Variable-diameter obstacle-crossing pole-climbing robot

Abstract

The invention belongs to the technical field of pole-climbing robots, and particularly discloses a variable-diameter obstacle-crossing pole-climbing robot which comprises a main body frame mechanism and four sub-modules, the four sub-modules are divided into two groups, the two sub-modules in each group are symmetrically arranged, and the two groups of sub-modules are located on the two sides of the main body frame mechanism respectively; each submodule comprises a module frame, a module center frame, a passive adaptation mechanism, a transmission mechanism, a telescopic mechanism and a wheel mechanism, the wheel mechanism, the passive adaptation mechanism and the transmission mechanism are all installed on the module frame, and the module frame is in sliding fit with the module center frame; the passive adaptation mechanism can drive the wheel part mechanism to obliquely move so as to adapt to rod surfaces with different curvatures, and the transmission mechanism can drive the wheel part mechanism to move; the telescopic mechanism is installed on the module center frame, and the telescopic mechanism can drive the module frame to do telescopic motion, so that the two sub-modules which are symmetrically arranged get close to each other or get away from each other. The environment adaptability of the robot can be improved, and the application scene of the robot is widened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pole climbing robots, and particularly relates to a variable-diameter obstacle-climbing pole climbing robot. BACKGROUND

[0002] With the rapid growth of industrial automation and special operation needs, pole climbing robots have become an important branch in the field of intelligent equipment. In diversified environments such as urban infrastructure, substations, bridges, petrochemical pipelines, and space exploration, pole climbing robots can complete tasks such as inspection, maintenance, monitoring, and operation in high-altitude, dangerous, and narrow spaces, greatly improving operation efficiency and reducing operation risks. However, such robots often face harsh and complex environments, such as irregular pole surfaces, changes in pole diameters, flanges, and other fixed obstacles, thus placing high demands on their mechanical structures and movement methods.

[0003] In terms of structural innovation of pole climbing robots, researchers have tried various mechanical structures. Existing pole climbing robots can be divided into types such as adsorption, wheel, clamping, and bionic according to adsorption and movement methods. Adsorption relies on magnets or vacuum cups to generate adsorption force, is suitable for metal or smooth surfaces, but has high surface requirements and limited flexibility; wheel type achieves continuous movement through friction wheels, has simple structure and convenient control, but lacks adaptability in complex terrain; clamping type uses an alternating clamping mechanism, has strong obstacle climbing ability, but moves slowly; bionic type simulates biological movement mechanisms, has outstanding flexibility, but has complex control and weak load capacity.

[0004] Currently, various types of robots have problems such as single function and limited environmental adaptability, making it difficult to meet the diversified needs in different scenarios, so developing pole climbing robots with high adaptability and strong obstacle climbing ability has become a technical problem to be solved. SUMMARY

[0005] The present application provides a variable-diameter obstacle-climbing pole climbing robot, which aims to improve the environmental adaptability of the robot and broaden the application scenarios of the robot.

[0006] The present application is implemented by the following technical scheme: a variable-diameter obstacle-climbing pole climbing robot, comprising a main frame mechanism and four sub-modules, the four sub-modules are divided into two groups, each group has two sub-modules arranged symmetrically with each other, and the two groups of sub-modules are located on the two sides of the main frame mechanism, respectively; Each of the sub-modules comprises a module frame, a module center frame, a passive adaptation mechanism, a transmission mechanism, an extension mechanism and a wheel mechanism, the wheel mechanism, the passive adaptation mechanism and the transmission mechanism are installed on the module frame, and the module frame is in sliding fit with the module center frame; the passive adaptation mechanism can drive the wheel mechanism to tilt and move to adapt to rod surfaces of different curvatures, and the transmission mechanism can drive the wheel mechanism to move; the extension mechanism is installed on the module center frame, and the extension mechanism can drive the module frame to move in extension and retraction, so that two sub-modules symmetrically arranged can move close to or away from each other.

[0007] Compared with the prior art, the present scheme has the following advantages and beneficial effects: In the present scheme, the design that the extension mechanism drives the module frame to move in extension and retraction enables the symmetrically arranged sub-modules to move close to or away from each other, directly realizing the adaptation to rod bodies of different diameters: without replacing mechanical components, the robot can be compatible with a continuously changing rod diameter range (such as a smooth transition from a thin rod to a thick rod), solving the limitation of single-diameter adaptation of traditional robots; The extension mechanism can provide stable clamping force, ensuring that the robot can reliably adhere to rod bodies of different diameters, avoiding slipping or falling off due to changes in rod diameter.

