Inchworm-imitating longitudinal-driving composite wall-climbing detection robot

Abstract

The invention discloses an inchworm-imitating longitudinal-driving composite wall-climbing detection robot, relates to the technical field of building robots, solves the problems that an existing wall-climbing detection robot is low in integration level, large in size and high in driving and control complexity, and comprises electromagnetic clamping feet, torque motors, expansion rods, a binocular vision system and a linear driving system. The electromagnetic clamping foot is composed of a direct current suction cup type electromagnet and a light electromagnet metal fixing plate, the linear driving system is composed of a miniature linear electric cylinder, a miniature linear guide rail and a light connecting piece, the inchworm-imitating motion principle is adopted, and large-range movement is achieved by alternately accumulating single-step output displacement through clamping-stepping-clamping. The robot has double motion modes, namely low-speed wriggling in a narrow space and rapid stepping in an open space, has the characteristic of combining driving and control in structure, and is high in integration level, small in size, light in weight, simple in overall structure, high in degree of freedom and easy to control.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to a caterpillar-like driving and manipulating composite wall-climbing inspection robot. Background Art

[0002] Wall-climbing robots are widely used in visual inspection, flaw detection and maintenance work of steel structure bridges, ship hulls, oil storage tanks and conveying pipelines, and can replace workers to complete high-risk or high-altitude operations, greatly improving the efficiency and safety of inspection and maintenance. At present, wall-climbing robots represented by wheeled and tracked types are difficult to adapt to complex and narrow steel structures represented by the inside of steel box girders, and it is difficult to achieve turning and obstacle crossing in small spaces on the premise of meeting the load requirements. In addition, for steel structure defect detection, it is necessary to operate the pose of the detection equipment to adjust the detection distance and angle to obtain an ideal flaw detection result. To achieve automatic defect detection, it is necessary to integrate at least a manipulator with three degrees of freedom at the end of the robot, which further reduces the integration of the wall-climbing inspection robot, increases the volume of the robot system and the complexity of driving and control. Summary of the Invention

[0003] Aiming at the problems of the existing wall-climbing inspection robots with low integration, large volume and high driving and control complexity, the purpose of the present invention is to provide a caterpillar-like driving and manipulating composite wall-climbing inspection robot with a small volume and integrated driving and manipulating functions.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] A caterpillar-like driving and manipulating composite wall-climbing inspection robot, which includes: two electromagnetic clamping feet, a head commutation adapter plate 9, a tail commutation adapter plate 10, two linear driving mechanisms and five rotary driving devices 4. The two electromagnetic clamping feet are respectively used as the head and the tail of the robot. The ends of the two linear driving mechanisms are rotationally connected. The electromagnetic clamping foot at the head is connected to the other end of the front linear driving mechanism through the head commutation adapter plate 9. Two rotary driving devices 4 are installed on the head commutation adapter plate 9 respectively for realizing the left and right deflection movements and the up and down pitching movements of the electromagnetic clamping foot at the head; the electromagnetic clamping foot at the tail is connected to the other end of the rear linear driving mechanism through the tail commutation adapter plate 10; two rotary driving devices 4 are installed on the tail commutation adapter plate 10 respectively for realizing the left and right torsion movements and the up and down pitching movements of the electromagnetic clamping foot at the tail. A rotary driving device 4 is installed between the two linear driving mechanisms, and this rotary driving device 4 is used for realizing the rotation between the two linear driving mechanisms; both of the two electromagnetic clamping feet are used for adsorbing steel structures.

[0006] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein each electromagnetic clamping foot includes: a DC suction cup type electromagnet 1 and a lightweight electromagnet metal fixing plate 2, and at least one DC suction cup type electromagnet 1 for electrified adsorption on a steel structure is installed on the bottom surface of the lightweight electromagnet metal fixing plate 2.

