Combined climbing robot

Abstract

The invention discloses a combined climbing robot, and relates to the technical field of robots. Comprising a platform rack; the climbing system comprises a plurality of symmetrically-arranged multi-joint arms, each multi-joint arm comprises N motion units and an end device, N is an integer larger than or equal to 2, the N motion units are sequentially connected, the head end of the first motion unit is connected with the platform rack, the tail end of the Nth motion unit is connected with the end device, and the end device is attached to the surface of a climbing target; the walking system comprises at least one walking arm, each walking arm comprises a steering table and a mounting frame mounted below the steering table, the first connecting end of each mounting frame is connected with the first end of the corresponding supporting support, the second connecting end of each mounting frame is connected with the first end of the corresponding crank component, and the second end of each crank component is connected with the second end of the corresponding supporting support. A wheel is mounted at the third end of the supporting bracket. According to the robot, modular arrangement is adopted, maintenance is convenient, climbing of various gaits can be achieved, and the robot is suitable for detection work of complex scenes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a combined climbing robot. Background Art

[0002] With the continuous development of society and the economy, the demand for electricity resources is also expanding, and power transmission cables are erected in the air via power towers. Because power towers are exposed to the external environment for extended periods, suffering from wind, sun, rain, snow, and natural disasters such as typhoons, they are prone to varying degrees of damage, including material wear and corrosion, leading to various safety hazards and even accidents. Therefore, periodic maintenance of power towers is necessary. The traditional method involves inspection workers climbing the towers along the anchor points to work at heights. This method is time-consuming, labor-intensive, inefficient, and poses a safety risk to the workers.

[0003] In addition, a large number of mechanical equipment with trusses and towers require regular inspection and maintenance, such as cranes. Using manual inspection and maintenance methods is extremely dangerous. Climbing robots can achieve high-altitude operations and reduce safety risks. However, existing climbing robots based on truss and tower structures have a simple climbing gait and certain limitations in climbing, obstacle crossing, inspection, and operation capabilities under complex working conditions. Furthermore, subsequent maintenance and upgrades are difficult. Summary of the Invention

[0004] The technical problem to be solved by this invention is how to design and utilize robots to achieve safety inspection in complex working conditions such as trusses and towers.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A modular climbing robot, comprising:

[0007] The platform frame has a walking system and a climbing system connected to its lower end, and several sensors are detachably installed on its upper part.

[0008] The climbing system includes several symmetrically arranged multi-joint arms. Each multi-joint arm includes N motion units and an end effector, where N ≥ 2 and is an integer. The N motion units are connected in sequence. The head end of the first motion unit is connected to the platform frame, and the tail end of the Nth motion unit is connected to the end effector. The end effector is in contact with the surface of the climbing target.

[0009] The walking system includes at least one walking arm, the walking arm including: a steering platform and a mounting bracket mounted below the steering platform, a first connecting end of the mounting bracket being connected to a first end of a support bracket, a second connecting end of the mounting bracket being connected to a first end of a crank component, a second end of the crank bracket being connected to a second end of the support bracket, and a wheel being mounted on a third end of the support bracket.

[0010] The end effector includes a first inclined surface and a second inclined surface. The first inclined surface is provided with balls for assisting the walking system, and the second inclined surface is a rough surface to increase the friction with the climbing target.

[0011] The motion unit includes a first fixed component, a first drive motor, a first connecting component, a second drive motor, a third connecting component, a third drive motor, and a second connecting component connected in sequence.

[0012] The first connecting component and the second connecting component are U-shaped structures. The bottom surface of the first connecting component is provided with a first rotating shaft that cooperates with the first drive motor. The side surface of the first connecting component is hinged to the second drive motor. The bottom surface of the second connecting component is connected to the head end of the second motion unit. The side surface of the second connecting component is hinged to the third drive motor.

[0013] The first drive motor drives the first connecting component to rotate and causes the rear end component of the first connecting component to rotate axially around the first rotation axis; the second drive motor drives the first connecting component to rotate and causes the rear end component of the first connecting component to rotate around the hinge axis of the second drive motor and the first connecting component; the third drive motor drives the second connecting component to rotate and causes the rear end component of the second connecting component to rotate around the hinge axis of the third drive motor and the second connecting component.

[0014] The lower end face of the platform frame is provided with a mounting groove that matches the steering table. The steering table is confined in the mounting groove and is driven by a motor to perform circumferential motion, thereby realizing the all-round movement of the traveling arm.