[0008] The passive adaptation mechanism can drive the wheel mechanism to tilt and move, forming self-adaptive adjustment to the irregularity of the rod body surface (such as changes in the curvature of the curved surface, local protrusions / recesses): the wheel mechanism can adjust the contact angle in real time according to the curvature of the rod surface, ensuring effective fitting with the rod body surface, solving the strict requirements of adsorption robots on surface flatness and material; even on rough, textured or locally deformed rod body surfaces, the robot can still maintain stable friction and adhesion effect, widening the application scenarios of the robot.

[0009] In addition, the coordinated action of the two groups of symmetrically arranged sub-modules and the driving capability of the wheel mechanism significantly improve the obstacle crossing performance: when facing protruding obstacles such as flanges and fixed supports, the robot can realize alternating obstacle crossing by retraction of one side of the sub-module and clamping of the other side, avoiding the problem of wheel-type robots getting stuck; compared with the intermittent motion of traditional clamping robots, the continuous driving of the wheel mechanism combined with the variable diameter adjustment can maintain high motion efficiency during obstacle crossing, balancing the obstacle crossing ability and working speed.

[0010] The four sub-modules are symmetrically arranged in two groups on both sides of the main frame, forming a symmetric clamping structure, which can evenly disperse the weight of the robot itself and the load, avoiding tilting or imbalance caused by unilateral stress; The independent module components such as the module frame, the module center frame and the transmission mechanism improve the structural rigidity, and in combination with stable extension and clamping force, can carry more inspection equipment such as cameras, sensors or operation tools, solving the defect of weak load of bionic robots.

[0011] Further, the module frame comprises a module main frame, a module auxiliary frame and a main- auxiliary connecting plate, two ends of the main- auxiliary connecting plate are connected with the module main frame and the module auxiliary frame respectively, and the main- auxiliary connecting plate is in sliding connection with the module center frame; The wheel mechanism comprises a driving wheel and a driven wheel, the driving wheel is arranged on one side of the module main frame, the driven wheel is arranged on one side of the module auxiliary frame, main support arms and auxiliary support arms are arranged on both sides of the module main frame and the module auxiliary frame respectively, the driving wheel is hinged with the main support arms and the auxiliary support arms on both sides of the module main frame through a rotating shaft, the driven wheel is hinged with the main support arms and the auxiliary support arms on both sides of the module auxiliary frame through a rotating shaft, and the transmission mechanism can drive the driving wheel to rotate.

[0012] Beneficial effects: the module frame in the scheme is designed in combination of the module main frame, the module auxiliary frame and the main- auxiliary connecting plate, forming a split frame structure connected rigidly, which not only ensures the overall structural strength, but also realizes the orderly arrangement of the wheel mechanism through the functional division of the module main frame and the module auxiliary frame. The sliding connection of the main- auxiliary connecting plate and the module center frame provides a stable guide structure for the subsequent telescopic mechanism to drive the overall telescopic module frame, ensuring the accurate movement trajectory of the sub-module when approaching / away from the rod body, and avoiding unstable clamping due to shaking.

[0013] The main support arms and the auxiliary support arms extend from both sides of the module main frame and the module auxiliary frame respectively, and are hinged with the driving wheel and the driven wheel through rotating shafts, so that the wheel body has a certain degree of rotational freedom, and can further adjust the contact angle in cooperation with the passive adaptive mechanism. When there are small protrusions, depressions or curvature changes on the surface of the rod body, the wheel body can automatically swing through the hinged structure to maintain effective adhesion with the rod surface at all times, which makes up for the adjustment limitations of simply relying on the passive adaptive mechanism, and especially can maintain stable friction in a complex rod surface environment. The driving wheel is directly driven by the transmission mechanism to provide power, and the driven wheel is supported by the driven wheel, forming a cooperative movement mode of active + passive, which not only ensures the power output of the robot moving along the rod body, but also reduces the movement resistance through the follow-up of the driven wheel. In the process of obstacle crossing (such as crossing a flange), the driving wheel can provide continuous driving force, and the driven wheel can flexibly adjust the posture through the hinged structure of the support arm, cooperate with the telescopic action of the sub-module, realize the orderly obstacle crossing of the wheel set, and avoid the problem of power interruption in the process of obstacle crossing of the traditional wheeled robot.

[0014] Further, the transmission mechanism comprises a driving motor, a synchronous belt transmission system and a universal joint, the driving motor is fixed inside the module main frame, the output end of the driving motor is connected with the synchronous belt transmission system, one end of the universal joint is connected with the transmission shaft of the synchronous belt transmission system, the other end of the universal joint is connected with the rotating shaft on the driving wheel, the synchronous belt transmission system is arranged outside the auxiliary support arm, and the synchronous belt transmission system can transmit the power of the driving motor to the driving wheel to drive the driving wheel to rotate.

