two running wheels 30 spaced apart along the diagonal arrangement.

[0077] In the curved surface adaptive robot 1 provided in the embodiment of the present application, the rotating rod 20 can provide the walking wheel 30 with a degree of freedom in a direction perpendicular to the bottom wall 11, and the first rotating shaft 302 can provide the walking wheel 30 with a degree of freedom of rotation. The walking wheel 30 connected to the rotating rod 20 can adjust its position and posture according to the curved surface changes of the working surface through the rotation of the rotating rod 20 and its own rotation around the first rotating shaft 302, so as to keep in contact with the working surface. At the same time, multiple walking wheels 30 are connected to the robot base 10 through the rotating rod 20, which can generate a unique spatial position at the support point on the robot base 10, and provide support for the robot base 10 at three support points, thereby improving the adaptability of the curved surface adaptive robot 1 to the curved surface and the stability of walking on the curved surface.

[0078] In addition, the curved surface adaptive robot 1 provided in the embodiment of the present application can respectively arrange multiple walking wheels 30 around the working area. While maintaining the walking stability of the curved surface adaptive robot 1, the walking wheels 30 only walk around the working area and do not directly contact the working area, thereby reducing the damage caused to the working area by the curved surface adaptive robot 1 during the operation process.

[0079] According to some embodiments of the present application, the curved surface adaptive robot 1 includes a pressure mechanism, which is used to provide pressure between the curved surface adaptive robot 1 and the working surface, and the direction of the pressure points to the working surface.

[0080] The pressure mechanism can be a structure such as a magnet, a fan, a suction cup, etc. that can provide pressure between the curved surface adaptive robot 1 and the working surface. The direction of the pressure generated by the pressure mechanism points to the working surface, so that the curved surface adaptive robot 1 can fit closely with the working surface, thereby improving the stability of the curved surface adaptive robot 1 walking on the working surface, especially when the curved surface adaptive robot 1 walks on vertical walls such as wind turbine towers, reducing the possibility of the curved surface adaptive robot 1 falling off the working surface.

[0081] According to some embodiments of the present application, the pressure mechanism includes a magnet 33, and the wheel body 301 is arranged on both sides of the magnet 33 in a direction perpendicular to the radial direction of the wheel body 301, and the magnetic adsorption force of the magnet 33 is directed toward the working surface.

[0082] like Figure 2 As shown, the walking wheel 30 may include a plurality of wheel bodies 301, and the plurality of wheel bodies 301 are arranged in parallel and arranged in a direction perpendicular to the radial direction of the wheel bodies 301. Taking the walking wheel 30 including two wheel bodies 301 as an example, the pressure mechanism includes a magnet 33, and the magnet 33 is arranged between the two wheel bodies 301, and the magnetic adsorption force of the magnet 33 is toward the working surface to maintain the overall stability of the walking wheel 30. In some embodiments, the first rotating shaft 302 may also be arranged between the two wheel bodies 301.

[0083] When the curved surface adaptive robot 1 walks on the curved surface, at least four running wheels 30 can generate magnetic adsorption force with the working surface. When the working surface is a curved surface, the rotating rod 20 and the magnet 33 of the running wheel 30 can guide the wheel body 301 to adjust so that the two wheel bodies 301 on the running wheel 30 can contact the working surface. Specifically, when the curvature of the working surface changes, the rotating rod 20 rotates on a plane perpendicular to the bottom wall 11 to adjust the positions of the running wheels 30 connected to the two ends of the rotating rod 20 on the corresponding plane. When one of the running wheels 30 has a tendency to separate from the working surface, the magnetic adsorption force generated by the magnet 33 on the working surface can guide the wheel body 301 to rotate around the first rotating shaft 302, so that the wheel body 301 can be adjusted to contact the working surface, so that the two running wheels 30 connected to the rotating rod 20 can be kept in contact with the working surface.

[0084] At the same time, in order to reduce the damage of the magnet 33 to the working surface, or the damage of the working surface to the magnet 33, the magnet 33 is usually provided with a certain gap from the working surface, and is arranged between the two wheel bodies 301 of the walking wheel 30, so as to provide a larger magnetic adsorption force while reducing the volume of the magnet 33 as much as possible. When the curved surface adaptive robot 1 walks on the curved surface, the distance between the magnet 33 and the working surface can be approximately constant, and the magnet 33 can provide an approximately constant magnetic adsorption force for the walking wheel 30, and it is not easy to cause the magnetic adsorption force to change when the curvature of the working surface changes, which can improve the stability of the curved surface adaptive robot 1 walking on the working surface.

[0085] The magnet 33 on the walking wheel 30 helps to guide the wheel body 301 to adjust to a state of being in contact with the working surface, and can provide an approximately constant magnetic adsorption force for the walking wheel 30 on the metal surface, which helps to improve the stability of the curved surface adaptable robot 1 walking on the working surface.

