Frame type obstacle crossing device and method of adsorption type mobile robot based on stroke multiplication mechanism

Abstract

The invention belongs to the related technical field of robots, and discloses a framework type obstacle crossing device and method of an adsorption type mobile robot based on a stroke multiplication mechanism. The device comprises a main body adsorption unit and an obstacle crossing unit, the main body adsorption unit comprises a main body fixing plate and a first adsorption cavity, the first adsorption cavity is used for adsorbing a robot to a wall surface, and the main body fixing plate is arranged above the first adsorption cavity and fixedly connected with the first adsorption cavity; the obstacle crossing units are symmetrically arranged on the two sides of the main body adsorption mechanism, each obstacle crossing unit comprises a telescopic mechanism, an anchoring lifting mechanism and a second adsorption cavity, and the telescopic mechanisms are driven by a guide rail on the main body fixing plate to enable the obstacle crossing units to be away from or close to the main body adsorption unit; during obstacle crossing, the sliding guide rail moves downwards to enable the second adsorption cavity to be adsorbed on the wall surface, and the main body adsorption unit is lifted up; when the obstacle is not surmounted, the sliding guide rail moves upwards to separate the second adsorption cavity from the wall surface. According to the invention, the obstacle crossing problem of the adsorption type robot is solved.

Description

Technical Field

[0001] This invention belongs to the field of robot-related technology, and more specifically, relates to a frame-type obstacle-crossing device and method for an adsorption-type mobile robot based on a stroke multiplication mechanism. Background Technology

[0002] Large components such as aircraft fuselages and wind turbine blades, as core components bearing structural and functional performance, have their surface manufacturing precision and maintenance quality directly affecting the aerodynamic efficiency, structural durability, and operational safety of the equipment. However, current surface operation methods face dual technical challenges: traditional manual operation methods suffer from drawbacks such as high-altitude and high-risk operations, poor process consistency, and high overall costs; while existing adsorption-based mobile robots are generally limited by their adaptability to simple curved surfaces, making it difficult to overcome the inherent three-dimensional topological obstacles on the surfaces of large components, such as rivet protrusions and irregular features like maintenance hatches. This results in insufficient continuity of automated equipment operation. This deficiency in motion adaptability forces the equipment to repeatedly perform manual posture adjustments and path replanning, significantly reducing the engineering applicability of intelligent operation and maintenance systems. Therefore, it is necessary to design an obstacle-crossing mechanism that can assist the adsorption-based mobile robot in overcoming obstacles. This obstacle-crossing mechanism should possess strong load-bearing capacity, high obstacle-crossing ability, smooth movement, and high motion precision to expand the operating range of the adsorption-based mobile robot and improve its automation capabilities and environmental adaptability. Summary of the Invention

[0003] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a frame-type obstacle crossing device and method for an adsorption mobile robot based on a stroke multiplication mechanism, thereby solving the obstacle crossing problem of adsorption robots.

[0004] To achieve the above objectives, according to one aspect of the present invention, a frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism is provided. The device includes a main adsorption unit and an obstacle-crossing unit, wherein: The main adsorption unit includes a main fixing plate and a first adsorption cavity. The first adsorption cavity is used to adsorb the robot onto the wall surface. The main fixing plate is disposed above the first adsorption cavity and is fixedly connected to the first adsorption cavity. The obstacle-crossing units are symmetrically arranged on both sides of the main adsorption mechanism. Each obstacle-crossing unit includes a telescopic mechanism, an anchoring and lifting mechanism, and a second adsorption cavity. Driven by the guide rail on the main fixing plate, the telescopic mechanism moves the obstacle-crossing unit away from or closer to the main adsorption unit. The anchoring and lifting mechanism includes a guide rail and a sliding guide rail. The sliding guide rail is arranged vertically, and its end is connected to the second adsorption cavity. Driven by the guide rail, the sliding guide rail moves the second adsorption cavity up and down. When crossing an obstacle, the sliding guide rail moves downward, causing the second adsorption cavity to adhere to the wall surface, and the main adsorption unit is lifted. When not crossing an obstacle, the sliding guide rail moves upward, causing the second adsorption cavity to detach from the wall surface.

[0005] More preferably, the telescopic mechanisms in the obstacle-crossing units on both sides are respectively arranged on the upper and lower sides of the main body fixing plate, namely the upper telescopic mechanism and the lower telescopic mechanism, and the upper telescopic mechanism and the lower telescopic mechanism have the same or different directions of movement.

[0006] More preferably, there are two guide rails on both sides of the main body fixing plate, one of which cooperates with the guide rail and the other cooperates with the slider on the main body fixing plate, and the two guide rails are connected by a reinforcing plate.