[0015] Beneficial effects: In the scheme, the combination of the driving motor and the synchronous belt transmission system forms a stable deceleration and torque increasing transmission chain, which can efficiently transmit the power of the motor to the driving wheel, and ensure that the robot obtains sufficient driving force during climbing, especially when facing rough rod surface or large load, power loss can be reduced. The synchronous belt transmission system is arranged outside the auxiliary support arm, which avoids the movement interference with other components, and facilitates the straight arrangement of the power transmission path, and improves the transmission efficiency.

[0016] The universal joint connects the transmission shaft of the synchronous belt transmission system and the rotating shaft of the driving wheel, and can adapt to the multi-angle inclination of the driving wheel caused by the passive adaptation mechanism or the hinged structure (such as the swing of the wheel body when the rod surface curvature changes), so as to ensure that the power transmission is not interrupted and not jammed during the dynamic adjustment of the wheel body posture. Compared with the rigid transmission structure, the flexible connection of the universal joint solves the problem of power transmission failure when the wheel body is inclined, so that the robot moves more smoothly on the complex rod surface, especially when maintaining continuous driving force during obstacle climbing or curved surface transition.

[0017] Further, the passive adaptation mechanism is provided with two groups, and the two groups of passive adaptation mechanisms are arranged on the side opposite to each other of the module main frame and the module auxiliary frame; the passive adaptation mechanism comprises a spring and a damper, the spring is sleeved outside the damper, and the spring and the damper are fixed together on the top of the main support arm on the module main frame and the module auxiliary frame, and the two main support arms are respectively in sliding fit with the module main frame and the module auxiliary frame.

[0018] Beneficial effects: The two groups of passive adaptation mechanisms correspond to the module main frame and the module auxiliary frame respectively, and are located on the side opposite to each other, forming a symmetrical elastic adjustment structure, which can independently adapt to the posture of the driving wheel and the driven wheel respectively. This layout allows the main and auxiliary wheel groups to adjust independently based on the contact conditions of the respective rod surfaces (such as local protrusions, depressions, or curvature differences), avoiding the problem of "pulling one hair and affecting the whole body" when adjusting a single mechanism, and improving the accuracy of adapting to non-uniform rod surfaces. The spring provides continuous elastic pre-tightening force, which can push the main support arm and drive the wheel body to always adhere to the rod surface, ensuring that the wheel body maintains effective contact with the rod surface even when the rod diameter changes slightly or the surface is uneven, avoiding slipping or disengaging due to rigid contact; The damper is set inside the spring, which can buffer the impact force when the wheel body encounters sudden obstacles (such as sharp protrusions or steps), reducing the impact of vibration on the overall structure, while suppressing the high-frequency rebound of the spring, making the transition smoother when the contact state changes, avoiding bouncing off the rod surface.

[0019] The sliding fit of the main support arm with the module main frame and the module auxiliary frame provides displacement adjustment space for the wheel body mechanism along the length direction of the support arm, combined with the stretching force of the spring, it can realize the floating of the wheel body mechanism within a certain range; This design not only allows the wheel body mechanism to achieve angular inclination through the hinge structure, but also allows position compensation through the sliding of the support arm, with double adjustment freedom, which greatly improves the adaptation ability to complex rod surfaces (such as curved surfaces, local deformations, and multiple obstacles). The passive adaptation mechanism cooperates with the above-mentioned universal joint and hinge structure, the universal joint ensures the transmission of power when the angle changes, the spring and damper combination maintains the wheel body contact through elastic force, and the support arm sliding provides position compensation; the cooperation of the three makes the robot smoothly cross obstacles such as flanges through the continuous actions of compression buffering, conforming to the shape, and resetting following, avoiding the posture imbalance caused by rigid collision.

[0020] Further, the module center frame is located between the module main frame and the module auxiliary frame, the module main frame is connected with a main slide rail pair, the middle of the main and auxiliary connecting plate is connected with a main sliding block, and the main and auxiliary connecting plate is slidably connected with the main slide rail pair through the main sliding block.

[0021] Beneficial effects: The cooperation of the main slide rail pair and the main sliding block provides rigid guidance for the extension and retraction movement of the module frame (module main frame, module auxiliary frame, and main and auxiliary connecting plate), ensuring that the sub-module translates along the preset trajectory when approaching or moving away from the rod body, avoiding deviation, jamming, or skew caused by uneven force; Compared with the unguided sliding structure, this slide rail and sliding block combination can significantly reduce the movement resistance, making the driving force of the extension and retraction mechanism more efficiently converted into the displacement of the module frame, improving the response speed of the variable diameter adjustment.

[0022] Further, the telescopic mechanism comprises a ball screw, a ball nut and a screw motor, the ball screw penetrates through the module main frame, one end of the ball screw is connected with the output shaft of the screw motor, the screw motor is fixed on the module center frame, the ball nut is threadedly connected with the ball screw, and the ball nut is connected with the module main frame.