[0086] According to some embodiments of the present application, the pressure mechanism includes a fan, which is used to exhaust air so that the curved surface adapts to the pressure exerted by the robot 1 toward the working surface.

[0087] In the case where the working surface is a non-metallic material that cannot generate adsorption force through the magnet 33, the pressure mechanism may include a fan. The fan can exhaust air in a direction away from the working surface, so that the air pressure exerts pressure on the curved surface adaptation robot 1 in the direction toward the working surface. In some embodiments, the fan can be set through the robot base 10; optionally, the fan can also be connected to the robot base 10.

[0088] The fan can provide pressure for the curved surface adaptable robot 1 on the working surface where magnetic adsorption force cannot be generated, thereby improving the stability of the curved surface adaptable robot 1 on the working surface.

[0089] According to some embodiments of the present application, at least four walking wheels 30 include a multi-directional wheel 32, the multi-directional wheel 32 includes a second rotating shaft 303 and a third rotating shaft 304, the second rotating shaft 303 is perpendicular to the diameter direction of the wheel body 301, the third rotating shaft 304 is perpendicular to the second rotating shaft 303, and intersects or is not in the same plane as the straight line where the first rotating shaft 302 is located, the multi-directional wheel 32 can rotate around the third rotating shaft 304, and the third rotating shaft 304 is connected to the robot base 10.

[0090] In some embodiments, when the walking wheel 30 is a driving wheel 31 or a Mecanum wheel, the walking wheel 30 includes a first rotating shaft 302 and a second rotating shaft 303, the second rotating shaft 303 is perpendicular to the diameter direction of the wheel body 301, the wheel body 301 of the walking wheel 30 rotates around the second rotating shaft 303 to realize the rolling of the wheel body 301, and rotates around the first rotating shaft 302 to adjust the posture of the wheel body 301 to fit the working surface, and the driving wheel 31 and the Mecanum wheel itself can provide the ability to rotate on the plane formed by the extension direction of the first rotating shaft 302 and the extension direction of the second rotating shaft 303.

[0091] In other embodiments, the travel wheel 30 includes a multi-directional wheel 32, that is, the multi-directional wheel 32 is a possible structure as the travel wheel 30. The multi-directional wheel 32 includes a first rotating shaft 302, a second rotating shaft 303 and a third rotating shaft 304, the second rotating shaft 303 is perpendicular to the diameter direction of the wheel body 301, the wheel body 301 of the multi-directional wheel 32 rotates around the second rotating shaft 303 to achieve the rolling of the wheel body 301, rotates around the first rotating shaft 302 to adjust the posture of the wheel body 301 to fit the working surface, and rotates around the third rotating shaft 304 to adjust the movement direction of the wheel body 301.

[0092] like Figure 2 As shown, the third axis of rotation 304 is perpendicular to the second axis of rotation 303 and is not parallel to the first axis of rotation 302. In some embodiments, the direction of the straight line where the third axis of rotation 304 is located is perpendicular to the direction of the straight line where the second axis of rotation 303 is located. In other words, the third axis of rotation 304 can be located on the same plane as the first axis of rotation 302, and the straight line where the first axis of rotation 302 is located intersects with the straight line where the third axis of rotation 304 is located on the plane. Alternatively, the straight line where the third axis of rotation 304 is located and the straight line where the first axis of rotation 302 is located are not on the same plane. Further, the extension direction of the third axis of rotation 304 can be perpendicular to the extension direction of the first axis of rotation 302.

[0093] In some embodiments, the multi-directional wheel 32 is connected to the rotating end 202 of the rotating rod 20, and the third rotating shaft 304 is connected to the robot base 10 through the rotating end 202. When the rotating end 202 rotates around the fixed end 201, the wheel body 301 of the multi-directional wheel 32 and the third rotating shaft 304 rotate together on the rotating track of the rotating end 202, and at the same time cooperate with the first rotating shaft 302 to rotate to a state of being in contact with the working surface. When the curved surface adaptive robot 1 needs to turn, especially when turning on a curved surface, the multi-directional wheel 32 rotates around the third rotating shaft 304 to cooperate with the turning of other walking wheels 30, thereby maintaining the stability of the curved surface adaptive robot 1 turning on the curved surface while providing a more flexible movement mode for the turning of the curved surface adaptive robot 1.

[0094] In other embodiments, the multi-directional wheel 32 can be directly connected to the surface of the robot base 10, and the third rotating shaft 304 is connected to the surface of the robot base 10. When the curved surface adaptive robot 1 walks along the working surface, the multi-directional wheel 32 adaptively rotates around the third rotating shaft 304 along the walking direction of the curved surface adaptive robot 1, thereby enabling the curved surface adaptive robot 1 to have a flexible movement direction on the working surface.