[0007] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein it further includes: a head connecting plate 8, and the head connecting plate 8 is installed on the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot at the head. The head connecting plate 8 is perpendicular to the lightweight electromagnet metal fixing plate 2 and is located at the rear end of the lightweight electromagnet metal fixing plate 2.

[0008] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein each linear driving mechanism includes: a lightweight connecting piece 1 5, a micro linear electric cylinder 6, a lightweight connecting piece 2 7 and a micro linear guide rail. The lightweight connecting piece 1 5 and the lightweight connecting piece 2 7 are slidably connected along the length direction through the micro linear guide rail. The micro linear electric cylinder 6 is installed on the lightweight connecting piece 2 7, and the micro linear electric cylinder 6 is used to drive the lightweight connecting piece 1 5 to displace along the micro linear guide rail; the ends of the two linear driving systems are rotatably connected and are driven to rotate by a rotary driving device 4.

[0009] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein the head commutation adapter plate 9 includes: a first plate and a second plate, the first plate and the second plate are perpendicular to each other and connected to each other. The first plate is rotatably connected to the head connecting plate 8 and is driven to rotate by a rotary driving device 4; the front end of the linear driving mechanism located at the front side is rotatably connected to the second plate and is driven to rotate by another rotary driving device 4.

[0010] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein the tail commutation adapter plate 10 includes: a third plate and a fourth plate, the third plate and the fourth plate are perpendicular to each other and connected to each other. The rear end of the linear driving mechanism located at the rear side is rotatably connected to the third plate and is driven to rotate by a rotary driving device 4; the fourth plate is parallel to and rotatably connected to the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot at the tail and is driven to rotate by another rotary driving device 4.

[0011] The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein the multiple rotary driving devices 4 are all torque motors. The above-mentioned inchworm-like driving and controlling compound wall-climbing inspection robot, wherein it further includes: a power supply system, a binocular vision system, a control device and a signal transceiver device. The power supply system, the vision system, the control device, the signal transceiver device, the electromagnetic clamping foot and the driving device are electrically connected. The control device is used to control the operation of the electromagnetic clamping foot and the driving device, and the signal transceiver device is used to collect information of the vision system and transmit and receive wireless signals;

[0012] It further includes: an extension rod 3. The extension rod 3 is installed on the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot at the head. The extension rod 3 is perpendicular to the lightweight electromagnet metal fixing plate 2 and is located at the front end of the lightweight electromagnet metal fixing plate 2. The extension rod 3 is used for installing a binocular vision system.

[0013] For the above-mentioned inchworm-like drive and control composite wall-climbing detection robot, a plurality of through holes for reducing mass are provided on both the lightweight connecting member 1 5 and the lightweight connecting member 2 7.

[0014] For the above-mentioned inchworm-like drive and control composite wall-climbing detection robot, it further includes: reinforcing ribs. Reinforcing ribs are provided at the connection between the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot at the head and the head connecting plate 8; reinforcing ribs are provided at the connection between the first plate and the second plate; and reinforcing ribs are provided at the connection between the third plate and the fourth plate.

[0015] Due to the adoption of the above technologies, the positive effects of the present invention compared with the prior art are as follows:

[0016] (1) In the present invention, the robot adopts electromagnetic clamping feet and has an energized adsorption function; in terms of the movement mode, the robot adopts the inchworm-like movement principle. Through the basic process of "clamping - stepping - clamping", the two clamping feet alternately clamp and coordinate with the torque motors to achieve stepping movement within one cycle. Through the accumulation of multiple cycles of stepping movement, infinite travel can be achieved theoretically. (2) In the present invention, the robot has two motion modes, namely low-speed creeping in narrow spaces and fast stepping in open spaces, and the motion mode of the wall-climbing detection robot can be selected according to the actual working conditions and obstacle-crossing requirements.