[0023] Beneficial effects: the cooperation of the ball screw and the ball nut has extremely low friction coefficient and high transmission efficiency, can accurately convert the rotary motion of the screw motor into the linear telescopic motion of the module main frame, and realizes micron-level adjustment of the spacing between the sub-modules. Such high-precision adjustment capability enables the robot to accurately adapt to rods with different diameters, avoiding the problems of loose or tight clamping caused by adjustment errors.

[0024] Further, one end of the module main frame is provided with a groove, and the ball nut is embedded in the groove.

[0025] Beneficial effects: in the scheme, the groove is designed to embed the ball nut in the module main frame instead of protruding outward, which greatly reduces the occupied space of the telescopic mechanism in the sub-module, avoids space interference with the transmission mechanism and the passive adaptive mechanism, and the like. Such built-in layout makes the overall structure of the sub-module more compact, especially when the robot passes through a narrow gap (such as the space between the rod and the obstacle), the risk of scratching can be reduced.

[0026] Further, the ball screw is provided with a screw base at the end away from the screw motor, one end of the ball screw is rotationally connected with the screw base, the screw base is fixedly connected with a base support, and the base support is fixedly connected with the module center frame.

[0027] Beneficial effects: one end of the ball screw is fixed to the module center frame through the screw motor, and the other end is connected with the base support through the screw base and the base support and is fixed to the module center frame, forming a support structure with both ends limited, which greatly reduces the bending deformation of the ball screw when it is stressed compared with single-end limiting. Such rigid support ensures that the ball screw can maintain stable axis when rotating at high speed or bearing heavy load, avoids transmission jamming or precision error caused by ball screw shaking, and ensures the smoothness and accuracy of the telescopic adjustment of the module frame.

[0028] The rotational connection (such as through a bearing) between the ball screw and the screw base makes the end of the ball screw only produce rolling friction when rotating, which significantly reduces mechanical wear; compared with direct rigid contact, such design reduces the friction resistance and heat between the ball screw and the support structure, prolongs the service life of the ball screw, the nut and other core components, and is more advantageous especially in high-frequency variable-diameter adjustment scenarios.

[0029] Further, the main frame mechanism comprises two inner side support frames, two outer side support frames, two ring-shaped frames and two connecting rods, the inner side support frames and the outer side support frames are arranged in pairs, and the inner side support frames and the outer side support frames are connected with opposite sides of the corresponding ring-shaped frames respectively, and the two connecting rods are located on the two sides of the ring-shaped frames respectively, and the two ends of the connecting rods are connected with the two ring-shaped frames respectively; each pair of the inner side support frames and the outer side support frames are located between the module center frames on the two sides of the main frame mechanism and are fixedly connected with the module center frames.

[0030] Beneficial effects: The two ring-shaped frames in the scheme are connected by connecting rods to form a closed main support structure, which cooperates with the symmetrical layout of the inner side support frames and the outer side support frames to form a composite rigid frame, which can uniformly disperse the self-weight, load and external force of the robot during operation; such a structure design makes the overall deformation of the robot very small when climbing, obstacle crossing or bearing eccentric load, avoids the attitude deviation of the sub-modules due to the deformation of the frame, and ensures the stable contact of the wheel body and the rod surface.

[0031] The inner side support frames and the outer side support frames are arranged in pairs on the two sides of the ring-shaped frames and are fixedly connected with the module center frames of the sub-modules, so that the four sub-modules (two groups of symmetrical layout) form a cooperative motion unit with the main frame as the center; Such a connection mode ensures that the sub-modules on both sides of the main frame mechanism keep symmetrical action (such as approaching or moving away from the rod body at the same time) during telescopic adjustment, avoids the robot from deflecting around the rod body due to unbalanced unilateral adjustment, and improves the attitude stability during the variable-diameter process. BRIEF DESCRIPTION OF DRAWINGS

[0032] The drawings described herein are used to provide further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application. In the drawings: Figure 1 It is a whole structure schematic view of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 2 It is a front view of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 3 It is a perspective view of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 4 It is a perspective view of a sub-module of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 5 It is a front view of a sub-module of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 6 It is a side view of a sub-module of a variable-diameter obstacle-crossing pole-climbing robot embodiment of the present application; Figure 7Fig. 1 is a schematic diagram of part of the internal structure of a sub-module of an embodiment of the variable-diameter obstacle-crossing pole-climbing robot of the present application; Figure 8 Fig. 2 is a schematic diagram of part of the sub-module of the variable-diameter obstacle-crossing pole-climbing robot of the present application; Figure 9 Fig. 3 is a schematic diagram of the process of climbing over a flange of the variable-diameter obstacle-crossing pole-climbing robot of the present application.