[0095] The multi-directional wheel 32 has a rotational freedom on the plane formed by the first direction X and the second direction Y, which can make the curved surface adaptive robot 1 more flexible in turning on the curved surface. At the same time, the rotating rod 20, the first rotating shaft 302 and the third rotating shaft 304 can provide the wheel body 301 with degrees of freedom in different directions in three-dimensional space, which is conducive to improving the flexibility of the walking wheel 30 to adjust the position and posture on the curved surface, thereby improving the stability of the curved surface adaptive robot 1 walking on the curved surface.

[0096] According to some embodiments of the present application, at least four walking wheels 30 include two driving wheels 31 and two multi-directional wheels 32. The driving wheel 31 is used to drive the curved surface adaptable robot 1 to walk on the working surface. The first rotating shaft 302 of the driving wheel 31 is connected to the robot base 10, and the third rotating shaft 304 of the multi-directional wheel 32 is connected to the rotating end 202.

[0097] Figure 3 (a) shows Figure 1 The curved surface in the figure is adapted to the view of the robot 1 on the bottom wall 11 side in the third direction Z, Figure 3 (b) shows a schematic diagram of the cross-sectional structure of the structure in (a) along the BB direction.

[0098] like Figures 1 to 3 As shown, in a specific embodiment, the curved surface adaptive robot 1 is provided with four running wheels 30, two of which are driving wheels 31, and the other two are multi-directional wheels 32. The driving wheels 31 and the multi-directional wheels 32 are both possible structures as the running wheels 30.

[0099] The driving wheel 31 refers to the walking wheel 30 on the curved surface adaptive robot 1 that can drive the curved surface adaptive robot 1 to move. The driving wheel 31 can generally include a driving motor to provide driving force. The driving wheels 31 can be arranged at intervals along the first direction X to provide the curved surface adaptive robot 1 with driving force for walking in the second direction Y. The first rotating shaft 302 of the driving wheel 31 is connected to the robot base 10, and the wheel body 301 of the driving wheel 31 rotates around the first rotating shaft 302 relative to the robot base 10.

[0100] The multi-directional wheel 32 refers to the walking wheel 30 on the curved surface adaptive robot 1 that moves along with the movement of the driving wheel 31 and has three degrees of rotational freedom in mutually perpendicular directions. Figure 2 For example, the multi-directional wheel 32 shown in the figure can rotate around the first rotating shaft 302 to adjust the posture of the wheel body 301 so that the wheel body 301 can fit the working surface; the wheel body 301 of the multi-directional wheel 32 can rotate around the second rotating shaft 303 so that the wheel body 301 can roll on the working surface; the wheel body 301 of the multi-directional wheel 32 can rotate around the third rotating shaft 304 to adaptively change the direction of movement of the wheel body 301 so that the curved surface adaptive robot 1 has flexible steering ability. Among them, the third rotating shaft 304 of the multi-directional wheel 32 is connected to the rotating end 202 of the rotating rod 20, and the rotating rod 20 adjusts the position and posture of the two multi-directional wheels 32 according to the curvature change of the working surface, so that the two multi-directional wheels 32 can stably fit the working surface, thereby maintaining the stability of the curved surface adaptive robot 1 walking on the curved surface. The two multi-directional wheels 32 may be arranged at intervals along the first direction X, that is, connected to both ends of the rotating rod 20 along the first direction X, so that the two multi-directional wheels 32 can travel on both sides of the working area.

[0101] The two driving wheels 31 can provide power for the walking of the curved surface adaptive robot 1, and the two multi-directional wheels 32 connected to the rotating rod 20 can make the curved surface adaptive robot 1 have better curved surface adaptability. At the same time, during the walking process of the curved surface adaptive robot 1, it can avoid the working area and improve the working effect.

[0102] According to some embodiments of the present application, the curved surface adaptive robot 1 includes a working component 40 , which is disposed on one side of the robot base 10 in a first direction X for working on a working surface, and the first direction X is parallel to the bottom wall 11 .

[0103] The working component 40 is a mechanism for performing work on a working surface, for example, it may be a weld inspection component, a surface spraying component, a welding component, etc.

[0104] Figure 4 A curved surface adaptable robot 1 is shown with a working component 40. Figure 4 As shown, the working component 40 can be arranged in the traveling direction of the curved surface adaptive robot 1, that is, when the curved surface adaptive robot 1 is walking toward the first direction X, the working component 40 can be arranged on one side of the curved surface adaptive robot 1 perpendicular to the first direction X. There is a certain spacing distance between the walking wheels 30, and the spacing distance can leave space for the working area.

[0105] The working component 40 is arranged on one side of the walking direction of the curved surface adaptive robot 1, which is beneficial to controlling the curved surface adaptive robot 1 to use the working component 40 to work on the working surface during walking along the working area, and is also beneficial to maintaining the stability of the curved surface adaptive robot 1 during walking.

[0106] According to some embodiments of the present application, the working assembly 40 includes a first connecting frame 41, a second connecting frame 42 and a working head 43. The first connecting frame 41 is connected to the robot base 10. The first connecting frame 41 and the second connecting frame 42 are slidably connected in a third direction Z. The working head 43 is arranged on a side of the second connecting frame 42 close to the working surface in the third direction Z, and the third direction Z is perpendicular to the bottom wall 11.