[0007] More preferably, a centrifugal fan is connected above both the first adsorption chamber and the second adsorption chamber to maintain negative pressure in the first adsorption chamber and the second adsorption chamber.

[0008] More preferably, a right adsorption chamber bellows cover is provided above the second adsorption chamber, which is made of bellows cover and can extend and retract vertically.

[0009] More preferably, the guide rail is connected to a drive motor for driving the guide rail to rotate.

[0010] More preferably, the anchoring and lifting mechanism is connected to the telescopic mechanism via an L-shaped connecting plate.

[0011] According to another aspect of the present invention, a method for overcoming obstacles in a frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism, as described above, is provided, the method comprising the following steps: The upper telescopic mechanism extends, driving the anchoring and lifting mechanism connected to it to overcome the obstacle; The anchoring and lifting mechanisms on both sides lower the second adsorption chamber until the main adsorption unit is lifted, and the second adsorption chamber is adsorbed onto the wall surface. The upper and lower telescopic mechanisms move in the same direction, driving the main adsorption unit over obstacles; The lifting mechanisms on both sides retract the second adsorption chamber until the first adsorption chamber contacts the wall and the second adsorption chamber detaches from the wall. The lower contraction mechanism retracts, causing the anchoring and lifting mechanism connected to it to cross the obstacle.

[0012] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art: 1. This invention achieves smooth movement of the obstacle-crossing unit's telescopic mechanism and the obstacle-crossing mechanism relative to the main body of the adsorption mobile robot through the coordinated operation of the telescopic mechanism and the obstacle-crossing mechanism. At the same time, it can transport the adsorption mobile robot over obstacles when the anchoring and lifting mechanism is anchored on the adsorption moving surface. The anchoring and lifting mechanisms at both ends are equipped with adsorption cavities for adsorption and anchoring, so that the adsorption mobile robot has a large vertical displacement relative to the adsorption moving surface, ensuring the robot's obstacle-crossing height and accuracy.

[0013] 2. The upper and lower telescopic mechanism provided by the present invention constitutes a frame structure, adopts a gear and rack transmission form, and uses the cooperation of guide rail and slider to ensure the stability and linearity of the transmission. This frame structure not only has a strong carrying capacity, but its staggered spatial layout makes the entire telescopic mechanism more compact.

[0014] 3. The anchoring and lifting mechanism provided by the present invention uses a lifting drive gear, a floating rack and a fixed rack installed together to form a transmission form with a single gear and double-sided rack stroke multiplication. This mechanism can enable the main body of the adsorption mobile robot to have a large vertical displacement relative to the wall surface using a shorter rack and guide rail, ensuring the robot's obstacle-crossing height and giving the robot a strong obstacle-crossing ability.

[0015] 4. In the anchoring and lifting mechanism of the present invention, the centrifugal fan, the fan fixing component, the top plate of the adsorption chamber and the centrifugal fan chassis are installed in a nested manner, forming an interlaced structure at the connection. During the operation of the centrifugal fan, air circulation can be effectively prevented to ensure air tightness, thereby ensuring that the anchoring and lifting mechanism can provide sufficient adsorption force to anchor the robot as a whole on the wall, thus providing a guarantee for obstacle crossing.

[0016] 5. The obstacle-crossing device of the present invention can carry an adsorption-type mobile robot body, which can cope with obstacles encountered in the manufacturing and maintenance of large components such as aircraft and wind turbine blades, expand its operating range, and greatly improve the automation capability and environmental adaptability of the adsorption-type mobile robot in different scenarios. Attached Figure Description

[0017] Figure 1 A schematic diagram of a frame-type obstacle-crossing mechanism based on a stroke multiplication mechanism mounted on an adsorption-type mobile robot, constructed according to a preferred embodiment of the present invention.

[0018] Figure 2A schematic diagram of the upper telescopic mechanism constructed according to a preferred embodiment of the present invention.

[0019] Figure 3 A schematic diagram of the lower telescopic mechanism constructed according to a preferred embodiment of the present invention.

[0020] Figure 4 A schematic diagram of the upper side of the anchoring and lifting mechanism constructed according to a preferred embodiment of the present invention.

[0021] Figure 5 A schematic diagram of the lower side of the anchoring and lifting mechanism constructed according to a preferred embodiment of the present invention.

[0022] Figure 6 A schematic diagram of an adhesive mobile robot equipped with the obstacle-crossing mechanism constructed according to a preferred embodiment of the present invention.

