Multifunctional climbing robot

Abstract

The invention relates to the technical field of robot equipment, in particular to a multifunctional climbing robot which comprises a moving unit, a climbing unit and a control unit. The driving unit can drive the moving unit to move on the climbing straight pipe; a robot; the driving unit comprises a front driving mechanism, a rear driving mechanism and a rotary driving mechanism mounted on the base; when the front driving mechanism and the rear driving mechanism are attached to the surface of the climbing straight pipe and the rotating driving mechanism does not make contact with the climbing straight pipe, the driving unit can move up and down in the axis direction of the climbing straight pipe. When the front driving mechanism and the rear driving mechanism do not make contact with the climbing straight pipe and the rotary driving mechanism is attached to the surface of the climbing straight pipe, the driving unit can rotate along the center of the climbing straight pipe. The functions of up-down moving and rotating operation of the robot can be achieved, the robot can be installed on the installation platform in a multi-station mode, and the robot is suitable for operation in complex environments and scenes.

Description

Technical Field

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

[0002] Columnar structures are widely found in buildings, and these structures are usually very tall. Therefore, when problems arise with these structures and various operations need to be performed on their surfaces, climbing robots are needed to complete them, such as welding, spraying or cleaning the surfaces of these structures. In order to achieve the movement of the robot on the structure, the robot must be in an inclined or even vertical state. This places high demands on the structure of the new climbing robot, such as high work efficiency, the ability to adapt to the size of the columnar structure, a certain load capacity, and the ability to complete related tasks stably and safely.

[0003] After searching, the relevant prior art and patent documents are as follows:

[0004] Prior art 1: The University of Munich in Germany has developed a climbing robot UT-PCR that uses three sets of foot wheels to clamp the surface of a column to achieve movement. The clamping method is adopted, and the overall operation cannot achieve smooth operation, which affects the operation accuracy;

[0005] Patent document 1: Application No. 202410638791.4, an embracing climbing robot based on double-wheel engagement;

[0006] Patent document 2: Application number 202311651207.0, an intelligent vertical climbing robot;

[0007] Patent document 1 uses a double-wheel interlocking structure with a connecting chain, which has a larger climbing size range than other climbing robots, but it can only achieve the climbing function and is not practical for scenarios such as welding and spraying.

[0008] Patent document 2 uses a climbing and lifting robot to replace the traditional water column spraying. The vertical power mechanism realizes the overall movement to change different working heights, and the horizontal power mechanism realizes a full circle of movement. However, the overall structure is relatively large, and the vertical orbit runs around the track, which limits the application scenarios and cannot be promoted on a large scale.

[0009] Therefore, it is necessary to find a technical solution that can not only realize the robot's climbing movements, but also has the ability to rotate to meet the needs of different scenarios such as welding and spraying. Summary of the invention

[0010] In order to solve the above problems, the present invention proposes a multifunctional climbing robot.

[0011] A multifunctional climbing robot, comprising:

[0012] A mobile unit, the mobile unit comprising a left mounting frame and a right mounting frame, wherein a combined body of the left mounting frame and the right mounting frame connected together has an inner cavity;

[0013] A plurality of driving units are evenly installed in the inner cavity of the assembly in a circumferential direction, and the driving units can drive the moving unit to move on the climbing straight pipe;

[0014] A robot, which is mounted on the mobile unit and follows the movement of the mobile unit to perform related operations;

[0015] The driving unit comprises a base, a front driving mechanism and a rear driving mechanism arranged symmetrically on both sides of the base, and a rotating driving mechanism mounted on the base;

[0016] When the front drive mechanism and the rear drive mechanism are attached to the surface of the climbing straight pipe and the rotary drive mechanism does not contact the climbing straight pipe, the drive unit can move up and down along the axis direction of the climbing straight pipe;

[0017] When the front driving mechanism and the rear driving mechanism do not contact the climbing straight pipe and the rotary driving mechanism is attached to the surface of the climbing straight pipe, the driving unit can perform a rotary motion along the center of the climbing straight pipe.