[0107] In some embodiments, the curved surface adaptive robot 1 may include two working components 40 which are arranged opposite to each other along the second direction Y. During the operation, the working components 40 are respectively located on both sides of the working area.

[0108] Figure 5 The structure of one of the operating components 40 is shown. Figure 5 As shown, the working assembly 40 includes a first connecting frame 41, a second connecting frame 42 and a detection head. The first connecting frame 41 is connected to the robot base 10, for example, it can be fixedly connected to the robot base 10 to perform work at a fixed position; alternatively, it can be flexibly connected to the robot base 10 to flexibly adjust the position of the working head 43 according to the position and size of the working area; alternatively, one of the two working assemblies 40 can be fixedly connected to the robot base 10, and the other can be flexibly connected to the robot base 10.

[0109] The second connecting frame 42 is slidably connected to the first connecting frame 41, that is, the second connecting frame 42 can slide in the third direction Z relative to the first connecting frame 41; the working head 43 is arranged on the side of the second connecting frame 42 close to the working surface in the third direction Z, that is, the working head 43 can move in the third direction Z with the sliding of the second connecting frame 42 to adjust the position of the working head 43 relative to the working surface.

[0110] The third direction Z is perpendicular to the second direction Y and the first direction X, and is usually parallel to the normal vector of the working surface. The movement of the working head 43 in the third direction Z can make the detection head approach or move away from the working surface. In some embodiments, there may be some protrusions on the working surface that are raised compared to the surrounding area, such as structures on the working surface such as welds and obstacles, dirt on the working surface such as bird droppings and block dust, etc. Therefore, when the working component 40 needs to cross these protrusions, the second connecting frame 42 can slide in the third direction Z, so that the working head 43 moves away from the working surface, thereby crossing these protrusions. When the curved surface adaptable robot 1 is adjusted to a position on the working surface where it can operate, the second connecting frame 42 slides toward the working surface along the third direction Z, so that the working head 43 can fit the working surface.

[0111] Specifically, a slideway may be provided on the first connecting frame 41, and the slideway may include an elongated groove. A protrusion structure may be provided on the second connecting frame 42, and the protrusion structure may be stuck in the slideway and may slide along the slideway, thereby realizing the sliding of the second connecting frame 42 relative to the first connecting frame 41.

[0112] The movable connection between the first connecting frame 41 and the second connecting frame 42 can enable the working head 43 to have a certain obstacle-crossing ability, reduce the possibility of the working head 43 being stuck by protrusions, and improve the flexibility of adjusting the working component 40 on the working surface.

[0113] According to some embodiments of the present application, the operating component 40 includes a first elastic member 44 , which is connected to the first connecting frame 41 at one end in the third direction Z and to the second connecting frame 42 at the other end.

[0114] Figure 5 A connection method of the first elastic member 44 is shown. Specifically, the first elastic member 44 is connected to the second connection frame 42 at one end away from the working surface in the third direction Z, and is connected to the first connection frame 41 at one end close to the working surface in the third direction Z. The elastic force of the first elastic member 44 has a tendency to pull the end of the second connection frame 42 connected to the first elastic member 44 toward the end of the first connection frame 41 connected to the first elastic member 44. On the one hand, the working head 43 can be made to fit the working surface during the operation. On the other hand, when the second connection frame 42 slides along the third direction Z to make the working head 43 pass over an obstacle, the second connection frame 42 is pulled back to the initial position by the elastic force of the first elastic member 44.

[0115] Optionally, a baffle plate may be provided on the first connecting frame 41, and the baffle plate is provided on the moving path of the second connecting frame 42. The second connecting frame 42 is provided with a platform structure that can abut against the baffle plate, limit the moving distance of the second connecting frame 42 in the third direction Z, and avoid excessive movement of the second connecting frame 42 in the third direction Z. The baffle plate may be provided at a position where the working head 43 is just in contact with the working surface when the platform structure abuts against the baffle plate.

[0116] The first elastic member 44 can enable the second connecting frame 42 to return to the initial position after moving in the third direction Z, so that the working head 43 can remain in a position in contact with the working surface after crossing the obstacle, which is conducive to realizing automated control of the working process.

[0117] According to some embodiments of the present application, the working assembly 40 includes a push rod 45, the push rod 45 includes a driving portion 451 and a moving portion 452, the driving portion 451 is connected to the first connecting frame 41, and is used to drive the moving portion 452 to move in the third direction Z. The second connecting frame 42 has a protruding portion 421, and the protruding portion 421 is arranged on the moving path of the moving portion 452.

