Inspection operation climbing robot and inspection operation method thereof

Abstract

The invention discloses an inspection operation climbing robot which comprises two machine bodies which are connected through a three-degree-of-freedom parallel mechanism. A universal walking assembly and a holding arm assembly are arranged on the machine body; the universal walking assembly comprises Mecanum wheels installed on the machine body and a first motor used for driving the Mecanum wheels. The enclasping arm assembly comprises two enclasping arms which are arranged on the two sides of the machine body correspondingly and are adjustable in length, and one end of each enclasping arm is rotationally matched with the machine body through a first rotating shaft; a holding driving mechanism for driving the holding arm to rotate around the first rotating shaft is arranged on the machine body; the three-degree-of-freedom parallel mechanism comprises two moving platforms and three driving cylinders located between the two moving platforms. A cylinder body of the driving cylinder is connected with one moving platform through a hooke joint, and a telescopic rod of the driving cylinder is connected with the other moving platform through a hooke joint; and the two motion platforms are fixedly connected with the two machine bodies respectively. The invention further discloses a patrol operation method of the patrol operation climbing robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and specifically relates to an inspection climbing robot and an inspection method thereof. Background Art

[0002] With the rapid development of robotics technology, climbing robots have been widely used in fields such as pipeline inspection and equipment maintenance. However, current climbing robots generally have problems with insufficient flexibility and single functions, making it difficult to meet complex and diverse application requirements. For example, in existing climbing robots, the common adsorption-type design has insufficient adhesion and is difficult to provide sufficient support for the robot, especially when performing large loads or large torque operations. Although the embracing design has strong stability, it is usually unable to adapt to the travel requirements of complex transition areas such as bends and forks. These limitations restrict the application of existing climbing robots in complex scenarios.

[0003] In addition, there is still a lack of robots that can climb the outer corners of walls on the market. As an important application scenario, the outer corners of walls are often used to install monitoring equipment to obtain a larger field of view. During the installation or maintenance of equipment, manual operation is usually required, which is not only time-consuming and labor-intensive, but also poses certain safety hazards. Similarly, in the field of pipeline maintenance, when encountering emergencies such as pipeline leakage, the environment is often mixed with harmful gases and personnel cannot enter. At this time, an automated device that can independently complete the maintenance task is required, which can not only inspect the pipeline, but also perform necessary valve operations. In addition, in the maintenance of street lights or telephone poles, traditional methods usually rely on large equipment such as lifts. However, the use of lifts may interfere with traffic and cannot enter in some small environments, which greatly increases the difficulty of repairing equipment such as street lights and telephone poles. Based on the above technical background, the demand for climbing robots that can flexibly adapt to a variety of complex environments and have multifunctional operating capabilities is becoming increasingly urgent. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a patrol climbing robot and a patrol method thereof, which can effectively improve the climbing ability and can adapt to different application scenarios.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention firstly proposes a patrol climbing robot, comprising two fuselages, which are connected by a three-degree-of-freedom parallel mechanism;

[0007] The fuselage is provided with a universal travel assembly and a clamping arm assembly; the universal travel assembly includes a Mecanum wheel installed on the fuselage and a first motor for driving the Mecanum wheel; the clamping arm assembly includes two clamping arms respectively arranged on both sides of the fuselage and having adjustable lengths, one end of the clamping arm is rotationally matched with the fuselage through a first rotating shaft, and the other end of the clamping arm is installed with a clamping bracket, and the clamping bracket is installed with a clamping wheel; of the two fuselages, the clamping wheel arranged on one of the fuselages can move along the axial / longitudinal direction of the inspection object, and the clamping wheel arranged on the other fuselage can move along the circumferential / lateral direction of the inspection object; the fuselage is provided with a clamping drive mechanism for driving the clamping arm to rotate around the first rotating shaft;

[0008] The three-degree-of-freedom parallel mechanism includes two motion platforms and three driving cylinders located between the two motion platforms; the cylinder body of the driving cylinder and one of the motion platforms and the telescopic rod of the driving cylinder and the other motion platform are connected by Hooke's hinges respectively; the two motion platforms are fixedly connected to the two fuselages respectively.

[0009] Furthermore, the fuselage is provided with a running wheel frame, and the Mecanum wheel is rotatably mounted on the running wheel frame.

[0010] Furthermore, the first motors are arranged in one-to-one correspondence with the Mecanum wheels, and the first motors are transmission-connected to the corresponding Mecanum wheels.

[0011] Furthermore, the clamping arm adopts a telescopic drive cylinder, a cylinder body of the telescopic drive cylinder and the fuselage are rotationally matched through the first rotating shaft, and the clamping bracket is installed on the telescopic arm of the telescopic drive cylinder.

[0012] Furthermore, the clamping bracket is rotatably matched with the clamping arm via a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft; two support arms are provided on the clamping bracket, and the center lines of the two support arms are located on a plane perpendicular to the second rotating shaft; and the clamping wheel is respectively installed on each of the support arms.