[0033] Markings in the drawings and corresponding names of parts: Main body frame mechanism 1, sub-module 2, transmission mechanism 3, passive adaptation mechanism 4, telescopic mechanism 5, wheel part mechanism 6, outer side support frame 7, annular frame 8, support 801, inner side support frame 9, connecting rod 10, module center frame 11, main and auxiliary connecting plate 12, module main frame 13, groove 131, main support arm 14, drive wheel 15, module auxiliary frame 16, auxiliary support arm 17, driven wheel 18, lead screw motor 19, coupling 20, ball screw 21, drive motor 22, synchronous belt transmission system 23, universal joint 24, main slide rail pair 25, spring 26, secondary slide rail pair 27, secondary slide block 271, ball nut 28, damper 29, rotating shaft 30, lead screw base 31, base support 32. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present application clearer and more apparent, the present application will be further described in detail below with reference to the embodiments and drawings, the schematic embodiments of the present application and the description thereof are only used to explain the present application, and do not limit the present application.

[0035] As one embodiment of the present application, as shown in Figures 1-3 Fig. 1, the embodiment provides a variable-diameter obstacle-crossing pole-climbing robot, which comprises a main body frame mechanism 1 and four sub-modules 2, the four sub-modules 2 are divided into two groups, each group has two sub-modules 2 which are symmetrically arranged with respect to each other, and the two groups of sub-modules 2 are respectively located on the two sides of the main body frame mechanism 1, i.e. each group of two sub-modules 2 is symmetrically distributed with respect to the center of the main body frame mechanism 1, and the two groups of sub-modules 2 are respectively located on the two sides of the main body frame mechanism 1. Each sub-module 2 comprises a module frame, a module center frame 11, a passive adaptation mechanism 4, a transmission mechanism 3, a telescopic mechanism 5 and a wheel part mechanism 6, the wheel part mechanism 6, the passive adaptation mechanism 4 and the transmission mechanism 3 are all installed on the module frame, and the module frame is in sliding fit with the module center frame 11; the passive adaptation mechanism 4 can drive the wheel part mechanism 6 to tilt and move to adapt to pole surfaces with different curvatures, the transmission mechanism 3 can drive the wheel 15 part mechanism to move; the telescopic mechanism 5 is installed on the module center frame 11, and the telescopic mechanism 5 can drive the module frame to move telescopically, so that the two sub-modules 2 which are symmetrically arranged with respect to each other can move closer to or farther away from each other.

[0036] In one embodiment, combined Figure 3 As shown, in this embodiment, the main frame mechanism 1 includes two inner support frames 9, two outer support frames 7, two annular frames 8, and two connecting rods 10. The inner support frames 9 and the outer support frames 7 are arranged in pairs, that is, one inner support frame 9 and one outer support frame 7 are arranged in a pair in one annular frame 8, and the other inner support frame 9 and the other outer support frame 7 are arranged in a pair in another annular frame 8. The paired inner support frames 9 and outer support frames 7 are respectively connected to the opposite sides of the corresponding annular frame 8 by screws. Two connecting rods 10 are located on both sides of the annular frame 8, and the two ends of the connecting rods 10 are connected to the two annular frames 8 respectively. In this embodiment, the annular frame 8 is a rectangular frame structure. The two sides of the annular frame 8 are connected to the brackets 801 in the middle. The brackets 801 on both sides of the annular frame 8 form a cross structure with the annular frame 8, and the brackets 801 and the annular frame 8 are integrally formed, and the two are an integral structure. The two ends of the two connecting rods 10 are fixedly connected to the brackets 801 on both sides of the two annular frames 8 by bolts or screws, or by welding, or integrally formed, thereby forming the main frame mechanism 1 as a whole. Each pair of inner support frames 9 and outer support frames 7 are located between the sub-modules 2 on both sides of the main frame mechanism 1 and are fixedly connected to the module center frame 11 on the sub-module 2 by bolts or screws. Each pair of inner support frames 9 and outer support frames 7 is used to connect adjacent sub-modules 2 and at the same time to limit the movement stroke in the sub-module 2.

[0037] In this embodiment, the main frame mechanism 1 ensures the overall integrity of the pole climbing robot and the stability of the operation of each sub-module 2.

[0038] In one embodiment, such as Figure 4 As shown, the module frame includes a main module frame 13, a sub-module frame 16, and main and sub-connecting plates 12. In this embodiment, there are two main and sub-connecting plates 12, which are located on both sides of the main module frame 13 and the sub-module frame 16, respectively. The two ends of the two main and sub-connecting plates 12 are connected to the main module frame 13 and the sub-module frame 16 by bolts or screws, respectively. The main and sub-connecting plates 12 are slidably connected to the module center frame 11. Specifically, the module center frame 11 is located between the main module frame 13 and the sub-module frame 16. A main slide rail pair 25 is connected to the main module frame 13 by screws. The main slide rail pair 25 is arranged along the length direction of the main module frame 13. A main slider is connected to the middle of the main and sub-connecting plates 12 by screws. The main and sub-connecting plates 12 are slidably connected to the main slide rail pair 25 through the main slider.