[0118] The push rod 45 refers to a structure in the working assembly 40 that pushes the second connecting frame 42 to move in the third direction Z, and may be, for example, a telescopic motor. Figure 5 As shown, the push rod 45 includes a driving portion 451 and a moving portion 452. The driving portion 451 is connected to the first connecting frame 41 and fixed relative to the robot base 10. The moving portion 452 moves along the third direction Z under the drive of the driving portion 451. The protruding portion 421 on the second connecting frame 42 is located on the moving path of the moving portion 452. The moving portion 452 can move along the third direction Z to a position against the protruding portion 421, and further push the protruding portion 421 to push the second connecting frame 42 in the third direction Z.

[0119] Specifically, the moving part 452 can push the protruding part 421 in the direction away from the working surface in the third direction Z, so that the second connecting frame 42 drives the working head 43 to move away from the working surface in the third direction Z, so that the working head 43 can cross obstacles, thereby protecting the working head 43. In the case where it is necessary to control the working head 43 to fit the working surface for detection, the moving part 452 moves toward the working surface in the third direction Z, and the second connecting frame 42 slides toward the working surface in the third direction Z, so that the working head 43 approaches the working surface. In some embodiments, the working assembly 40 includes a first elastic member 44. In the case where the moving part 452 and the protruding part 421 are not in contact, the first elastic member 44 can pull the second connecting frame 42 toward the working surface, so that the working head 43 can fit the working surface.

[0120] In some embodiments, the driving portion 451 of the push rod 45 can be connected to the surface of the robot base 10, and the moving portion 452 of the push rod 45 moves in the third direction Z, and can push the second connecting frame 42 to move in the third direction Z by pushing the protrusion 421 of the second connecting frame 42.

[0121] The push rod 45 can improve the ability and control accuracy of the working component 40 to cross obstacles. When it is difficult to cross obstacles through adaptive adjustment of the working head 43, the distance between the working head 43 and the working surface can be controlled by controlling the movement of the push rod 45 to assist the working head 43 in crossing the obstacle.

[0122] According to some embodiments of the present application, the working component 40 includes a swing frame 46, a first end 461 of the swing frame 46 in the second direction Y is connected to the working head 43, a second end 462 of the swing frame 46 in the second direction Y is movably connected to the second connecting frame 42, and the second end 462 is capable of rotating in a plane perpendicular to the second direction Y, and the second direction Y is perpendicular to the first direction X and parallel to the bottom wall 11.

[0123] The swing frame 46 refers to a structure connecting the working head 43 and the second connecting frame 42. When two working components 40 arranged relatively to each other in the second direction Y are connected to the robot base 10, the swing frame 46 can extend along the second direction Y so that the two working heads 43 are arranged relatively to each other in the second direction Y.

[0124] The first end 461 of the swing frame 46 refers to an end connected to the working head 43 in the second direction Y. The first end 461 can be fixedly connected to the working head 43 or movably connected to the working head 43. For example, the working head 43 can be connected to the first end 461 via a rotatable shaft, such as Figure 5 As shown, the working head 43 is connected to the first end 461 via an axis extending in the first direction X. The working head 43 can rotate around the axis in a plane perpendicular to the first direction X, thereby adjusting the relative angle between the working head 43 and the working surface, so that the working head 43 can adapt to changes in the curved surface and can always be aligned with the working area during the operation, thereby improving the working effect.

[0125] The second end 462 of the swing frame 46 refers to an end connected to the second connecting frame 42 in the second direction Y. In the embodiment of the present application, the second end 462 of the swing frame 46 can rotate on a plane perpendicular to the second direction Y. Specifically, the swing frame 46 may include a rotation axis, which is connected to the second connecting frame 42, and the second end 462 can rotate around the rotation axis. In some embodiments, the rotation axis may be fixedly connected to the second end 462 and rotate together with the second end 462 relative to the second connecting frame 42; alternatively, the rotation axis may be fixedly connected to the second connecting frame 42, and the second end 462 rotates relative to the rotation axis.

[0126] The swing frame 46 can drive the working head 43 to rotate on a plane perpendicular to the second direction Y, and adjust the relative angle between the working head 43 and the working surface, so that the working head 43 can adapt to the changes in the curved surface, and can always be aligned with the working area during the operation process, thereby improving the working effect.

[0127] According to some embodiments of the present application, the operating component 40 includes a stopper 47 , which is connected to the second connecting frame 42 and disposed on a rotation path of the swing frame 46 , with a gap between the stopper 47 and the swing frame 46 .

[0128] like Figure 5 As shown, the stopper 47 can be arranged on one side of the swing frame 46 in the third direction Z, and there is a certain gap between the swing frame 46 and the stopper 47. The gap between the swing frame 46 and the stopper 47 allows the swing frame 46 to have a certain space for rotation, and the stopper 47 arranged on the rotation path of the swing frame 46 can limit the swing of the swing frame 46 to a certain extent. In other words, when the swing frame 46 rotates around the straight line where the second direction Y is located, the swing frame 46 will be blocked by the stopper 47 when it rotates to a certain angle, and can only rotate within the angle range limited by the gap between the stopper 47 and the swing frame 46.