[0013] Furthermore, the clamping wheel that can move along the axial / longitudinal direction of the inspection object adopts a cylindrical wheel, and the support arm is provided with a wheel axle that rotates with the cylindrical wheel, and the wheel axle of the cylindrical wheel is perpendicular to the first rotating axis; the clamping wheel that can move along the circumferential / lateral direction of the inspection object adopts a spherical wheel, and the support arm is provided with a spherical mounting groove that cooperates with the spherical wheel.

[0014] Furthermore, the clamping drive mechanism includes a second motor fixedly mounted on the fuselage and a worm gear matched with the second motor, wherein the axis of the worm gear is perpendicular to the first rotating shaft; a worm wheel is provided on the first rotating shaft, and the clamping arm rotates synchronously with the corresponding worm wheel; the worm wheels provided on the two first rotating shafts are both meshed with the worm gear.

[0015] Furthermore, a mounting base for mounting the mechanical arm is provided on the fuselage.

[0016] Furthermore, it also includes a control system, which includes a controller module, a first motor control module, a second motor control module, a drive cylinder control module, a clamping arm control module, an environment perception module and a data acquisition module;

[0017] The first motor control module, the second motor control module, the drive cylinder control module, the clasping arm control module and the data acquisition module are all connected to the controller module; the environment perception module and the image acquisition module are both connected to the data acquisition module;

[0018] The first motor control module controls the first motor to move according to the first motor control instruction issued by the controller module, so as to drive the corresponding fuselage to move in a set direction;

[0019] The second motor control module controls the second motor to move according to the second motor control instruction issued by the controller module, so as to drive the clasping arm to rotate around the first rotation axis relative to the corresponding fuselage;

[0020] The drive cylinder control module controls the action of the drive cylinder according to the drive cylinder control instruction issued by the controller module, so as to control the relative position and posture between the two fuselages;

[0021] The clasping arm control module controls the clasping arm movement according to the clasping arm control instruction issued by the controller module to adjust the length of the clasping arm;

[0022] The environment perception module includes a camera installed on the fuselage, and the data acquisition module collects size, shape, material and surrounding environment information of the inspection object through the environment perception module.

[0023] The present invention also proposes an inspection operation method of the inspection operation climbing robot as described above, including a climbing transition mode, a climbing mode, a bypass mode and a crossing mode;

[0024] The climbing transition mode comprises the following steps:

[0025] 11) Calculate the elongation length and clamping force of the clamping arm based on the size, shape and material of the inspection object;

[0026] 12) Start the universal travel components provided on the two fuselages to move forward toward the inspection object;

[0027] 13) When the first fuselage located in the front contacts the inspection object, the universal travel assembly on the first fuselage is closed; the lengths of the three drive cylinders in the three-degree-of-freedom parallel mechanism are adjusted so that the first fuselage is gradually lifted upward relative to the second fuselage, and the Mecanum wheels provided on the first fuselage are always kept in contact with the inspection object;

[0028] 14) After the first fuselage is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly on the first fuselage;

[0029] 15) Start the universal travel assembly on the first body to drive the first body to move along the inspection object; close the universal travel assembly on the second body, adjust the lengths of the three drive cylinders in the three-degree-of-freedom parallel mechanism, and make the second body move toward the inspection object and gradually cling to the inspection object;

[0030] 16) After the second fuselage is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly on the second fuselage;

[0031] The climbing mode is: after the front and rear fuselages are both attached to the inspection object by using the climbing transition mode, the clamping arm provided on the second fuselage is released; the universal walking assembly provided on the second fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it separated from the inspection object, the universal walking assembly provided on the first fuselage is started, and the robot is driven to move along the axial / longitudinal direction of the inspection object; or, the universal walking assembly provided on the second fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it in contact with the inspection object, and the universal walking assemblies provided on the two fuselages are started, so that the robot moves along the axial / longitudinal direction of the inspection object;

[0032] The detour mode is: after the front and rear fuselages are both attached to the inspection object by adopting the climbing transition mode, the clamping arm provided on the first fuselage is released; the universal walking assembly provided on the first fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it separated from the inspection object, the universal walking assembly provided on the second fuselage is started, and the robot is driven to move along the circumferential / lateral direction of the inspection object; or, the universal walking assembly provided on the first fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it in contact with the inspection object, and the universal walking assemblies provided on the two fuselages are started, so that the robot moves along the circumferential / lateral direction of the inspection object;

[0033] The leapfrogging mode includes the following steps:

[0034] 21) Use the bypass mode to move the robot to the side where the outer corners of the two inspection objects are located;

[0035] 22) Using the climbing mode, the robot is driven to move along the axial direction / longitudinal direction of the current inspection object until the first body is suspended in the air;