[0039] like Figure 4As shown, the wheel mechanism 6 includes a driving wheel 15 and a driven wheel 18, the driving wheel 15 is arranged on one side of the module main frame 13, the driven wheel 18 is arranged on one side of the module auxiliary frame 16, and the two sides of the module main frame 13 and the module auxiliary frame 16 are respectively provided with a main support arm 14 and an auxiliary support arm 17, the driving wheel 15 is hinged with the main support arm 14 and the auxiliary support arm 17 on both sides of the module main frame 13 through a rotating shaft 30, the driven wheel 18 is hinged with the main support arm 14 and the auxiliary support arm 17 on both sides of the module auxiliary frame 16 through a rotating shaft 30, and the transmission mechanism 3 can drive the driving wheel 15 to rotate.

[0040] In one embodiment, in combination with Figure 4 and Figure 5 As shown, the transmission mechanism 3 includes a driving motor 22, a synchronous belt transmission system 23 and a universal joint 24, the driving motor 22 is fixed inside the module main frame 13, in this embodiment, an installation cavity for installing the driving motor 22 is formed on the module main frame 13, the output end of the driving motor 22 is connected with the synchronous belt transmission system 23, the synchronous belt transmission system 23 includes a synchronous belt, a driving pulley and a driven pulley, the driving pulley and the driven pulley are coaxially connected with a transmission shaft, the driving pulley is connected with the output shaft of the driving motor 22, the driven pulley is connected with the driving wheel 15, and the synchronous belt is wrapped between the driving pulley and the driven pulley and is responsible for transmitting torque.

[0041] In combination with Figure 5 , Figure 6 and Figure 7 As shown, one end of the universal joint 24 in this embodiment is connected with the transmission shaft of the synchronous belt transmission system 23, that is, the transmission shaft of the driven pulley is fixedly connected with one end of the universal joint 24 through the auxiliary support arm 17, the other end of the universal joint 24 is fixedly connected with the rotating shaft 30 on the driving wheel 15, the synchronous belt transmission system 23 is arranged on the outside of the auxiliary support arm 17, and the synchronous belt transmission system 23 can transmit power of the driving motor 22 to the driving wheel 15 to drive the driving wheel 15 to rotate.

[0042] In this embodiment, the universal joint 24 is used for the driving wheel 15 to realize power transmission under a non-coaxial center when adapting to the rod surface, the synchronous belt transmission system 23 reduces the output of the driving motor 22 and increases the torque, thereby ensuring normal climbing of the robot and climbing under a certain load.

[0043] In one embodiment, in combination with Figure 4 , Figure 5 and Figure 7As shown, the passive adaptation mechanism 4 is provided with two groups, and the two groups of passive adaptation mechanisms 4 are respectively arranged on the sides of the module main frame 13 and the module auxiliary frame 16 opposite to each other, and the two groups of passive adaptation mechanisms 4 are symmetrically distributed on the two sides of the module center frame 11; the passive adaptation mechanism 4 includes a spring 26 and a damper 29, the spring 26 is sleeved outside the damper 29, and the spring 26 and the damper 29 are fixed on the top of the main support arm 14 on the module main frame 13 and the module auxiliary frame 16, the two main support arms 14 are respectively in sliding fit with the module main frame 13 and the module auxiliary frame 16, and the end of the damper 29 away from the main support arm 14 is connected with the module main frame 13 or the module auxiliary frame 16 on the corresponding side, and the upper end of the damper 29 is fixed with an upper seat, and the upper seat is fixed on the module main frame 13 or the module auxiliary frame 16 on the corresponding side by bolts.

[0044] In this embodiment, as shown in the drawings, Figure 5 the secondary slide rail pair 27 is welded and fixed on the side of the module main frame 13 and the module auxiliary frame 16 opposite to each other, the secondary slide block 271 is welded and fixed on the side of the corresponding secondary slide rail pair 27 of the two main support arms 14, and the main support arm 14 is in sliding connection with the corresponding secondary slide rail pair 27 through the secondary slide block 271. In this embodiment, the sliding direction of the main support arm 14 is consistent with the stretching direction of the module frame, and the main support arm is in sliding connection with the secondary slide rail pair 27, so that when the spring 26 is elastically deformed, the main support arm 14 can slide correspondingly.

[0045] In this embodiment, one of the passive adaptation mechanisms 4 is connected to the module main frame 13, and is used to drive the driving wheel 15 to make an inclination angle to adapt to different curvature rod surfaces, and the other passive adaptation mechanism 4 is connected to the module auxiliary frame 16, and is used to drive the driven wheel 18 to make an inclination angle to adapt to different curvature rod surfaces.