[0023] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Main adsorption unit, 2-Obstacle crossing unit, 3-Main fixing plate, 4-First adsorption chamber, 5-Guide rail, 6-Guide rail, 7-Slider, 8-Reinforcing plate, 9-Drive motor, 10-Second adsorption chamber, 11-Centrifugal fan, 12-L-shaped connecting plate, 13-Adsorption chamber bellows cover, 14-Sliding guide rail, 15-Upper telescopic mechanism, 16-Lower telescopic mechanism, 17-Anchoring lifting mechanism. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] like Figure 1 As shown, a frame-type obstacle-crossing mechanism for an adsorption mobile robot based on a stroke multiplication mechanism includes a main adsorption unit 1 and an obstacle-crossing unit 2. The obstacle-crossing unit 2 includes a telescopic mechanism, an anchoring and lifting mechanism 17, and a second adsorption cavity 10.

[0026] The main adsorption unit 1 includes a main fixing plate 3 and a first adsorption cavity 4. The first adsorption cavity 4 is used to adsorb the robot onto the wall surface. The main fixing plate 3 is disposed above the first adsorption cavity 4 and is fixedly connected to the first adsorption cavity 4.

[0027] In one embodiment of the present invention, the telescopic mechanisms are distributed on the upper and lower layers of the main body fixing plate 3, namely the upper telescopic mechanism 15 and the lower telescopic mechanism 16. The anchoring and lifting mechanism 17 is connected to the upper telescopic mechanism 15 and the lower telescopic mechanism 16 through the L-shaped connecting plate 12.

[0028] In this embodiment, the upper telescopic mechanism 15 is the same as the lower telescopic mechanism 16, including two linear guide rails 5. The linear guide rails 5 are connected by a reinforcing plate 8. The two linear guide rails 5 cooperate with the guide rails 6 and sliders 7 on the main body fixing plate 3. The drive motor 9 drives the guide rails 6 to move, thereby driving the guide rails 5 to move back and forth.

[0029] Preferably, the main body fixing plate 3 is fixedly connected to the main body adsorption unit 1 of the adsorption mobile robot using 8 high-strength screws, which facilitates the overall disassembly and replacement of the obstacle crossing mechanism and regular maintenance.

[0030] In this embodiment, as Figure 4 and 5 As shown, the anchoring and lifting mechanism 17 includes sliding guide rails 14 on both sides, guide rails 6, drive motor 9, and second adsorption chamber 10.

[0031] Preferably, during the operation of the centrifugal fan 11, it can effectively prevent airflow and ensure airtightness, thereby ensuring that the anchoring and lifting mechanism 17 can provide sufficient suction force to anchor the robot as a whole to the wall surface.

[0032] Preferably, the adsorption chamber bellows cover 13 is made of bellows cover, which can extend and retract vertically and has a certain support force in the radial direction, so as to resist the internal negative pressure and avoid deformation during the anchoring adsorption process.

[0033] Preferably, the anchoring and lifting mechanism 17 is a transmission form with a single gear and double-sided racks that double the stroke. This mechanism can enable the main body of the adsorption mobile robot to have a large vertical displacement relative to the wall surface while using a shorter rack and guide rail 5, thus ensuring the robot's obstacle-crossing height.

[0034] The anchoring and lifting mechanism 17 is fixedly connected to the double-layer telescopic mechanism only by the four mounting holes at both ends of the anchoring and lifting mechanism support pipe. The centrifugal fan adsorption chamber mechanism in the anchoring and lifting mechanism 17 is fixedly connected to the gear and rack mechanism only by the support frame, which facilitates the replacement of the centrifugal fan and adsorption chamber and facilitates regular maintenance.

[0035] The movement process of the obstacle-crossing device of the present invention will be described below.

[0036] When an adhesive mobile robot encounters an obstacle, follow these steps to overcome it: The upper telescopic mechanism 15 of S1 transports the anchoring and lifting mechanism 17, which is fixed at the end of the guide rail 5, to the other side of the obstacle through a gear and rack transmission. S2 Then, the two end anchoring and lifting mechanisms 17 lower the second adsorption chamber 10 to fit tightly against the wall and turn on the centrifugal fan 11 for adsorption and anchoring. S3 anchoring and lifting mechanism 17 lifts the adsorption unit 1 of the adsorption mobile robot body to a position slightly higher than the obstacle. At this time, the upper telescopic mechanism 15 and the lower telescopic mechanism 16 move in the same direction at the same time, and the adsorption mobile robot body is smoothly moved to the other side of the obstacle by means of gear and rack transmission. S4 anchoring and lifting mechanism 17 retracts the main adsorption unit 1 until the second adsorption chambers 10 on both sides are suspended and the first adsorption chamber 4 contacts the wall and adsorbs. The lower telescopic mechanism 16 of S5 retracts the anchoring and lifting mechanism 17 at the rear end, completing the obstacle crossing action.