[0036] 23) Using the three-degree-of-freedom parallel mechanism to control the first fuselage to cling to the target inspection object, and using the clamping arm assembly on the first fuselage to clamp the target inspection object;

[0037] 24) Using the three-degree-of-freedom parallel mechanism to control the second fuselage to detach from the current inspection object and hang in the air until the second fuselage is parallel to the first fuselage;

[0038] 25) Using the climbing mode, the first body is driven to move along the axial direction / longitudinal direction of the target inspection object until the second body is attached to the target inspection object;

[0039] 26) Using the clamping arm assembly on the second fuselage to clamp the target inspection object;

[0040] The clamping wheel provided on the first body can move along the axial / longitudinal direction of the inspection object, and the clamping wheel provided on the second body can move along the circumferential / lateral direction of the inspection object;

[0041] The inspection object is a cylindrical structure or an outer angular structure.

[0042] The beneficial effects of the present invention are:

[0043] The inspection climbing robot of the present invention is provided with two fuselages and a three-degree-of-freedom parallel mechanism between the two fuselages. Thus, by respectively controlling the lengths of the three driving cylinders, the relative position and posture between the two fuselages can be flexibly adjusted, thereby meeting different requirements for the robot fuselage shape when inspecting on different inspection objects and between different inspection objects; by providing a universal walking assembly on the fuselage and using a first motor to drive the Mecanum wheel to rotate, movement in different directions can be achieved; by providing a clamping arm assembly on the fuselage and driving the two clamping arms to open or close through a clamping drive mechanism, the inspection object can be clamped, which can effectively improve the adhesion between the robot and the inspection object; by providing a movable arm assembly on one of the fuselages A clamping wheel that moves in the axial / longitudinal direction of the inspection object is provided on another body, and a clamping wheel that can move along the circumferential / lateral direction of the inspection object is provided; in this way, when the robot moves along the axial / longitudinal direction of the inspection object, the corresponding clamping wheel and clamping arm assembly do not need to release the inspection object, so that the robot is more stable when moving along the axial / longitudinal direction of the inspection object and will not separate from the inspection object; similarly, when the robot moves along the circumferential / lateral direction of the inspection object, the object's clamping wheel and clamping assembly do not need to release the inspection object, so that the robot is more stable when moving along the circumferential / lateral direction of the inspection object and will not separate from the inspection object; in summary, the inspection operation climbing robot of the present invention can effectively improve the climbing ability and can adapt to different application scenarios.

[0044] The inspection climbing robot of the present invention also has the following advantages:

[0045] 1) The size, shape and material of the inspection object in front are identified through the environmental perception module, and the length and clamping force of the clamping arm to be extended are calculated according to the detection results. It can adapt to inspection objects of different sizes, shapes and materials, and improve the applicability of the robot in various scenarios. Specifically, the inspection object can be a pipe or cylinder with a cylindrical structure, or a wall corner with an external angular structure, which will not be described in detail.

[0046] 2) During the valve tightening operation, the robot can accurately detect the position, shape and type of the valve through the environmental perception module, automatically adjust the clamping arm assembly and the three-degree-of-freedom parallel mechanism according to the detection data, and install a suitable robotic arm on the mounting seat. It can adapt to valves of various types and shapes and has strong operational flexibility.

[0047] 3) The clamping wheel is made of elastic material, so that the clamping force has a certain variation space. This design can not only effectively avoid damage to the inspection object caused by excessive clamping force, but also enhance the adaptability of the clamping arm assembly and improve the safety and stability of the operation.

[0048] 4) The clamping drive mechanism adopts a worm gear transmission mechanism, which uses the self-locking characteristics of the worm gear to effectively prevent loosening during the clamping process, thereby ensuring the long-term stability of the robot when operating on inspection objects such as pipes, poles or corners. The design of the worm gear transmission mechanism also makes the clamping action smoother, avoiding the impact of instantaneous excessive clamping force on the robot or the operating target.

[0049] 5) The environmental perception module provides real-time feedback on the shape and material information of the environment ahead. Combined with the dynamic adjustment of the robot control system, it can quickly respond to changes in complex environments and improve work efficiency. Through the collaborative work of the control system and the perception module, the entire process from detection to execution can be automated, greatly reducing the need for human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0051] Figure 1 This is a schematic diagram of the structure of the inspection climbing robot of the present invention;

[0052] Figure 2 is a schematic structural diagram of the second fuselage;

[0053] Figure 3 This is the axonometric view of the second fuselage;

[0054] Figure 4 is a schematic structural diagram of the first fuselage;

[0055] Figure 5 This is the axonometric view of the first fuselage;

[0056] Figure 6 It is a structural schematic diagram of a three-degree-of-freedom parallel mechanism;

[0057] Figure 7 This is the axonometric drawing of the three-degree-of-freedom parallel mechanism;

[0058] Figure 8 This is the principle block diagram of the control system;

[0059] Fig. 9 This is a state diagram of the inspection climbing robot climbing from the ground to the cylindrical structure in the climbing transition mode;

[0060] Fig.10 This is a state diagram of the inspection climbing robot climbing from the ground to the outer corner structure in the climbing transition mode;

[0061] Fig.11This is a state diagram of the inspection climbing robot in the crossing mode crossing from the current inspection object to the target inspection object; the angle between the current inspection object and the target inspection object is 90°;

[0062] Fig.12 This is a state diagram of a climbing robot in a patrol operation in a crossing mode, in which the climbing robot crosses from a current patrol object to a target patrol object; both the current patrol object and the target patrol object are part of a cross pipe.