[0015] The platform frame has a hollow internal structure and a control system is installed inside. The control system adopts a distributed control method and includes a central control unit, a multi-joint arm control unit, a walking system control unit, and a power supply unit.

[0016] The robot has two working modes: climbing mode and wheeled walking mode. In climbing mode, the climbing system is active and the walking system is retracted. In wheeled walking mode, the walking system is active and the climbing system assists in walking.

[0017] The climbing system assists in walking by having the second inclined surface of the end effector of a portion of the multi-joint arm facing the target surface, and the first inclined surface of the end effector of a portion of the multi-joint arm fitting against the target surface.

[0018] In the climbing mode, the robot can be driven to move in three gaits: crawling, traversing, or jumping.

[0019] In crawling and straddling gait modes, several of the multi-joint arms move sequentially toward the target position under the drive of the drive motor.

[0020] In the jumping gait, several of the multi-joint arms move synchronously toward the target position under the drive of the drive motor.

[0021] Beneficial effects: This invention provides a modular climbing robot that can carry operating equipment for status monitoring and maintenance of structures such as trusses and towers in current crane systems, power systems, mines and other industries, as well as for the inspection, maintenance and replacement of power cables in remote areas. It adopts a modular and reconfigurable structure, which can adapt to the operating needs of different scenarios and is easy to maintain. Attached Figure Description

[0022] Figure 1 This is a structural diagram of the combined climbing robot of the present invention;

[0023] Figure 2 This is a structural diagram of the multi-joint arm of the present invention;

[0024] Figure 3 This is a structural diagram of the walking arm of the present invention;

[0025] Figure 4 This is a front view of the walking arm of the present invention.

[0026] In the diagram: 1, 2, 3, 4 - multi-joint arm; 5 - walking arm; 6 - platform frame; 11, 12, 13, 14, 15, 16 - drive motor; 17 - end effector; 18, 19 - fixed components; 20, 21, 22, 23, 24, 25 - connecting components; 51 - steering wheel; 52 - mounting bracket; 53 - support bracket; 54 - crank assembly; 55 - wheel. Detailed Implementation

[0027] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] Example 1

[0029] refer to Figure 1 As shown, a combined climbing robot includes: a platform frame 6, with a walking system and a climbing system connected to the lower end of the platform frame 6, and several sensors detachably installed on the upper part of the platform frame 6.

[0030] The climbing system includes several symmetrically arranged multi-joint arms. Each multi-joint arm includes N motion units and an end effector 17, where N ≥ 2 and is an integer. The N motion units are connected in sequence. The head end of the first motion unit is connected to the platform frame, and the tail end of the Nth motion unit is connected to the end effector 17. The N motion units have the same structure.

[0031] The walking system includes at least two walking arms 5, each walking arm 5 including: a steering platform 51 and a mounting bracket 52 mounted below the steering platform. The first connecting end of the mounting bracket 52 is connected to the first end of a support bracket 53, the second connecting end of the mounting bracket 52 is connected to the first end of a crank component 54, the second end of the crank bracket 54 is connected to the second end of the support bracket 53, and the third end of the support bracket 53 is connected to a wheel 55.

[0032] In this embodiment, reference Figure 2 As shown, the climbing system includes a first motion unit and a second motion unit with identical structures. Taking the first motion unit as an example, the structure of the motion unit is described. The first motion unit includes: a drive motor 11, a drive motor 12, a drive motor 13, a fixing component 18, a connecting component 20, a connecting component 21, and a connecting component 24. Both connecting components 20 and 21 have a "U"-shaped structure. A first rotating shaft that cooperates with the driving end of the drive motor 11 is provided on the outer side of the bottom surface of the connecting component 20. The non-driving end of the drive motor 11 is connected to the fixing component 18. The drive motor 11 drives the connecting component 20 to move. The drive motor 12 drives the connecting component 20 to rotate axially around the first rotation axis. The drive end of the drive motor 12 is hinged to the side of the connecting component 20. The drive motor 12 drives the connecting component 20 to move and drives the rear end component of the connecting component 20 to rotate around the hinge axis of the drive motor 12 and the connecting component 20. The drive end of the drive motor 13 is hinged to the side of the connecting component 21. The drive motor 13 drives the connecting component 21 to move and drives the rear end component of the connecting component 21 to rotate around the hinge axis of the drive motor 13 and the connecting component 21. The non-drive end of the drive motor 12 and the non-drive end of the drive motor 13 are connected through the connecting component 24.