[0018] The beneficial effects of the present invention are as follows: the present invention utilizes the front drive mechanism, the rear drive mechanism and the rotation drive mechanism to realize the functions of the robot's up and down movement and rotation operation, and the robot can be installed in multiple positions on the installation platform, and is suitable for operations in complex environments and scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the overall structure of the multifunctional climbing robot of the present invention;

[0021] Figure 2 A top view of the overall structure of the multifunctional climbing robot of the present invention;

[0022] Figure 3 is a schematic diagram of the overall structure of the drive unit of the present invention;

[0023] Figure 4 is a schematic diagram of the up and down movement of the driving unit of the present invention;

[0024] Figure 5 is a schematic diagram of the rotation of the driving unit of the present invention;

[0025] Figure 6 A schematic diagram of the operation of the multifunctional climbing robot of the present invention;

[0026] Figure numerals: 1. Multifunctional climbing robot; 2. Mobile unit; 21. Left mounting frame; 22. Right mounting frame; 23. Mounting platform; 3. Driving unit; 4. Front driving mechanism; 41. First front connecting rod; 42. First rear connecting rod; 43. Front electric driving wheel; 44. First cylinder; 411. First connecting rod rotating shaft; 421. Second connecting rod rotating shaft; 441. First cylinder shaft; 442. First connecting shaft; 5. Rotating driving mechanism; 51. Electric cylinder; 52. Rotating wheel; 53. Rotating power platform; 6. Rear driving mechanism; 61. Second connecting rod rotating shaft Rod; 62, second rear connecting rod; 63, rear electric drive wheel; 64, second cylinder; 611, second cylinder shaft; 621, fourth connecting rod shaft; 641, third cylinder shaft; 642, second connecting shaft; 7, base; 71a, mounting plate one; 71b, mounting plate two; 72a, motor one; 72b, motor two; 73a, input pulley one; 73b, input pulley two; 74a, synchronous belt one; 74b, synchronous belt two; 75a, output pulley one; 75b, output pulley two; 8, robot; 81, end tool; 9, climbing straight pipe. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0028] like Figures 1 to 6 As shown, a multifunctional climbing robot comprises:

[0029] The mobile unit 2 has a mounting platform 23 at its upper end. The mobile unit 2 includes a completely identical left mounting frame 21 and right mounting frame 22. The left mounting frame 21 and the right mounting frame 22 are connected in a detachable manner, and the left mounting frame 21 and the right mounting frame 22 can be adjusted according to the diameter of different climbing straight pipes. The whole after the left mounting frame 21 and the right mounting frame 22 are connected has an inner cavity;

[0030] A plurality of driving units 3 are evenly installed in the inner cavity of the assembly in a circumferential direction, and the driving units 3 can drive the moving unit 2 to move on the climbing straight pipe 9;

[0031] A robot 8 is installed on the mobile unit 2 and follows the movement of the mobile unit 2 to perform related operations. The robot 8 is usually an industrial robot with 6 degrees of freedom, but may also be other types of industrial robots;

[0032] like Figure 2 As shown, the driving units 3 of the present invention are arranged equidistantly along the circumference of the climbing straight pipe.

[0033] The driving unit 3 comprises a base 7, a front driving mechanism 4 and a rear driving mechanism 6 arranged on the base 7 in a symmetrical manner, and a rotation driving mechanism 5 installed on the base 7;

[0034] like Figure 4 As shown, when the front drive mechanism 4 and the rear drive mechanism 6 are attached to the surface of the climbing straight tube 9 and the rotary drive mechanism 5 does not contact the climbing straight tube 9, the rotary drive mechanism 5 can be retracted, and the drive unit 3 can move up and down along the axis direction of the climbing straight tube 9;

[0035] like Figure 5 As shown, when the front drive mechanism 4 and the rear drive mechanism 6 do not contact the climbing straight pipe 9, that is, the front drive mechanism 4 and the rear drive mechanism 6 are retracted, and the rotation drive mechanism 5 is attached to the surface of the climbing straight pipe 9, the drive unit 3 can rotate along the center of the climbing straight pipe 9;

[0036] The present invention utilizes the front drive mechanism 4, the rear drive mechanism 6 and the rotation drive mechanism 5 to realize the up and down movement and rotation operation functions of the robot 8. It can be installed in multiple positions on the installation platform 23 according to actual needs and is suitable for operations in complex environments and scenes.