[0063] Description of reference numerals:

[0064] 100-second fuselage; 101-first fuselage; 111-three-degree-of-freedom parallel mechanism mounting seat; 112-mounting seat; 113-power module; 114-controller module; 115-environmental perception module; 116-data acquisition module;

[0065] 200-universal travel assembly; 201-first motor; 202-driving sprocket; 203-chain; 204-driven sprocket; 205-Mecanum wheel; 206-bearing; 207-travel wheel frame; 208-first motor control module;

[0066] 300-holding arm assembly; 301-second motor; 302-holding arm; 303-telescopic arm; 304-holding bracket; 305-holding wheel; 306-worm gear; 307-worm; 308-second rotating shaft; 309-support arm; 310-wheel axle; 311-bearing; 312-spherical mounting groove; 313-second motor control module; 314-telescopic arm control module; 315-bearing cover;

[0067] 400 - three-degree-of-freedom parallel mechanism; 401 - first motion platform; 402 - first Hooke's hinge; 403 - drive cylinder; 404 - second Hooke's hinge; 405 - second motion platform; 406 - connecting seat; 407 - drive cylinder control module. DETAILED DESCRIPTION

[0068] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0069] like Figure 1As shown, the inspection climbing robot of this embodiment includes two fuselages, and the two fuselages are connected by a three-degree-of-freedom parallel mechanism 400. In this embodiment, a universal walking assembly 200 and a clamping arm assembly 300 are provided on the fuselage. Specifically, in this embodiment, the two fuselages are respectively a first fuselage 101 and a second fuselage 100. In this embodiment, a three-degree-of-freedom parallel mechanism mounting seat 111 is provided on the opposite sides of the first fuselage 101 and the second fuselage 100, and the two ends of the three-degree-of-freedom parallel mechanism 400 are respectively fixedly connected to the first fuselage 101 and the second fuselage 100 through the three-degree-of-freedom parallel mechanism mounting seat 111. In the preferred implementation of this embodiment, a mounting seat 112 for mounting a mechanical arm is provided on the fuselage, and a mechanical arm with different functions can be installed through the mounting seat 112 to meet different inspection operation requirements.

[0070] like Figure 2-5 As shown, the universal travel assembly 200 of this embodiment includes a Mecanum wheel 205 mounted on the fuselage and a first motor 201 for driving the Mecanum wheel 205. In this embodiment, the fuselage is provided with a travel wheel frame 207, and the Mecanum wheel 205 is rotatably mounted on the travel wheel frame 207 through a bearing 206. Specifically, there are multiple transmission connection modes between the first motor 201 and the Mecanum wheel 205, which can be a gear transmission mode, a synchronous belt transmission mode, and a chain transmission mode. In this embodiment, a driving sprocket 202 is provided on the output shaft of the first motor 201, a driven sprocket 204 is provided on the rotating shaft of the Mecanum wheel 205, and a chain 203 is provided between the driving sprocket 202 and the driven sprocket 204. Specifically, the fuselage of the present embodiment is provided with four Mecanum wheels 205, the first motors 201 are arranged in one-to-one correspondence with the Mecanum wheels 205, and the first motors 201 are transmission-connected with the corresponding Mecanum wheels 205, so that the rotation speed and direction of the four Mecanum wheels 205 can be controlled respectively by the four first motors 201, so that the fuselage can be driven to move in any direction by the four Mecanum wheels 205.

[0071] The clamping arm assembly 300 of this embodiment includes two clamping arms 302 respectively arranged on both sides of the fuselage and having adjustable lengths. One end of the clamping arm 302 is rotatably matched with the fuselage through a first rotating shaft (not shown in the figure), and the other end of the clamping arm 302 is installed with a clamping bracket 304, and the clamping bracket 304 is installed with a clamping wheel 305. Specifically, the clamping wheels 305 installed on the two fuselages are different. In this embodiment, the clamping wheel 305 arranged on one of the two fuselages can move along the axial / longitudinal direction of the inspection object, and the clamping wheel 305 arranged on the other fuselage can move along the circumferential / lateral direction of the inspection object.