[0033] The bottom surface of the connecting component 21 of the first motion unit is connected to the fixing component 19 of the second motion unit, so that the action of the first motion unit can be transmitted to the second motion unit and the end effector 17.

[0034] The connecting component 20 and the connecting component 21 have the same rotatable direction; the rotating component 23 and the rotating component 24 have the same rotatable direction; the rotation angle between the connecting component 20 / connecting component 21 and the rotating component 23 / rotating component 24 is 90°, but not limited to 90°, and its specific angle can be controlled by the rotation of the drive motor 11 and the drive motor 14.

[0035] The motion units are detachably connected, which facilitates the maintenance and upgrading of the robot.

[0036] Each drive motor corresponds to one degree of freedom for the climbing robot.

[0037] The end effector 17 is connected to the connecting assembly 24 and is located at the distal end of the multi-joint arm. The drive motor 16 drives the connecting assembly 24 to rotate, which can drive the end effector 17 to move.

[0038] The end effector 17 includes a first inclined surface and a second inclined surface. The first inclined surface is provided with a ball bearing for assisting the robot's wheeled movement. The second inclined surface is a rough surface to increase the friction between the end effector and the surface of the target to be climbed, improve stability, and prevent falling. The connection between the first and second inclined surfaces of the end effector 17 is perpendicular to the rotation axis of the connecting assembly 24.

[0039] The end effector 17 is a detachable structure and can be replaced with a claw, irregular curved surface or other structure as needed; or the installation angle of the end effector 17 can be adjusted so that the first and second inclined surfaces of the end effector 17 are parallel to the rotation axis of the connecting assembly 24.

[0040] The platform frame 6 has a hollow structure and is equipped with a control system. In this embodiment, a distributed control system is adopted, including a central control unit, a multi-joint arm control unit, a walking system control unit, and a power supply unit.

[0041] Various monitoring or maintenance equipment can be installed on the upper surface of the platform frame 6.

[0042] refer to Figure 3 and 4 As shown, the steering platform 51 of the traveling arm 5 has a mounting groove that mates with the mounting part of the mounting bracket 52. Two connecting ends are located below the mounting part. The first connecting end of the mounting bracket 52 connects to the first end of the support bracket 53, and the second connecting end of the mounting bracket 52 connects to the first end of the crank component 54. The second end of the crank component 54 connects to the second end of the support bracket 53. A wheel 55 is mounted on the third end of the support bracket 53. The steering platform 51 can be driven by a motor or other prime mover to perform circular motion, thereby adjusting the running direction of the traveling arm 5 and achieving omnidirectional movement, i.e., oblique, lateral, longitudinal, and S-shaped movement curves on trusses and towers.

[0043] The crank component 54 can be driven by pneumatic, hydraulic or electric motor. The crank component 54, support bracket 53 and mounting bracket 52 form a linkage mechanism. By using the dead point position of the linkage mechanism, it can be ensured that the support bracket 53 does not move during the rotation of the wheel 55.

[0044] Taking a four-joint robotic arm as an example, the climbing robot has two working modes: climbing mode and wheeled walking mode. In climbing mode, the climbing system works and the walking system is retracted; in wheeled walking mode, the walking system works and the climbing system assists in walking.

[0045] The climbing mode includes three gaits: crawling, traversing, and jumping.

[0046] The multi-joint arm in the crawling gait includes two working states: support and stepping. Depending on different needs, it can perform three-support one-step crawling and two-support two-step crawling, corresponding to different crawling speeds. When crawling with two-support two-step, the multi-joint arm used for support cannot be the multi-joint arm on the same side as the climbing target at the same time.

[0047] More specifically, the movement process of a multi-joint arm in the stepping phase includes:

[0048] First, drive motor 12 or drive motor 13 operates, causing end effector 17 to move outward, disengaging it from the climbing target. Second, drive motor 15 or drive motor 16 operates, causing the articulated arm to rise or fall to the target height. Third, drive motor 12 or drive motor 13 operates, causing end effector 17 to move inward, approaching the climbing target and finally reaching the target position and contacting the surface of the climbing target. Fourth, drive motor 14 or drive motor 11 operates, adjusting the angle between end effector 17 and the surface of the climbing target, so that end effector 17 fits snugly against the climbing target, completing the step of the multi-joint arm 1. The same operation can be used to achieve the stepping of the other multi-joint arms.