[0037] The front driving mechanism 4 and the rear driving mechanism 6 have exactly the same structure.

[0038] like Figure 3 and Figure 4 As shown, the front drive mechanism 4 includes a first front link 41 rotatably connected to the base 7, a first rear link 42 rotatably connected to the first front link 41, a front electric drive wheel 43 installed on the first rear link 42, and a first cylinder 44 whose two ends are rotatably connected between the first front link 41 and the first rear link 42, and the first cylinder 44 drives the first rear link 42 to rotate around the first front link 41.

[0039] like Figure 3 As shown, the two ends of the first front link 41 are respectively connected to a first link shaft 411 rotatably matched with the base 7 and a second link shaft 421 rotatably matched with the first rear link 42, and the first cylinder 44 drives the first rear link 42 to rotate around the second link shaft 421.

[0040] A first cylinder shaft 441 connected to the first front connecting rod 41 is installed at the bottom of the first cylinder 44 , and a first connecting shaft 442 connected to the first rear connecting rod 42 is installed at the front of the output end of the first cylinder 44 .

[0041] like Figure 3As shown, the rotary drive mechanism 5 includes an electric cylinder 51 connected to a base 7 to ensure the accuracy of operation and torque control, a rotary power platform 53 installed at the output end of the electric cylinder 51, and four rotary wheels 52 symmetrically installed on the rotary power platform 53. The rotary power platform 53 is internally provided with a power system for driving the rotary wheels 52 to move.

[0042] like Figure 3 As shown, the rear drive mechanism 6 includes a second connecting rod 61, a second rear connecting rod 62 rotatably connected to the second connecting rod 61, a rear electric drive wheel 63 arranged on the second rear connecting rod 62, and a second cylinder 64 that drives the second rear connecting rod 62 to rotate around the second rear connecting rod 62.

[0043] The rear drive mechanism 6 also includes a second cylinder shaft 611 respectively connected to the two ends of the second connecting rod 61, a fourth connecting rod rotating shaft 621, a second rear connecting rod 62 rotatably connected to the fourth connecting rod rotating shaft 621, a second cylinder 64 with both ends rotatably connected between the second connecting rod 61 and the second rear connecting rod 62, a second connecting shaft 642 arranged on the second rear connecting rod 62 and rotatably connected to the output end of the second cylinder 64, and a third cylinder shaft 641 arranged on the second connecting rod 61 and rotatably connected to the second cylinder 64.

[0044] like Figure 3 As shown, the base 7 includes a motor 1 72 a for driving the first front connecting rod 41 to rotate around the base 7 and a motor 2 72 b for driving the second connecting rod 61 to rotate around the base 7 .

[0045] Specifically, the present invention adopts a synchronous belt transmission method to achieve power transmission between motor 1 72a and motor 2 72b.

[0046] Specifically, the base 7 also includes a mounting plate 71a, a mounting plate 71b, an input pulley 73a and an input pulley 73b respectively connected to the motor 72a and the motor 72b, an output pulley 75a installed on the first connecting rod shaft 411 and connected to the input pulley 73a through a synchronous belt 74a, and an output pulley 75b installed on the second cylinder shaft 611 and connected to the input pulley 73b through a synchronous belt 74b. The motor 72a and the motor 72b are respectively arranged on the mounting plate 71a and the mounting plate 71b.

[0047] The motor 72a transmits torque to the output pulley 75a through the input pulley 73a installed thereon by means of a synchronous belt 74a, thereby driving the front drive mechanism 4 to rotate, and the first cylinder 44 drives the first rear connecting rod 42 to swing, thereby adjusting the position of the front electric drive wheel 43, wherein the front electric drive wheel 43 has its own power system and does not rely on external force to move.