[0037] In summary, the frame-type obstacle-crossing mechanism of the present invention is developed to adapt to the obstacles that adsorption-type mobile robots need to overcome during operation. It includes an upper telescopic mechanism 15, a lower telescopic mechanism 16, and an anchoring and lifting mechanism 17. Based on the stroke multiplication mechanism, the frame-type obstacle-crossing mechanism has a simple structure, high overall rigidity, stable operation, and strong load-bearing capacity. It also exhibits good adaptability to adsorption-type mobile robots. The structural layout of its upper and lower telescopic mechanisms makes the frame structure more compact. Furthermore, the anchoring and lifting mechanism 17, equipped with the frame-type obstacle-crossing mechanism based on the stroke multiplication mechanism, allows the adsorption-type mobile robot body to have a large vertical displacement relative to the adsorption surface using a shorter rack and guide rail 5. This ensures the robot's obstacle-crossing height, giving it strong obstacle-crossing ability, expanding the working space of the adsorption-type mobile robot, and greatly improving its automation level and practicality.

[0038] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism, characterized in that, The device includes a main adsorption unit (1) and an obstacle-crossing unit (2), wherein: The main adsorption unit (1) includes a main fixing plate (3) and a first adsorption cavity (4). The first adsorption cavity (4) is used to adsorb the robot onto the wall surface. The main fixing plate (3) is disposed above the first adsorption cavity (4) and is fixedly connected to the first adsorption cavity (4). The obstacle-crossing unit (2) is symmetrically arranged on both sides of the main adsorption mechanism. The obstacle-crossing unit (2) includes a telescopic mechanism, an anchoring and lifting mechanism (17), and a second adsorption cavity (10). The telescopic mechanism is driven by the guide rail (6) on the main fixing plate (3) to move the obstacle-crossing unit (2) away from or close to the main adsorption unit (1). The anchoring and lifting mechanism (17) includes a guide rail (6) and a sliding guide rail (14). The sliding guide rail (14) is arranged in the vertical direction. The end of the sliding guide rail (14) is connected to the second adsorption cavity (10). Under the drive of the guide rail (6), the sliding guide rail (14) drives the second adsorption cavity (10) to move up and down. When crossing the obstacle, the sliding guide rail (14) moves downward to make the second adsorption cavity (10) adsorb onto the wall, and the main adsorption unit (1) is lifted. When not crossing the obstacle, the sliding guide rail (14) moves upward to make the second adsorption cavity (10) detach from the wall.

2. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 1, characterized in that, The telescopic mechanisms in the obstacle-crossing units (2) on both sides are respectively set on the upper and lower sides of the main body fixing plate (3), namely the upper telescopic mechanism (15) and the lower telescopic mechanism (16). The upper telescopic mechanism (15) and the lower telescopic mechanism (16) have the same or different movement directions.

3. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 2, characterized in that, There are two guide rails (5) on both sides of the main body fixing plate (3). One of them cooperates with the guide rail (6), and the other cooperates with the slider (7) on the main body fixing plate (3). The two guide rails (5) are connected by a reinforcing plate (8).

4. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 1, characterized in that, Centrifugal fans (11) are connected above the first adsorption chamber (4) and the second adsorption chamber (10) to maintain negative pressure in the first adsorption chamber (4) and the second adsorption chamber (10).

5. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 1, characterized in that, The right adsorption chamber accordion cover is provided above the second adsorption chamber (10). The accordion cover is made of accordion cover and can be extended and retracted up and down.

6. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 1, characterized in that, The guide rail (6) is connected to the drive motor (9) and is used to drive the guide rail (6) to rotate.

7. The frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in claim 1, characterized in that, The anchoring and lifting mechanism (17) is connected to the telescopic mechanism via an L-shaped connecting plate (12).

8. A method for overcoming obstacles using a frame-type obstacle-crossing device for an adsorption-type mobile robot based on a stroke multiplication mechanism as described in any one of claims 1-7, characterized in that, The method includes the following steps: The upper telescopic mechanism (15) extends, driving the anchoring and lifting mechanism (17) connected to it to cross the obstacle; The anchoring and lifting mechanisms (17) on both sides lower the second adsorption chamber (10) until the main adsorption unit (1) is lifted, and the second adsorption chamber (10) is adsorbed onto the wall surface; The upper telescopic mechanism (15) and the lower telescopic mechanism (16) move in the same direction, driving the main adsorption unit (1) to pass over the obstacle; The lifting mechanisms on both sides retract the second adsorption chamber (10) until the first adsorption chamber (4) contacts the wall and the second adsorption chamber (10) detaches from the wall; The lower contraction mechanism retracts, causing the anchoring and lifting mechanism (17) connected to it to cross the obstacle.

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