[0129] The block 47 can limit the rotation angle of the swing frame 46, so that the swing frame 46 can only drive the working head 43 to rotate within a certain range, reducing the possibility of excessive flipping of the working head 43 and the swing frame 46, thereby enabling the working head 43 to achieve stable detection on the working surface.

[0130] According to some embodiments of the present application, the working component 40 includes a sliding rod 48, which is fixedly connected to the second connecting frame 42 and passes through a stopper 47 in the third direction Z. The stopper 47 can move in the third direction Z along the sliding rod 48.

[0131] In some embodiments, the stopper 47 may be fixedly connected to the second connecting frame 42, and the swing frame 46 rotates within a fixed angle range. In other embodiments, the operating assembly 40 may be provided with a slide bar 48, and the stopper 47 may slide along the slide bar 48 in the third direction Z, and the gap between the stopper 47 and the sliding frame may be adjusted to adjust the angle at which the swing frame 46 can rotate. When the gap between the stopper 47 and the sliding frame is small, the swing frame 46 can rotate at a small angle; when the gap between the stopper 47 and the sliding frame is large, the swing frame 46 can rotate at a large angle.

[0132] Specifically, Figure 6 Shows Figure 5 The enlarged structural diagram of part A is shown in FIG. Figure 6As shown, the slide bar 48 extends along the third direction Z, one end of which is fixedly connected to the second connecting frame 42, and the other end of which passes through the stopper 47, so that the stopper 47 has the freedom to move in the third direction Z. When the swing frame 46 rotates to the position where the stopper 47 is located, the swing frame 46 resists the stopper 47 and is restricted by the stopper 47, and is not easy to continue to rotate. When the swing frame 46 is subjected to a large force, if the stopper 47 continues to resist the rotation of the swing frame 46, it may cause certain damage to the stopper 47 and the swing frame 46. Therefore, the stopper 47 sleeved on the slide bar 48 slides along the slide bar 48 in the third direction Z under the push of the swing frame 46, increasing the gap between the stopper 47 and the swing frame 46, so that the swing frame 46 can further rotate. At the same time, the stopper 47 can still provide resistance for the further rotation of the swing frame 46, and minimize the rotation amplitude of the swing frame 46.

[0133] In some embodiments, the gap between the stopper 47 and the swing frame 46 may be smaller than the rotation radius of the swing frame 46 .

[0134] On the one hand, the slide bar 48 can provide the block 47 with freedom in the third direction Z, flexibly adjust the gap size between the block 47 and the swing frame 46, and provide space for the rotation of the swing frame 46; on the other hand, the movement of the block 47 along the slide bar 48 in the third direction Z can provide a certain range of buffering when the swing frame 46 collides with the block 47, thereby reducing the damage to both the swing frame 46 and the block 47 when they interfere with each other.

[0135] According to some embodiments of the present application, a second elastic member 49 is disposed between the stopper 47 and the second connecting frame 42 , and the second elastic member 49 is disposed between the second connecting frame 42 and the stopper 47 in the third direction Z.

[0136] like Figure 6 As shown, the second elastic member 49 can be arranged along the slide bar 48 to provide elastic force between the stopper 47 and the second connecting frame 42. On the one hand, when the swing frame 46 rotates to contact the stopper 47 and has a tendency to continue rotating, the second elastic member 49 can allow the stopper 47 to move along the slide bar 48 in the third direction Z to release the restriction on the angle at which the swing frame 46 can rotate; on the other hand, when the swing frame 46 pushes the stopper 47, the second elastic member 49 can apply elastic force to the stopper 47 in the third direction Z to resist further rotation of the swing frame 46 to limit excessive rotation of the swing frame 46.

[0137] In some embodiments, one end of the second elastic member 49 is fixedly connected to the second connecting frame 42, and the other end is fixedly connected to the stop block 47; optionally, one of the two ends of the second elastic member 49 is fixedly connected to the second connecting frame 42, or is fixedly connected to the stop block 47; optionally, both ends of the second elastic member 49 are not fixedly connected, and when the second elastic member 49 is in a compressed state, one end abuts against the second connecting frame 42, and the other end abuts against the stop block 47.

[0138] The second elastic member 49 further provides a buffer for the collision between the swing frame 46 and the stopper 47 , which can provide a certain adjustment space for the rotation angle of the swing frame 46 and reduce the possibility of the swing frame 46 overturning due to excessive rotation.

[0139] According to some embodiments of the present application, the curved surface adaptive robot 1 includes a slide rail 50, which is connected to the surface of the robot base 10 and extends along a second direction Y, the second direction Y is perpendicular to the first direction X, and the slide rail 50 has a slot 51. The working component 40 includes a slider 52, which cooperates with the slot 51.

[0140] The working component 40 is connected to the surface of the robot base 10. In some embodiments, the working component 40 is fixedly connected to the surface of the robot base 10, and the distance between two relatively arranged working components 40 is fixed. In other embodiments, the working component 40 is movably connected to the surface of the robot base 10. In the case where multiple working components 40 are provided, at least one working component 40 can adapt to the surface movement of the robot 1 relative to the curved surface, and the distance between two relatively arranged working components 40 can be adjusted.