[0017] (3) In the present invention, the robot has the characteristic of composite drive and manipulation in its structure. In terms of the drive mode, through the reasonable arrangement of motors, the robot adopts the inchworm movement mode to achieve drive stepping. At the same time, when a single foot is clamped, the five torque motors and the two linear drive mechanisms together form a multi-degree-of-freedom robotic arm, which can be used to manipulate the poses of the camera and the defect detection equipment installed at the end of the robot for defect detection in multiple directions and at multiple angles.

[0018] (4) In the present invention, the binocular vision system equipped by the robot is not only used for real-time mapping of the robot in an unknown environment and visual servo control of the robot body, but also can carry a defect detection algorithm based on computer vision for defect detection, realizing the multi-functional integration of robot control and defect detection. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of an inchworm-like drive and control composite wall-climbing detection robot of the present invention.

[0020] Figure 2 It is the first obstacle-crossing schematic diagram of a caterpillar-like driving and controlling compound wall-climbing inspection robot of the present invention.

[0021] Figure 3 It is the second obstacle-crossing schematic diagram of a caterpillar-like driving and controlling compound wall-climbing inspection robot of the present invention.

[0022] Figure 4 It is the first conversion crawling schematic diagram of a caterpillar-like driving and controlling compound wall-climbing inspection robot of the present invention.

[0023] Figure 5 It is the second conversion crawling schematic diagram of a caterpillar-like driving and controlling compound wall-climbing inspection robot of the present invention.

[0024] Figure 6 It is the physical diagram of a caterpillar-like driving and controlling compound wall-climbing inspection robot of the present invention.

[0025] In the attached drawings: 1. DC sucker electromagnet; 2. Lightweight electromagnet metal fixing plate; 3. Extension rod; 4. Rotary driving device; 5. Lightweight connecting piece one; 6. Micro linear electric cylinder; 7. Lightweight connecting piece two; 8. Head connecting plate; 9. Head commutation adapter plate; 10. Tail commutation adapter plate. Detailed implementation manners

[0026] The present invention will be further described below in conjunction with the attached drawings and specific embodiments, but it is not limited to the present invention.

[0027] Please refer to Figures 1 to 6 As shown, a caterpillar-like driving and controlling compound wall-climbing inspection robot is shown, which includes: electromagnetic clamping feet, torque motors, extension rod 3, binocular vision system, and linear driving system.

[0028] Preferably, the electromagnetic clamping feet are composed of a DC sucker electromagnet 1 and a lightweight electromagnet metal fixing plate 2.

[0029] Preferably, the linear driving system is composed of a micro linear electric cylinder 6, a lightweight connecting piece one 5, and a lightweight connecting piece two 7.

[0030] Preferably, multiple groups of torque motors in the present invention are arranged omnidirectionally in three orthogonal directions of X, Y, and Z.

[0031] Furthermore, in a preferred embodiment, the robot adopts electromagnetic clamping feet and has an energized adsorption function.

[0032] Further, in a preferred embodiment, the robot has a dual motion mode, namely a low-speed creeping mode in a narrow space and a fast stepping mode in an open space, and the motion mode of the wall-climbing detection robot can be selected according to the actual working conditions and obstacle-crossing requirements. Specifically, fast stepping means that it is driven only by the rotary drive device 4 to simulate the crawling of a measuring worm to achieve stepping and obstacle crossing, and the micro linear electric cylinder 6 does not work. Low-speed creeping requires the robot to be level, and the rotary drive device 4 does not work. It only relies on the extension and shortening of the linear electric cylinder 6 to achieve the so-called creeping.