[0072] In this embodiment, the clamping arm 302 adopts a telescopic drive cylinder, and the cylinder body of the telescopic drive cylinder is rotationally matched with the fuselage through the first rotating shaft, and a clamping bracket 304 is installed on the telescopic arm 303 of the telescopic drive cylinder. The clamping bracket 304 of this embodiment is rotationally matched with the clamping arm 302 and the telescopic arm 303 through the second rotating shaft 308, and the second rotating shaft 308 is parallel to the first rotating shaft. Two supporting arms 309 are provided on the clamping bracket 304, and the center lines of the two supporting arms 309 are both located on a plane perpendicular to the second rotating shaft 308, and each supporting arm 309 is respectively installed with a clamping wheel 305. In this way, two clamping wheels 305 are respectively provided at intervals on the clamping arm 302 on each side of the fuselage. That is, a total of four clamping wheels 305 are provided on the two clamping arms 302 respectively located on both sides of the fuselage, and the rotation position can be freely adjusted through the second rotating shaft 308, so that the four clamping wheels 305 can all contact the surface of the inspection object and clamp the inspection object, which can be suitable for the clamping requirements of inspection objects with various surface shapes.

[0073] In this embodiment, the clamping wheel 305 that can move along the axial / longitudinal direction of the inspection object adopts a cylindrical wheel, and the arm 309 is provided with a wheel shaft 310 that rotates with the cylindrical wheel. The wheel shaft 310 rotates with the arm 309 through a bearing 311, and the wheel shaft 310 of the cylindrical wheel is perpendicular to the first rotating shaft and the second rotating shaft 308. In this embodiment, the clamping wheel 305 that can move along the circumferential / lateral direction of the inspection object adopts a ball wheel, and the arm 309 is provided with a spherical mounting groove 312 that cooperates with the ball wheel, so that the ball wheel can rotate in any direction.

[0074] The fuselage of this embodiment is provided with a clamping drive mechanism for driving the clamping arm 302 to rotate around the first rotating shaft. Specifically, the clamping drive mechanism of this embodiment includes a second motor 301 fixedly mounted on the fuselage and a worm 306 that is in transmission cooperation with the second motor 301, and the axis of the worm 306 is perpendicular to the first rotating shaft. A worm wheel 307 is provided on the first rotating shaft, and the clamping arm 302 rotates synchronously with the corresponding worm wheel 307; the worm wheels 307 provided on the two first rotating shafts are both meshed with the worm 306. Specifically, the worm 306 of this embodiment is located between the two worm wheels 307, and the worm 306 is in rotation cooperation with the fuselage, and a bearing cover 315 is installed on the top surface of the fuselage corresponding to the worm 306.

[0075] like Figure 6-7As shown, the three-degree-of-freedom parallel mechanism 400 of this embodiment includes two motion platforms and three drive cylinders 403 located between the two motion platforms. The cylinder body of the drive cylinder 403 and one of the motion platforms and the telescopic rod of the drive cylinder and the other motion platform are connected by Hooke's hinges respectively; the two motion platforms are fixedly connected to the two fuselages respectively. Specifically, the two motion platforms are respectively the first motion platform 401 and the second motion platform 405, the first motion platform 401 and the telescopic rod of the drive cylinder 403 are connected by the first Hooke's hinge 402, and the second motion platform 405 and the cylinder body of the drive cylinder 403 are connected by the second Hooke's hinge 404. The three drive cylinders 403 are evenly distributed in a ring between the first motion platform 401 and the second motion platform 405. In this way, by adjusting the lengths of the three drive cylinders 403, the relative position and posture between the first motion platform 401 and the second motion platform 405 can be adjusted. In this embodiment, a connecting seat 406 is respectively provided on the opposite side of the first motion platform 401 and the second motion platform 405. The first motion platform 401 is fixedly connected to the three-degree-of-freedom parallel mechanism mounting seat 111 set on the first fuselage 101 through the connecting seat 406, and the second motion platform 405 is fixedly connected to the three-degree-of-freedom parallel mechanism mounting seat 111 set on the second fuselage 100 through the connecting seat 406.

[0076] like Figure 8 As shown, the inspection climbing robot of this embodiment also includes a control system, which includes a controller module 114, a first motor control module 208, a second motor control module 313, a drive cylinder control module 407, a clasping arm control module 314, an environment perception module 115, and a data acquisition module 116. Specifically, the first motor control module 208, the second motor control module 313, the drive cylinder control module 407, the clasping arm control module 314, and the data acquisition module 116 are all connected to the controller module 114; the environment perception module 115 is connected to the data acquisition module 116. A power supply module 113 is installed on the fuselage of this embodiment, which is used to supply power to the control system and various electrical components.