[0046] In one embodiment, as shown in the drawings, Figure 5 and Figure 7 the stretching mechanism 5 includes a ball screw 21, a ball nut 28 and a screw motor 19, the ball screw 21 penetrates through the module main frame 13, one end of the ball screw 21 is connected with the output shaft of the screw motor 19 through a shaft coupling 20, the screw motor 19 is fixed on the module center frame 11 by bolts, the ball nut 28 is in threaded fit with the ball screw 21, and the ball nut 28 is connected with the module main frame 13 by bolts.

[0047] One end of the ball screw 21 away from the screw motor 19 is provided with a screw base 31, one end of the ball screw 21 is in rotary fit with the screw base 31 through a bearing, and the screw base 31 is fixedly connected with a base support 32 through bolts or screws, and the base support 32 is fixedly connected with the module center frame 11 through screws or bolts.

[0048] In this embodiment, the ball screw motor 19 drives the ball screw 21 to rotate, and the ball screw nut 28 realizes linear motion, and the ball screw nut 28 pushes the sub-module 2 to approach or move away from the rod surface.

[0049] In one embodiment, as shown in Figure 7 One end of the module main frame 13 is provided with a groove 131, and the ball screw nut 28 is embedded in the groove 131, so that the ball screw nut 28 does not protrude and interfere.

[0050] The specific implementation process is as follows: The variable-diameter principle and the obstacle-crossing principle of the variable-diameter obstacle-crossing pole climbing robot in this embodiment are as follows: Variable-diameter principle: as shown in Figure 8 The ball screw nut 28 drives the sub-module 2 to apply a pre-clamping force to the rod surface, the driving wheel 15 and the driven wheel 18 are close to the side of the passive adaptive mechanism 4, and the spring 26 in the passive adaptive mechanism 4 starts to compress under the pressure of the pipe surface. The damper 29 provides vibration suppression, and the secondary slide rail pair 27 drives one side of the driving wheel 15 and the driven wheel 18 to produce an inclination angle that adapts to the curvature of the rod surface, so that the wheel completely adheres to the pipe. When the curvature of the climbed rod increases, the corresponding passive adaptive mechanism 4 starts to compress, and the inclination angle of the wheel increases correspondingly; similarly, when the curvature of the climbed rod decreases, the corresponding passive adaptive mechanism 4 starts to elongate, and the inclination angle of the wheel decreases correspondingly. (In practice, a pressure sensor is installed between each main supporting arm 14 and the corresponding module main frame 13 or module auxiliary frame 16) At the same time, the pressure sensor at the main supporting arm 14 feeds back the pre-clamping force at this time, if the pre-clamping force decreases, the telescopic mechanism 5 continues to drive the wheel part mechanism 6 to approach the rod surface to increase the pre-clamping force; on the contrary, it moves away to reduce the pre-clamping force.

[0051] Obstacle-crossing principle: as shown in Figure 9 When facing large-size obstacles such as flanges, the telescopic mechanism 5 of the two sub-module mechanisms 2 close to the obstacle drives them to move away from the rod surface until the wheel part mechanism 6 does not contact the obstacle, at this time, the two sub-modules 2 far away from the obstacle are responsible for providing the pre-clamping force of the robot to the rod surface, and its transmission mechanism 3 drives the robot to climb in the direction of the obstacle, until close to the obstacle, at this time, the two sub-modules 2 close to the obstacle start to move away from the rod surface, and the two sub-modules 2 far away from the rod surface start to approach the rod surface, responsible for providing the pre-clamping force of the robot to the rod, under the drive of the transmission mechanism 3, the robot as a whole moves away from the obstacle, at this time, the obstacle-crossing is completed.

[0052] The application provides a telescopic obstacle-crossing pole climbing robot, which realizes self-locking and a certain stroke distance of the telescopic mechanism through a ball screw and a main slide rail pair, provides a pre-clamping force for each sub-module to the pole to be climbed, ensures stable climbing and safety of the robot on the pole surface, and when the robot encounters a large-size obstacle similar to a flange plate, the telescopic mechanism can lift the wheel mechanism 6 to cross the pole surface obstacle; the passive adaptive mechanism is arranged, so that different pole diameters can be passively adapted, pole climbing on the variable-diameter pole is realized, and complexity of active control is reduced; the universal joint in the transmission mechanism realizes transmission of the driving wheel rotating shaft under axial angle deviation, and ensures normal climbing of the robot when the variable-diameter pole is adapted; the pole climbing robot has a climbing speed based on a wheeled structure, and has an obstacle-crossing ability of a clamping type pole climbing robot, and realizes continuous climbing and obstacle-crossing on the variable-diameter pole surface.