[0049] The multi-joint arm 1, multi-joint arm 2, multi-joint arm 3 and multi-joint arm 4 are controlled in sequence to take steps, so as to realize the climbing robot's crawling.

[0050] When the climbing robot encounters obstacles on the climbing target such as trusses and towers, it uses a hopping gait to pass through. Taking the three-support-one-hopping method as an example, the hopping method of the combined climbing robot is further explained. Multi-joint arm 1 is the first hopping active arm, while multi-joint arm 2, multi-joint arm 3 and multi-joint arm 4 are the support arms. During the hopping action of multi-joint arm 1, it plays a role in firmly supporting the climbing target.

[0051] The gait process of the multi-joint arm 1 includes: First, the drive motor 13 operates, driving the end effector 17 to move outward, the end effector 17 disengages from the climbing target, and the drive motor 12 operates, driving the multi-joint arm as a whole to reach the height of the target obstacle; Second, the drive motors 15 and 16 operate, driving the joint arm to rise or fall to the target height; Third, the drive motors 12 and 13 operate, driving the end effector 17 to move inward, the end effector 17 approaches the climbing target, and finally reaches the target position and contacts the surface of the climbing target; Fourth, the drive motors 14 and 11 operate, adjusting the angle between the end effector 17 and the surface of the climbing target, so that the end effector 17 fits tightly against the climbing target, completing the gait of the multi-joint arm 1.

[0052] Considering the distance between the multi-joint arms of the climbing robot and the target position, after multi-joint arm 1 completes its first action, the second multi-joint arm performing the action should preferably be closer to the target position. Following the working steps of multi-joint arm 1, the second multi-joint arm performing the action should achieve a firm support between itself and the target. If the distance between the multi-joint arm and the target position is large, it is advisable to first perform the crawling action to reduce the distance to the target position, at least reaching the initial position of the first two multi-joint arms, before performing the crossing action to achieve the crossing of the combined climbing robot on the target.

[0053] Taking the multi-joint arm 1 as an example, the multi-joint arm movement process in the jumping gait includes: adjusting the multi-joint arm to a straight state, driving motors 11 and 14 working, aligning the rotation directions of connecting components 20, 21, 23, and 24, driving motor 16 working, forming a certain angle between connecting component 24 and end effector 17 and driving motor 16, driving motor 15 working, forming a certain angle between driving motor 15 and connecting component 23, driving motor 13 working, forming a certain angle between driving motor 13 and connecting component 21, driving motor 12 working, forming a certain angle with connecting component 20, forming a "power-accumulating" posture, driving motors 12, 13, 15, and 16 working simultaneously, restoring the multi-joint arm to its extended state; all multi-joint arms simultaneously execute the above movement process, driving the robot as a whole to jump towards the target position, and after reaching the target position, each driving motor works to make the end effector closely fit the climbing target.

[0054] When the surface of the climbing target, such as a truss or tower, is relatively smooth, and the modular climbing robot is required to move quickly, a wheeled walking mode can be adopted. The steering platform 51 of the walking arm 5 can adjust the forward direction of the wheels 55, enabling the modular climbing robot to move on the climbing target at arbitrary curves, not limited to vertical, horizontal, or oblique movements. The crank component 54 fixes the support bracket 53, ensuring that the wheels 55 are in close contact with the surface of the climbing target, and the wheel axle is fixed during the rotation of the wheels 55. The wheels 55 work under the action of the wheel drive component. When the walking system performs a movement task, it requires the assistance of multi-joint arms. That is, the drive motors of the multi-joint arms work in coordination to make the side of the end effector 17 with the ball bearings in contact with the climbing target, ensuring stability and reducing friction between the climbing robot and the surface of the climbing target, which is suitable for high-speed movement. However, at least one multi-joint arm should be reserved with the rough surface of its end effector 17 facing the surface of the climbing target for braking and deceleration of the climbing robot.

[0055] Climbing mode and wheeled walking mode cannot be used simultaneously. They must be switched according to the requirements of the task. In climbing mode, the combined climbing robot needs to retract the wheels 55 of the walking system to avoid contact with climbing targets such as trusses and towers. The retraction process of the walking arm 5 of the walking system includes: the crank component 54 rotates with its first end as the fulcrum, raising the support bracket 53, driving the wheels 55 to lift up, and bringing the wheels 55 as close as possible to the platform frame. In the retracted state of the wheels 55, the turntable 51 of each walking arm is rotated to stagger the wheels.