[0077] Specifically, the first motor control module 208 controls the first motor 201 to move according to the first motor control instruction issued by the controller module 114, so as to drive the corresponding fuselage to move in the set direction. The second motor control module 313 controls the second motor 301 to move according to the second motor control instruction issued by the controller module 114, so as to drive the clamping arm 302 to rotate relative to the corresponding fuselage around the first rotation axis. The drive cylinder control module 407 controls the drive cylinder 403 to perform telescopic action according to the drive cylinder control instruction issued by the controller module 114, so as to control the relative position and posture between the two fuselages. The clamping arm control module 314 controls the clamping arm 302 to perform telescopic action according to the clamping arm control instruction issued by the controller module 114, so as to adjust the length of the clamping arm 302. The environment perception module 115 includes a camera installed on the fuselage, and the data acquisition module 116 collects the size, shape, material and surrounding environment information of the inspection object through the environment perception module 115.

[0078] The specific implementation method of the inspection operation method of the inspection operation climbing robot is described in detail below in conjunction with the inspection operation climbing robot of this embodiment.

[0079] The inspection operation method of the inspection climbing robot in this embodiment includes a climbing transition mode, a climbing mode, a bypass mode and a crossing mode.

[0080] (1) Climbing transition mode

[0081] The climbing transition mode is intended to enable the robot to cling to the inspection object. Specifically, the climbing transition mode includes the following steps.

[0082] 11) The data acquisition module 116 collects the size, shape, material and surrounding environment information of the inspection object through the environment perception module 115. Based on the size, shape and material of the inspection object, the controller module 114 calculates the extension length and the clamping force of the clamping arm 302.

[0083] 12) Start the universal travel components 200 provided on the two fuselages to move forward toward the inspection object.

[0084] 13) When the first fuselage 101 located in the front contacts the inspection object, the universal walking assembly 200 on the first fuselage 101 is closed; the lengths of the three driving cylinders 403 in the three-degree-of-freedom parallel mechanism 400 are adjusted so that the first fuselage 101 is gradually lifted upward relative to the second fuselage 100, and the Mecanum wheels 205 provided on the first fuselage 101 always keep in contact with the inspection object.

[0085] 14) After the first body 101 is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly 300 on the first body 101.

[0086] 15) Start the universal walking assembly 200 provided on the first body 101, close the universal walking assembly 200 on the second body 100, and drive the first body 101 to move along the inspection object; adjust the length of the three driving cylinders 403 in the three-degree-of-freedom parallel mechanism 400, so that the second body 100 moves toward the inspection object and gradually clings to the inspection object.

[0087] 16) After the second body 100 is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly 300 on the second body 100.

[0088] Specifically, the inspection object may be a cylindrical structure or an outer angular structure. Cylindrical structures include but are not limited to pipes, cylinders, and round rods, such as Fig. 9 As shown; the external corner structure includes wall corners, etc. Fig.10 shown.

[0089] (2) Climbing mode

[0090] The climbing mode is intended to move the robot along the axial / longitudinal direction of the inspection object. Specifically, the climbing mode is: after the front and rear fuselages are both attached to the inspection object by using the climbing transition mode, the clamping arm 302 provided on the second fuselage 100 is released; the universal walking assembly 200 provided on the second fuselage 100 is controlled by the three-degree-of-freedom parallel mechanism 400 to keep it separated from the inspection object, and the universal walking assembly 200 provided on the first fuselage 101 is started to drive the robot to move along the axial / longitudinal direction of the inspection object. Of course, in some other embodiments, the universal walking assembly 200 provided on the second fuselage 100 can also be controlled by the three-degree-of-freedom parallel mechanism 400 to keep it in contact with the inspection object, and the universal walking assemblies 200 provided on the two fuselages are started to move the robot along the axial / longitudinal direction of the inspection object.

[0091] Specifically, for cylindrical structures, the climbing mode can drive the robot to move along the axial direction of the inspection object; for external angular structures, the climbing mode can drive the robot to move along the longitudinal direction of the edges formed by the external corners.

[0092] (3) Bypass mode

[0093] The detour mode is intended to move the robot along the circumferential / lateral direction of the inspection object. Specifically, the detour mode is: after the front and rear fuselages are both attached to the inspection object by using the climbing transition mode, the clamping arm 302 provided on the first fuselage 101 is released; the universal walking assembly 200 provided on the first fuselage 101 is controlled to keep away from the inspection object by using the three-degree-of-freedom parallel mechanism 400, and the universal walking assembly 200 provided on the second fuselage 100 is started to drive the robot to move along the circumferential / lateral direction of the inspection object. Of course, in some other embodiments, the universal walking assembly 200 provided on the first fuselage 101 can also be controlled to keep in contact with the inspection object by using the three-degree-of-freedom parallel mechanism 400, and the universal walking assembly 200 provided on the two fuselages is started to move the robot along the circumferential / lateral direction of the inspection object.

[0094] Specifically, for cylindrical structures, the bypass mode can drive the robot to move along the circumferential direction of the inspection object; for external angular structures, the climbing mode can drive the robot to move along the lateral direction perpendicular to the edges formed by the external corners.