[0141] Specifically, Figure 7 for Figure 5 A view of the structure shown in FIG. 1 in a second direction Y, such as Figure 7 As shown, the surface of the robot base 10 may be provided with a slide rail 50, which extends along the second direction Y and has at least one slot 51. Accordingly, the working component 40 is provided with at least one slider 52 that matches the slot 51, and at least a portion of the slider 52 is accommodated in the slot 51, so that the working component 40 can slide in the second direction Y along the slide rail 50.

[0142] The opening of the card slot 51 can be oriented in multiple directions. For example, the slide rail 50 can be disposed on the side wall 12 of the robot base 10, and the opening of the card slot 51 can be oriented toward both ends of the third direction Z, or away from the side wall 12 along the first direction X. Alternatively, the slide rail 50 can be disposed on the bottom wall 11 and / or the top wall of the robot, and the opening of the card slot 51 can be oriented toward both ends of the first direction X, or away from the bottom wall 11 and / or the top wall along the third direction Z.

[0143] The matching slider 52 and the card slot 51 can realize the sliding adjustment of the working component 40 in the second direction Y, and flexibly adjust the distance between the two relatively arranged working components 40 in the second direction Y, so as to adapt to the requirements of working areas of different widths and improve the applicability of the curved surface to the robot 1 for working areas of different sizes.

[0144] According to some embodiments of the present application, the surface adaptive robot 1 includes a laser emitter 60 and a camera 70. The laser emitter 60 is arranged on the surface of the robot base 10 for emitting laser toward the working area, and the camera 70 is used for identifying the working object through laser.

[0145] like Figure 8 As shown, Figure 8 A curved surface adaptive robot 1 provided with a laser emitter 60 and a camera 70 is shown. In the embodiment of the present application, the area to be detected refers to the area that the working head 43 can detect. Taking ultrasonic flaw detection as an example, the area to be detected is the area that can be covered by the ultrasonic wave emitted by the working head 43. That is to say, the laser emitter 60 is connected to the surface of the robot base 10, and emits laser at a certain angle to the area to be detected on the working surface to identify the working area and the working object. Taking weld detection as an example, when there is no weld in the area to be detected, the laser appears as an approximate straight line on the working surface; when a weld appears in the area to be detected, since the weld usually appears as a structure protruding from the surrounding area on the working surface, the laser will appear as a bent line on the weld. Through the different patterns presented by the laser on the working surface, it can be determined whether the curved surface adaptive robot 1 walks near the weld.

[0146] The camera 70 is a structure on the curved surface adaptive robot 1 for identifying the working object. An image processor may be provided inside the camera 70 to analyze the image information acquired by the camera 70. Specifically, the camera 70 is connected to the surface of the robot base 10 to acquire image information of the area to be detected, that is, the laser state of the area to be detected, and confirm whether there is a working object in the area to be detected by analyzing the image information presented by the laser.

[0147] In some embodiments, only a camera 70 may be provided on the surface adaptive robot 1 to visualize the conditions of the working surface, which is helpful for the operator to observe the working conditions of the surface adaptive robot 1 on the ground and perform operational control on the operation of the surface adaptive robot 1 .

[0148] The combination of the laser transmitter 60 and the camera 70 can realize automatic positioning of the working area, improve the accuracy of identifying the working area and the efficiency of high-altitude operations.

[0149] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A curved surface adaptable robot, characterized in that: include: A robot base (10) comprises a bottom wall (11) and a side wall (12), wherein the bottom wall (11) is arranged opposite to a working surface, and the side wall (12) is perpendicular to the bottom wall (11); A walking wheel (30) for walking on a working surface, the walking wheel (30) comprising a wheel body (301) and a first rotating shaft (302), the first rotating shaft (302) being parallel to the diameter direction of the wheel body (301) and parallel to the bottom wall (11), and the wheel body (301) being capable of rotating around the first rotating shaft (302); A rotating rod (20), comprising a fixed end (201) and a rotating end (202), wherein the rotating end (202) is arranged on both sides of the fixed end (201) along the extension direction of the rotating rod (20), and the rotating end (202) can rotate around the fixed end (201) on a plane perpendicular to the bottom wall (11), and the rotating end (202) is connected to at least one of the walking wheels (30); The surface of the robot base (10) is provided with three support points, the projections of the three support points on the plane where the bottom wall (11) is located are not colinear, the support points are used to connect with the walking wheel (30) or the fixed end (201), and at least one of the three support points is connected to the fixed end (201).

2. The curved surface adaptable robot according to claim 1, characterized in that: The curved surface adaptable robot comprises: A pressure mechanism is used to provide pressure between the curved surface adaptation robot and the working surface, and the direction of the pressure points to the working surface.