[0033] In a further embodiment of the present invention, as Figure 1 shown, the robot is sequentially provided with five torque motors from the head to the tail, which drive the robot to achieve commutation and torsion actions and can move in three orthogonal directions of X, Y, and Z. Among them, the first torque motor is parallel to the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot located at the head to achieve the left and right torsion actions of the head around the X axis; the fifth torque motor is perpendicular to the lightweight electromagnet metal fixing plate 2 of the electromagnetic clamping foot located at the tail to achieve the left and right swing of the head and the whole body around the Y axis; the head commutation adapter plate 9 and the tail commutation adapter plate 10 are shown in Figures 1 to 5 shown; the second torque motor is used to drive the electromagnetic clamping foot located at the head to perform pitching actions around the Z axis to facilitate the wall-climbing action of the head; the third torque motor is used to drive the relative rotation of the two linear drive systems around the Z axis; the fourth torque motor is used to drive the electromagnetic clamping foot located at the tail to perform pitching actions around the Z axis to facilitate the following of the tail; through the mutual cooperation of the second torque motor, the third torque motor and the fourth torque motor, the low-speed creeping mode and the fast stepping mode of the robot are realized.

[0034] Further, in a preferred embodiment, in terms of the motion mode, the robot adopts a fast stepping mode based on the motion principle of a measuring worm-like. In one motion cycle of the fast stepping mode, the electromagnetic clamping foot located at the tail is first energized to achieve clamping, and the second torque motor, the third torque motor and the fourth torque motor rotate to drive the head electromagnetic clamping foot to extend forward and fall to the adsorption surface. After the head clamping foot falls to the adsorption surface, it is energized to clamp. At this time, the tail clamping foot is de-energized to release the clamping, and the second torque motor, the third torque motor and the fourth torque motor rotate to drive the tail electromagnetic clamping foot to extend forward and fall to the adsorption surface. After the tail clamping foot falls to the adsorption surface, it is energized to clamp. Through the above basic process of "clamping - stepping - clamping", the double clamping feet alternately clamp and coordinate with the torque motor to achieve stepping motion within one cycle. Through the accumulation of multiple cycle stepping motions, an infinite stroke is theoretically achieved.

[0035] Further, in a preferred embodiment, within one cycle of the low-speed peristaltic mode, the electromagnetic clamping feet at the tail are first energized to achieve clamping. The second torque motor, the third torque motor, and the fourth torque motor rotate to drive the two linear drive mechanisms to rotate to a position parallel to the adsorption surface. The two linear drive mechanisms drive the electromagnetic clamping feet at the head to extend forward. After extending to the limit stroke, the electromagnetic clamping feet at the head are energized to clamp. At this time, the electromagnetic clamping feet at the rear end are de-energized to release the clamping. The two linear drive mechanisms retract to drive the electromagnetic clamping feet at the tail to retract. After the electromagnetic clamping feet at the tail retract, they are energized to clamp. Through the above "clamping - stepping - clamping" basic process, one motion cycle of the low-speed peristaltic mode is achieved.

[0036] Further, in a preferred embodiment, the robot is structurally characterized by the dual-function combination of driving and manipulation. In the driving mode, through the reasonable arrangement of motors, the robot adopts the inchworm-like motion mode to achieve the fast stepping and low-speed peristaltic motion modes of the robot. At the same time, when a single electromagnetic clamping foot clamps, the five torque motors and the two linear drive mechanisms form a multi-degree-of-freedom robotic arm to manipulate the pose of the end defect detection sensor for defect detection in multiple directions and at multiple angles.

[0037] Further, in a preferred embodiment, the binocular vision system equipped by the robot is not only used for real-time mapping of the robot in an unknown environment and visual servo control of the robot body, but also can be equipped with a defect detection algorithm based on computer vision for defect detection, realizing the multi-functional integration of robot control and defect detection.

[0038] The above are only preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention accordingly.

[0039] The present invention also has the following implementation manners on the above basis:

[0040] In a further embodiment of the present invention, the DC suction cup electromagnet 1 functions to adsorb the steel structure when energized; after power-off, the magnetic force disappears, and the electromagnetic clamping feet can be detached from the steel structure and act under the drive of the drive device.

[0041] In a further embodiment of the present invention, the linear drive system is a structure that expands and contracts along the length direction under the drive of the micro linear electric cylinder 6.