[0095] (4) Leapfrog mode

[0096] The purpose of the leap mode is to enable the robot to move across two different inspection objects. Figure 11-12 As shown, the leap mode includes the following steps.

[0097] 21) Use the bypass mode to move the robot to the side where the outer corners of the two inspection objects are located;

[0098] 22) The robot is driven to move along the axial direction / longitudinal direction of the current inspection object 1 in a climbing mode until the first body 101 is suspended in the air.

[0099] 23) The three-degree-of-freedom parallel mechanism 400 is used to control the first body 101 to cling to the target inspection object 2, and the clamping arm assembly on the first body 101 is used to clamp the target inspection object 2.

[0100] 24) The three-degree-of-freedom parallel mechanism 400 is used to control the second body 100 to detach from the current inspection object 1 and to be suspended in the air until the second body 100 is parallel to the first body 101 .

[0101] 25) The first body 101 is driven to move along the axial direction / longitudinal direction of the inspection target object 2 by using the climbing mode until the second body 100 is attached to the inspection target object 2 .

[0102] 26) Use the clamping arm assembly 300 on the second fuselage 100 to clamp the target inspection object 2.

[0103] In this embodiment, the clamping wheel 305 provided on the first body 101 can move along the axial / longitudinal direction of the inspection object, and the clamping wheel 305 provided on the second body 100 can move along the circumferential / lateral direction of the inspection object. Specifically, the clamping wheel 305 that can move along the axial / longitudinal direction of the inspection object adopts a cylindrical wheel, and the clamping wheel 305 that can move along the circumferential / lateral direction of the inspection object adopts a spherical wheel. The inspection object is a cylindrical structure or an external angular structure, and the cylindrical structure includes but is not limited to pipes, cylinders, and round rods, etc.; the external angular structure includes wall corners, etc.

[0104] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A climbing robot for inspection work, characterized in that: It comprises two fuselages, and the two fuselages are connected by a three-degree-of-freedom parallel mechanism; The fuselage is provided with a universal travel assembly and a clamping arm assembly; the universal travel assembly includes a Mecanum wheel installed on the fuselage and a first motor for driving the Mecanum wheel; the clamping arm assembly includes two clamping arms respectively arranged on both sides of the fuselage and having adjustable lengths, one end of the clamping arm is rotationally matched with the fuselage through a first rotating shaft, and the other end of the clamping arm is installed with a clamping bracket, and the clamping bracket is installed with a clamping wheel; of the two fuselages, the clamping wheel arranged on one of the fuselages can move along the axial / longitudinal direction of the inspection object, and the clamping wheel arranged on the other fuselage can move along the circumferential / lateral direction of the inspection object; the fuselage is provided with a clamping drive mechanism for driving the clamping arm to rotate around the first rotating shaft; The three-degree-of-freedom parallel mechanism includes two motion platforms and three driving cylinders located between the two motion platforms; the cylinder body of the driving cylinder and one of the motion platforms and the telescopic rod of the driving cylinder and the other motion platform are connected by Hooke's hinges respectively; the two motion platforms are fixedly connected to the two fuselages respectively.

2. The inspection climbing robot according to claim 1, characterized in that: The fuselage is provided with a running wheel frame, and the Mecanum wheel is rotatably mounted on the running wheel frame.

3. The inspection climbing robot according to claim 1, characterized in that: The first motors are arranged in one-to-one correspondence with the Mecanum wheels, and the first motors are transmission-connected to the corresponding Mecanum wheels.

4. The inspection climbing robot according to claim 1, characterized in that: The clamping arm adopts a telescopic drive cylinder, a cylinder body of the telescopic drive cylinder and the fuselage are rotationally matched through the first rotating shaft, and the clamping bracket is installed on the telescopic arm of the telescopic drive cylinder.

5. The inspection climbing robot according to claim 1, characterized in that: The clamping bracket is rotatably matched with the clamping arm via a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft; two supporting arms are provided on the clamping bracket, and the center lines of the two supporting arms are located on a plane perpendicular to the second rotating shaft; and the clamping wheel is respectively installed on each of the supporting arms.

6. The inspection climbing robot according to claim 1, characterized in that: The clamping wheel that can move along the axial / longitudinal direction of the inspection object adopts a cylindrical wheel, and the support arm is provided with a wheel axle that rotates with the cylindrical wheel, and the wheel axle of the cylindrical wheel is perpendicular to the first rotating axis; the clamping wheel that can move along the circumferential / lateral direction of the inspection object adopts a spherical wheel, and the support arm is provided with a spherical mounting groove that cooperates with the spherical wheel.

7. The inspection climbing robot according to claim 1, characterized in that: The clamping drive mechanism includes a second motor fixedly mounted on the fuselage and a worm gear matched with the second motor, wherein the axis of the worm gear is perpendicular to the first rotating shaft; a worm wheel is provided on the first rotating shaft, and the clamping arm rotates synchronously with the corresponding worm wheel; the worm wheels provided on the two first rotating shafts are both meshed with the worm gear.