3. The curved surface adaptable robot according to claim 2, characterized in that: The pressure mechanism comprises a magnet (33), the wheel body (301) is arranged on both sides of the magnet (33) in a radial direction perpendicular to the wheel body (301), and the magnetic adsorption force of the magnet (33) is directed toward the working surface.

4. The curved surface adaptable robot according to claim 2, characterized in that: The pressure mechanism comprises a fan, and the fan is used for exhausting air so that the curved surface adapts to the pressure on the robot toward the working surface.

5. The curved surface adaptable robot according to any one of claims 1 to 4, characterized in that: At least four of the walking wheels (30) include multi-directional wheels (32), and the multi-directional wheels (32) include a second rotating shaft (303) and a third rotating shaft (304), wherein the second rotating shaft (303) is perpendicular to the diameter direction of the wheel body (301), and the third rotating shaft (304) is perpendicular to the second rotating shaft (303), and intersects or is not aligned with the straight line where the first rotating shaft (302) is located, and the multi-directional wheels (32) can rotate around the third rotating shaft (304).

6. The curved surface adaptable robot according to claim 5, characterized in that: At least four of the walking wheels (30) include two driving wheels (31) and two multi-directional wheels (32); the driving wheels (31) are used to drive the curved surface adaptive robot to walk on the working surface; the first rotating shaft (302) of the driving wheel (31) is connected to the robot base (10); and the third rotating shaft (304) of the multi-directional wheel (32) is connected to the rotating end (202).

7. The curved surface adaptable robot according to any one of claims 1 to 6, characterized in that: The curved surface adaptable robot comprises: An operating component (40) is arranged on one side of the robot base (10) in a first direction (X) and is used to operate on a working surface, wherein the first direction (X) is parallel to the bottom wall (11).

8. The curved surface adaptable robot according to claim 7, characterized in that: The working assembly (40) comprises a first connecting frame (41), a second connecting frame (42) and a working head (43), wherein the first connecting frame (41) is connected to the robot base (10), the first connecting frame (41) and the second connecting frame (42) are slidably connected in a third direction (Z), and the working head (43) is arranged on a side of the second connecting frame (42) close to the working surface in the third direction (Z), and the third direction (Z) is perpendicular to the bottom wall (11).

9. The curved surface adaptable robot according to claim 8, characterized in that: The operating assembly (40) comprises a first elastic member (44), wherein one end of the first elastic member (44) in the third direction (Z) is connected to the first connecting frame (41), and the other end is connected to the second connecting frame (42).

10. The curved surface adaptable robot according to claim 8 or 9, characterized in that: The operating assembly (40) comprises a push rod (45), the push rod (45) comprises a driving portion (451) and a moving portion (452), the driving portion (451) is connected to the first connecting frame (41) and is used to drive the moving portion (452) to move in the third direction (Z); The second connecting frame (42) has a protruding portion (421), and the protruding portion (421) is arranged on the moving path of the moving portion (452).

11. The curved surface adaptable robot according to any one of claims 8 to 10, characterized in that: The working assembly (40) comprises a swing frame (46), wherein a first end (461) of the swing frame (46) in the second direction (Y) is connected to the working head (43), and a second end (462) of the swing frame (46) in the second direction (Y) is movably connected to the second connecting frame (42), and the second end (462) is capable of rotating on a plane perpendicular to the second direction (Y), and the second direction (Y) is perpendicular to the first direction (X) and parallel to the bottom wall (11).

12. The curved surface adaptable robot according to claim 11, characterized in that: The operating assembly (40) comprises a stopper (47), the stopper (47) being connected to the second connecting frame (42) and being arranged on a rotation path of the swing frame (46), and a gap being provided between the stopper (47) and the swing frame (46).

13. The curved surface adaptable robot according to claim 12, characterized in that: The operating assembly (40) includes a sliding rod (48), which is fixedly connected to the second connecting frame (42) and passes through the stopper (47) in the third direction (Z). The stopper (47) can move along the sliding rod (48) in the third direction (Z).

14. The curved surface adaptable robot according to claim 13, characterized in that: A second elastic member (49) is provided between the stopper (47) and the second connecting frame (42); the second elastic member (49) is provided between the second connecting frame (42) and the stopper (47) in the third direction (Z).

15. The curved surface adaptable robot according to any one of claims 7 to 14, characterized in that: The curved surface adaptable robot comprises: A slide rail (50), the slide rail (50) being connected to the surface of the robot base (10) and extending along the second direction (Y), the second direction (Y) being perpendicular to the first direction (X), the slide rail (50) having a slot (51); The operating assembly (40) comprises a slider (52), and the slider (52) cooperates with the card slot (51).

16. The curved surface adaptable robot according to any one of claims 7 to 15, characterized in that: The curved surface adaptable robot comprises: a laser emitter (60), the laser emitter (60) being arranged on a surface of the robot base (10) and being used for emitting laser light towards the working area; A camera (70), wherein the camera (70) is used to identify a work object through the laser.

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