[0053] It is to be understood that the above description is illustrative of the application and not in limitation. Many possible modifications and combinations will occur to those skilled in the art having the benefit of the present disclosure. Therefore, the present application is not intended to be limited to the described embodiments, but is to be accorded the full scope consistent with the language of the claims.

Claims

1. A variable-diameter obstacle-crossing and pole-climbing robot, characterized in that, It includes a main frame structure and four sub-modules. The four sub-modules are divided into two groups, with two sub-modules in each group arranged symmetrically. The two groups of sub-modules are located on both sides of the main frame structure. Each submodule includes a module frame, a module center frame, a passive adaptation mechanism, a transmission mechanism, a telescopic mechanism, and a wheel mechanism. The wheel mechanism, the passive adaptation mechanism, and the transmission mechanism are all mounted on the module frame, and the module frame is slidably engaged with the module center frame. The passive adaptation mechanism can drive the wheel mechanism to tilt and adapt to rod surfaces with different curvatures, and the transmission mechanism can drive the wheel mechanism to move. The telescopic mechanism is mounted on the module center frame and can drive the module frame to telescopically move, so that two symmetrically arranged submodules move closer to or further away from each other.

2. The variable-diameter obstacle-climbing robot according to claim 1, characterized in that, The module frame includes a main module frame, a sub-module frame, and a main-sub-connecting plate. The two ends of the main-sub-connecting plate are respectively connected to the main module frame and the sub-module frame, and the main-sub-connecting plate is slidably connected to the module center frame. The wheel mechanism includes a drive wheel and a driven wheel. The drive wheel is located on one side of the main frame of the module, and the driven wheel is located on one side of the sub-frame of the module. The main frame and the sub-frame of the module are respectively provided with a main support arm and a secondary support arm on both sides. The drive wheel is hinged to the main support arm and the secondary support arm on both sides of the main frame of the module via a pivot, and the driven wheel is hinged to the main support arm and the secondary support arm on both sides of the sub-frame of the module via a pivot. The transmission mechanism can drive the drive wheel to rotate.

3. The variable-diameter obstacle-climbing robot according to claim 2, characterized in that, The transmission mechanism includes a drive motor, a synchronous belt drive system, and a universal joint. The drive motor is fixed inside the main frame of the module. The output end of the drive motor is connected to the synchronous belt drive system. One end of the universal joint is connected to the drive shaft of the synchronous belt drive system, and the other end of the universal joint is connected to the rotating shaft on the drive wheel. The synchronous belt drive system is located on the outside of the auxiliary support arm. The synchronous belt drive system can transmit the power of the drive motor to the drive wheel to drive the drive wheel to rotate.

4. The variable-diameter obstacle-climbing robot according to claim 2, characterized in that, The passive adaptation mechanism is provided in two sets, and the two sets of passive adaptation mechanisms are respectively located on the opposite side of the main frame and the sub-frame of the module. The passive adaptation mechanism includes a spring and a damper. The spring is sleeved on the outside of the damper. The spring and the damper are fixed together to the top of the main support arm on the main frame and the sub-frame of the module. The two main support arms are slidably engaged with the main frame and the sub-frame of the module, respectively.

5. A variable-diameter obstacle-climbing robot according to claim 2, characterized in that, The module center frame is located between the module main frame and the module sub-frame. The module main frame is connected to a main slide rail pair, and the main slider is connected in the middle of the main and sub-connecting plates. The main and sub-connecting plates are slidably connected to the main slide rail pair through the main slider.

6. A variable-diameter obstacle-climbing robot according to claim 5, characterized in that, The telescopic mechanism includes a ball screw, a ball nut, and a screw motor. The ball screw passes through the main frame of the module, one end of the ball screw is connected to the output shaft of the screw motor, the screw motor is fixed on the central frame of the module, the ball nut is threadedly engaged with the ball screw, and the ball nut is connected to the main frame of the module.

7. A variable-diameter obstacle-climbing robot according to claim 6, characterized in that, A groove is formed at one end of the main frame of the module, and the ball nut is embedded in the groove.

8. A variable-diameter obstacle-climbing robot according to claim 6, characterized in that, The ball screw is provided with a screw base at one end away from the screw motor. One end of the ball screw is rotatably engaged with the screw base. A base support is fixedly connected to the screw base, and the base support is fixedly connected to the module center frame.

9. A variable-diameter obstacle-climbing robot according to any one of claims 1-8, characterized in that, The main frame structure includes two inner support frames, two outer support frames, two annular frames, and two connecting rods. The inner and outer support frames are arranged in pairs and are respectively connected to the opposite sides of the corresponding annular frames. The two connecting rods are located on both sides of the annular frames and their ends are respectively connected to the two annular frames. Each pair of inner and outer support frames is located between the sub-modules on both sides of the main frame structure and is fixedly connected to the module center frame on the sub-module.

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