8. The inspection climbing robot according to claim 1, characterized in that: The fuselage is provided with a mounting seat for mounting the mechanical arm.

9. The inspection climbing robot according to any one of claims 1 to 8, characterized in that: It also includes a control system, which includes a controller module, a first motor control module, a second motor control module, a drive cylinder control module, a clamping arm control module, an environment perception module and a data acquisition module; The first motor control module, the second motor control module, the drive cylinder control module, the clasping arm control module and the data acquisition module are all connected to the controller module; the environment perception module is connected to the data acquisition module; The first motor control module controls the first motor to move according to the first motor control instruction issued by the controller module, so as to drive the corresponding fuselage to move in a set direction; The second motor control module controls the second motor to move according to the second motor control instruction issued by the controller module, so as to drive the clasping arm to rotate around the first rotation axis relative to the corresponding fuselage; The drive cylinder control module controls the action of the drive cylinder according to the drive cylinder control instruction issued by the controller module, so as to control the relative position and posture between the two fuselages; The clasping arm control module controls the clasping arm movement according to the clasping arm control instruction issued by the controller module to adjust the length of the clasping arm; The environment perception module includes a camera installed on the fuselage, and the data acquisition module collects size, shape, material and surrounding environment information of the inspection object through the environment perception module.

10. An inspection operation method of the inspection operation climbing robot according to any one of claims 1 to 9, characterized in that: Including climbing transition mode, climbing mode, bypass mode and crossing mode; The climbing transition mode comprises the following steps: 11) Calculate the elongation length and clamping force of the clamping arm based on the size, shape and material of the inspection object; 12) Start the universal travel components provided on the two fuselages to move forward toward the inspection object; 13) When the first fuselage located in the front contacts the inspection object, the universal travel assembly on the first fuselage is closed; The lengths of the three drive cylinders in the three-degree-of-freedom parallel mechanism are adjusted so that the first fuselage is gradually lifted upward relative to the second fuselage, and the Mecanum wheels provided on the first fuselage are always kept in close contact with the inspection object; 14) After the first fuselage is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly on the first fuselage; 15) Start the universal travel assembly on the first body to drive the first body to move along the inspection object; close the universal travel assembly on the second body, adjust the lengths of the three drive cylinders in the three-degree-of-freedom parallel mechanism, and make the second body move toward the inspection object and gradually cling to the inspection object; 16) After the second fuselage is completely attached to the inspection object, the inspection object is tightly grasped by the grasping arm assembly on the second fuselage; The climbing mode is: after the front and rear fuselages are both attached to the inspection object by using the climbing transition mode, the clamping arm provided on the second fuselage is released; the universal walking assembly provided on the second fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it separated from the inspection object, the universal walking assembly provided on the first fuselage is started, and the robot is driven to move along the axial / longitudinal direction of the inspection object; or, the universal walking assembly provided on the second fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it in contact with the inspection object, and the universal walking assemblies provided on the two fuselages are started, so that the robot moves along the axial / longitudinal direction of the inspection object; The detour mode is: after the front and rear fuselages are both attached to the inspection object by adopting the climbing transition mode, the clamping arm provided on the first fuselage is released; the universal walking assembly provided on the first fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it separated from the inspection object, the universal walking assembly provided on the second fuselage is started, and the robot is driven to move along the circumferential / lateral direction of the inspection object; or, the universal walking assembly provided on the first fuselage is controlled by the three-degree-of-freedom parallel mechanism to keep it in contact with the inspection object, and the universal walking assemblies provided on the two fuselages are started, so that the robot moves along the circumferential / lateral direction of the inspection object; The leapfrogging mode includes the following steps: 21) Use the bypass mode to move the robot to the side where the outer corners of the two inspection objects are located; 22) Using the climbing mode, the robot is driven to move along the axial direction / longitudinal direction of the current inspection object until the first body is suspended in the air; 23) Using the three-degree-of-freedom parallel mechanism to control the first fuselage to cling to the target inspection object, and using the clamping arm assembly on the first fuselage to clamp the target inspection object; 24) Using the three-degree-of-freedom parallel mechanism to control the second fuselage to detach from the current inspection object and hang in the air until the second fuselage is parallel to the first fuselage; 25) Using the climbing mode, the first body is driven to move along the axial direction / longitudinal direction of the target inspection object until the second body is attached to the target inspection object; 26) Using the clamping arm assembly on the second fuselage to clamp the target inspection object; The clamping wheel provided on the first body can move along the axial / longitudinal direction of the inspection object, and the clamping wheel provided on the second body can move along the circumferential / lateral direction of the inspection object; The inspection object is a cylindrical structure or an outer angular structure.

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