[0048] The end of the robot 8 is provided with an end tool 81, and the end tool 81 is a welding gun or a spray gun, which can be switched according to the actual scenario.

[0049] When the mobile unit 2 is installed on the climbing straight pipe 9, the front driving mechanism 4 of the driving unit 3 works to drive the robot 8 installed on the mobile unit 2 to move upward to perform operations. When rotation operation is required, the rotating driving mechanism 5 is lowered to contact the surface of the climbing straight pipe 9, and then the front driving mechanism 4 and the rear driving mechanism 6 of the driving unit 3 are retracted to drive the mobile unit 2 to rotate, thereby realizing the rotation operation of the robot 8.

[0050] When the operation is completed, the front drive mechanism 4 and the rear drive mechanism 6 are lowered to contact the surface of the climbing straight pipe 9, and the rotary drive mechanism 5 is retracted to drive the mobile unit 2 to move downward to the bottom of the climbing straight pipe 9. Finally, the left mounting frame 21 and the right mounting frame 22 of the mobile unit 2 are disassembled.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multifunctional climbing robot, characterized in that: include: A mobile unit (2) having an inner cavity; A driving unit (3) having a plurality of driving units (3) uniformly installed in the inner cavity in a circumferential direction, capable of driving the moving unit (2) to move on the climbing straight pipe (9); A robot (8) mounted on the mobile unit (2); The driving unit (3) comprises a base (7), a front driving mechanism (4) and a rear driving mechanism (6) arranged symmetrically on both sides of the base (7), and a rotating driving mechanism (5) mounted on the base (7); When the front drive mechanism (4) and the rear drive mechanism (6) are attached to the surface of the climbing straight tube (9) and the rotary drive mechanism (5) does not contact the climbing straight tube (9), the drive unit (3) can move up and down along the axis of the climbing straight tube (9); When the front drive mechanism (4) and the rear drive mechanism (6) do not contact the climbing straight tube (9) and the rotary drive mechanism (5) is attached to the surface of the climbing straight tube (9), the drive unit (3) can perform rotary motion along the center of the climbing straight tube (9).

2. A multifunctional climbing robot according to claim 1, characterized in that: The mobile unit (2) comprises a left mounting frame (21) and a right mounting frame (22), and a combined body after the left mounting frame (21) and the right mounting frame (22) are connected has an inner cavity.

3. A multifunctional climbing robot according to claim 2, characterized in that: The left mounting frame (21) and the right mounting frame (22) are connected in a detachable manner.

4. A multifunctional climbing robot according to claim 1, characterized in that: The front driving mechanism (4) and the rear driving mechanism (6) have the same structure.

5. A multifunctional climbing robot according to claim 1 or 4, characterized in that: The front drive mechanism (4) comprises a first front link (41), a first rear link (42) rotatably connected to the first front link (41), a front electric drive wheel (43) mounted on the first rear link (42), and a first cylinder (44) driving the first rear link (42) to rotate around the first front link (41).

6. A multifunctional climbing robot according to claim 1 or 4, characterized in that: The rear drive mechanism (6) comprises a second connecting rod (61), a second rear connecting rod (62) rotatably connected to the second connecting rod (61), a rear electric drive wheel (63) arranged on the second rear connecting rod (62), and a second cylinder (64) driving the second rear connecting rod (62) to rotate around the second rear connecting rod (62).

7. The multifunctional climbing robot according to claim 1, characterized in that: The base (7) comprises a motor 1 (72a) for driving the first front connecting rod (41) to rotate around the base (7) and a motor 2 (72b) for driving the second connecting rod (61) to rotate around the base (7).

8. The multifunctional climbing robot according to claim 1, characterized in that: The rotary drive mechanism (5) comprises an electric cylinder (51), a rotary power platform (53) mounted on the output end of the electric cylinder (51), and a plurality of rotary wheels (52) symmetrically mounted on the rotary power platform (53).

9. The multifunctional climbing robot according to claim 1, characterized in that: The end of the robot (8) is provided with an end tool (81), and the end tool (81) is a welding gun or a spray gun.

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