[0042] In a further embodiment of the present invention, fast stepping refers to relying only on the rotation drive device 4 to drive, simulating the inchworm crawling to achieve stepping and obstacle crossing, and the micro linear electric cylinder 6 does not work. Low-speed peristalsis requires the robot to be level, the rotation drive device 4 does not work, and only relies on the extension and shortening of the linear electric cylinder 6 to achieve the so-called peristalsis. The mode switching can be selected according to the actual working conditions and obstacle crossing requirements.

[0043] In a further embodiment of the present invention, asFigure 2 As shown in Figure 2, the robot can move up and down stairs; Figure 3 As shown in Figure 2, the robot is able to move across obstacles; Figure 4 and Figure 5 As shown, the robot can switch from a horizontal working surface to a vertical working surface and crawl along the vertical surface.

[0044] In a further embodiment of the present invention, the length of the linear drive system is adjustable, and the telescopic length is selected according to the actual working conditions and obstacle crossing requirements. During the walking process of the robot, the lengths of the two linear drive systems must be kept as similar as possible, but according to actual conditions, the robot can also achieve walking movements under the condition that the lengths of the two linear drive systems are different.

[0045] In a further embodiment of the present invention, Figures 1 to 5 As shown, four evenly arranged DC suction cup electromagnets 1 are installed at the bottom of the lightweight electromagnet metal fixing plate 2 to achieve adsorption of the steel structure. Without changing the adsorption strength of a single electromagnet, increasing the number of electromagnets can increase the adsorption area and adsorption strength.

[0046] In a further embodiment of the present invention, under normal circumstances, when the robot is walking, the electromagnetic clamping foot located at the tail is energized to adsorb the steel structure, and the electromagnetic clamping foot located at the head is not energized. Then the second torque motor, the third torque motor and the fourth torque motor cooperate with each other to realize the straightening and stretching movement of the robot. After the electromagnetic clamping foot located at the head contacts the steel structure, the electromagnetic clamping foot located at the head is energized to adsorb the steel structure, and the electromagnetic clamping foot located at the tail is not energized. Then the second torque motor, the third torque motor and the fourth torque motor cooperate with each other to realize the peristaltic contraction movement of the robot. After the electromagnetic clamping foot located at the tail contacts the steel structure, the electromagnetic clamping foot located at the tail is energized to adsorb the steel structure, completing a complete forward movement.

[0047] In a further embodiment of the present invention, a binocular vision system is installed on the expansion rod 3 to identify paths and obstacles during the movement of the robot.

[0048] In a further embodiment of the present invention, the power supply system is used to power the electromagnetic clamping foot and the binocular vision system, and the signal transceiver is used to send and receive signals. The operator controls the robot's movement through the signal transceiver and the control device and identifies environmental information through the binocular vision system.

[0049] In a further embodiment of the present invention, the robot adopts creeping walking and is composed of an electromagnetic clamping foot, a torque motor, an expansion rod 3, a binocular vision system and a linear drive system. It has high integration, small size and light weight, simple overall structure, high degree of freedom and easy control.

[0050] The above are only the preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all the solutions obtained by equivalent substitution and obvious changes made by using the specification and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A caterpillar-like driving and controlling composite wall-climbing inspection robot, characterized in that, Comprising: Two electromagnetic clamping feet, a head commutation adapter plate (9), a tail commutation adapter plate (10), two linear drive mechanisms, and five rotary drive devices (4). The two electromagnetic clamping feet serve as the head and tail of the robot respectively. The ends of the two linear drive mechanisms are rotatably connected. The electromagnetic clamping foot at the head is connected to the other end of the linear drive mechanism at the front side through the head commutation adapter plate (9). Two rotary drive devices (4) are installed on the head commutation adapter plate (9) respectively for realizing the left and right deflection movements and the up and down pitching movements of the electromagnetic clamping foot at the head. The electromagnetic clamping foot at the tail is connected to the other end of the linear drive mechanism at the rear side through the tail commutation adapter plate (10). Two rotary drive devices (4) are installed on the tail commutation adapter plate (10) respectively for realizing the left and right torsion movements and the up and down pitching movements of the electromagnetic clamping foot at the tail. One rotary drive device (4) is installed between the two linear drive mechanisms, and this rotary drive device (4) is used for realizing the rotation between the two linear drive mechanisms. Both electromagnetic clamping feet are used for adsorbing steel structures.

2. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 1, wherein Each electromagnetic clamping foot comprises: a DC suction cup type electromagnet (1) and a lightweight electromagnet metal fixing plate (2). At least one DC suction cup type electromagnet (1) for adsorbing steel structures by energization is installed on the bottom surface of the lightweight electromagnet metal fixing plate (2).

3. The inchworm-like driving and controlling compound wall-climbing inspection robot according to claim 2, wherein, Also comprising: A head connection plate (8). A head connection plate (8) is installed on the lightweight electromagnet metal fixing plate (2) of the electromagnetic clamping foot at the head. The head connection plate (8) is perpendicular to the lightweight electromagnet metal fixing plate (2) and is located at the rear end of the lightweight electromagnet metal fixing plate (2).

4. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 3, characterized in that, Each linear drive mechanism comprises: a lightweight connecting piece one (5), a micro linear electric cylinder (6), a lightweight connecting piece two (7), and a micro linear guide rail. The lightweight connecting piece one (5) and the lightweight connecting piece two (7) are slidably connected along the length direction through the micro linear guide rail. The micro linear electric cylinder (6) is installed on the lightweight connecting piece two (7), and the micro linear electric cylinder (6) is used for driving the lightweight connecting piece one (5) to displace along the micro linear guide rail. The ends of the two linear drive systems are rotatably connected and are driven to rotate by a rotary drive device (4).

5. The inchworm-like drive and control composite wall-climbing inspection robot according to claim 4, characterized in that, The head commutation adapter plate (9) comprises: a first plate and a second plate. The first plate and the second plate are perpendicular to each other and are connected to each other. The first plate is rotatably connected to the head connection plate (8) and is driven to rotate by a rotary drive device (4). The front end of the linear drive mechanism at the front side is rotatably connected to the second plate and is driven to rotate by another rotary drive device (4).

6. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 5, characterized in that The tail commutation adapter plate (10) comprises: a third plate and a fourth plate. The third plate and the fourth plate are perpendicular to each other and are connected to each other. The rear end of the linear drive mechanism at the rear side is rotatably connected to the third plate and is driven to rotate by a rotary drive device (4). The fourth plate is parallel to and rotatably connected to the lightweight electromagnet metal fixing plate (2) of the electromagnetic clamping foot at the tail and is driven to rotate by another rotary drive device (4).

7. The inchworm-like driving and controlling compound wall-climbing inspection robot according to claim 1, characterized in that, Multiple rotary drive devices (4) are all torque motors.

8. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 3, wherein, Further included are: An extension rod (3) is installed on the lightweight electromagnet metal fixing plate (2) of the electromagnetic clamping foot at the head. The extension rod (3) is perpendicular to the lightweight electromagnet metal fixing plate (2) and is located at the front end of the lightweight electromagnet metal fixing plate (2).

9. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 5, characterized in that A plurality of through holes for reducing the mass are provided on both the lightweight connecting member one (5) and the lightweight connecting member two (7).

10. The inchworm-like driving and controlling composite wall-climbing inspection robot according to claim 5, wherein Further included are: Reinforcing ribs are provided at the connection between the lightweight electromagnet metal fixing plate (2) of the electromagnetic clamping foot at the head and the head connecting plate (8); reinforcing ribs are provided at the connection between the first plate and the second plate; and reinforcing ribs are provided at the connection between the third plate and the fourth plate.

Images