[0056] It should be noted that the kinematic equations of a multi-joint arm in six degrees of freedom from the initial point to the target point generally have multiple solutions, that is, there are many motion trajectories from the initial point to the target point. This embodiment only describes one of the cases, but the actual movement mode of the climbing robot of the present invention is not limited to this case.

[0057] Example 2

[0058] In this embodiment, based on the combined climbing robot described in Embodiment 1, the connecting component 22 and the connecting component 25 are telescopic structures, and drive motors are connected inside the connecting component 22 and the connecting component 25 respectively, so that the extension and retraction movements of the multi-joint arm can be realized under the drive of the drive motors.

[0059] In summary, the modular climbing robot of the present invention adopts a modular and reconfigurable structure, which can adapt to the operational needs of different scenarios and is easy to maintain.

[0060] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0061] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0063] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A combined climbing robot, characterized in that, include: The platform frame has a walking system and a climbing system connected to its lower end, and several sensors are detachably installed on its upper part. The climbing system includes several symmetrically arranged multi-joint arms. Each multi-joint arm includes N motion units and an end effector, where N ≥ 2 and is an integer. The N motion units are connected in sequence. The head end of the first motion unit is connected to the platform frame, and the tail end of the Nth motion unit is connected to the end effector. The end effector is in contact with the surface of the climbing target. The walking system includes at least one walking arm, the walking arm including: a steering platform and a mounting bracket mounted below the steering platform, a first connecting end of the mounting bracket being connected to a first end of a support bracket, a second connecting end of the mounting bracket being connected to a first end of a crank component, a second end of the crank bracket being connected to a second end of the support bracket, and a wheel being mounted on a third end of the support bracket.

2. The combined climbing robot according to claim 1, characterized in that, The end effector includes a first inclined surface and a second inclined surface. The first inclined surface is provided with balls for assisting the walking system, and the second inclined surface is a rough surface.

3. The combined climbing robot according to claim 1, characterized in that, The motion unit includes a first fixed component, a first drive motor, a first connecting component, a second drive motor, a third connecting component, a third drive motor, and a second connecting component connected in sequence.

4. The combined climbing robot according to claim 3, characterized in that, The first connecting component and the second connecting component are U-shaped structures. The bottom surface of the first connecting component is provided with a first rotating shaft that cooperates with the first drive motor. The side surface of the first connecting component is hinged to the second drive motor. The bottom surface of the second connecting component is connected to the head end of the second motion unit. The side surface of the second connecting component is hinged to the third drive motor.

5. The combined climbing robot according to claim 4, characterized in that, The first drive motor drives the first connecting component to rotate and causes the rear end component of the first connecting component to rotate axially around the first rotation axis; the second drive motor drives the first connecting component to rotate and causes the rear end component of the first connecting component to rotate around the hinge axis of the second drive motor and the first connecting component; the third drive motor drives the second connecting component to rotate and causes the rear end component of the second connecting component to rotate around the hinge axis of the third drive motor and the second connecting component.

6. The combined climbing robot according to claim 1, characterized in that, The lower end face of the platform frame is provided with a mounting groove that matches the steering table. The steering table is confined in the mounting groove and is driven by a motor to perform circular motion.

7. The combined climbing robot according to claim 1, characterized in that, The platform frame has a hollow internal structure and a control system is installed inside. The control system adopts a distributed control method and includes a central control unit, a multi-joint arm control unit, a walking system control unit, and a power supply unit.

8. The combined climbing robot according to claim 2, characterized in that, The robot has two working modes: climbing mode and wheeled walking mode. In climbing mode, the climbing system is active and the walking system is retracted. In wheeled walking mode, the walking system is active and the climbing system assists in walking.

9. The combined climbing robot according to claim 8, characterized in that, The climbing system assists in walking by having the second inclined surface of the end effector of a portion of the multi-joint arm facing the target surface, and the first inclined surface of the end effector of a portion of the multi-joint arm fitting against the target surface.

10. The combined climbing robot according to claim 8, characterized in that, In the climbing mode, the robot can be driven to move in three gaits: crawling, traversing, or jumping. In crawling and straddling gait modes, several of the multi-joint arms move sequentially toward the target position under the drive of the drive motor. In the jumping gait, several of the multi-joint arms move synchronously toward the target position under the drive of the drive motor.

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