Auxiliary tool for wall-climbing robot to automatically go up and down working face

Abstract

The invention discloses an auxiliary tool for a wall-climbing robot to automatically go up and down a working face. The auxiliary tool comprises a bearing and moving mechanism; the posture conversion and carrying mechanism is arranged on the bearing and moving mechanism, the posture conversion and carrying mechanism comprises a connection platform, the connection platform is used for placing the wall-climbing robot, and the posture and the angle of the connection platform can be adjusted; the separation thrust mechanisms are arranged on the connection platform and used for recycling the wall-climbing robot to the connection platform after the wall-climbing robot is adsorbed to the working face. The wall-climbing robot integrates the functions of automatic lifting, dip angle self-adaptive adjustment, precise connection and butt joint and electromechanical controllable separation, the technical problem that in the prior art, a manual hoisting mode is needed for enabling the wall-climbing robot to go up and down the working face is solved, and the wall-climbing robot can go up and down the working face automatically without manual hoisting.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an auxiliary tooling for a wall-climbing robot to automatically move up and down a working surface. Background Technology

[0002] In the field of shipbuilding and maintenance, operations such as painting, surface roughening, and non-destructive testing are crucial for ensuring ship performance and lifespan. Wall-climbing robots, as automated equipment for performing these high-altitude and vertical operations, are increasingly widely used. However, the large-scale application of this technology has long been limited by a key bottleneck: how to safely, efficiently, and automatically transfer robots from the ground or deck to vertical or steeply angled hull working surfaces, and how to safely detach and retrieve them from the working surface after completion of the operation.

[0003] Currently, this process of moving the robot up and down the ship's surface mainly relies on traditional manual hoisting. The specific operation typically involves operators using cranes, winches, slings, or simple supports to lift the robot, then manually observing and adjusting it to slowly approach and conform to the ship's surface, or pulling it away from the surface and hoisting it back to a safe area. However, this manual operation method has a low degree of automation. The entire process depends on human operation and judgment. During handling or hoisting, the robot is in an unstable, swaying state, making it highly susceptible to collisions and damage to ship components. Furthermore, the robot's attitude adjustment is poor; the ship's surface is not a simple vertical plane but has various tilt angles, making it difficult for manual hoisting to achieve precise and continuous adjustment of the robot's pitch angle.

[0004] Traditional manual hoisting methods have become a key obstacle restricting the realization of the fully automated potential of wall-climbing robots. Therefore, the industry urgently needs a dedicated auxiliary tooling that can replace manual hoisting methods and enable wall-climbing robots to automatically move up and down the work surface. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in the related art. Therefore, one object of this invention is to provide an auxiliary tooling for the automatic ascent and descent of a wall-climbing robot onto and off a work surface, enabling the robot to do so automatically without manual lifting.

[0006] The technical solution adopted in this invention is: In a first aspect, the present invention provides an auxiliary tooling for an automatic climbing robot to and from a working surface, comprising: a carrying and moving mechanism; an attitude conversion and transport mechanism disposed on the carrying and moving mechanism, the attitude conversion and transport mechanism including a docking platform for placing the climbing robot, the attitude and angle of the docking platform being adjustable; and multiple detachment thrust mechanisms disposed on the docking platform for retrieving the climbing robot to the docking platform after it has adhered to the working surface.

[0007] Among them, the multiple detachment thrust mechanisms are two detachment thrust mechanisms, which are respectively set on the left and right sides of the docking platform.

[0008] The detachment thrust mechanism includes a base plate, a motor, a coupling, a lead screw, a slide, a limit switch, a first V-shaped guide rail, and a first V-shaped roller. The base plate is fixed to the connecting platform. The motor, coupling, lead screw, slide, limit switch, first V-shaped guide rail, and first V-shaped roller are all mounted on the base plate. The lead screw and motor are connected by the coupling. The slide moves on the first V-shaped guide rail via the first V-shaped roller. The slide is used to extend forward and retract backward under the drive of the lead screw. The limit switch is used to limit the travel distance of the slide. When the slides of both detachment thrust mechanisms extend forward and contact the working surface, the base plate and the connecting mechanism move backward to generate a backward thrust, causing the wall-climbing robot to retract from the working surface.

[0009] The docking platform includes: a support frame comprising four enclosing brackets; a positioning element for hooking the chassis of the wall-climbing robot; a guide strip for fine-tuning the position of the wall-climbing robot after it enters the support frame and for hooking the ear plates mounted on the wall-climbing robot; and a cushioning pad for cushioning the robot when it enters the docking platform.

[0010] The attitude conversion and transport mechanism further includes: multiple electric push rods, each connected to the docking platform; an angle adjustment sub-mechanism for adjusting the pitch angle of the docking platform via the multiple electric push rods; a bottom connecting frame mounted on the load-bearing and moving mechanism; a first cable winding sub-mechanism located at the front end of the bottom connecting frame for rotating the angle adjustment sub-mechanism from a horizontal to a vertical state and vice versa by pulling a first steel cable; a second cable winding sub-mechanism located at the rear end of the bottom connecting frame for fixing to the load-bearing and moving mechanism via a second steel cable, providing tension to counteract the torque during the rotation of the first cable winding sub-mechanism; and a second V-shaped roller and a second V-shaped guide rail located at the bottom of the docking platform for extending and retracting the docking platform.

[0011] The plurality of electric actuators includes a first electric actuator, a second electric actuator, and a third electric actuator. The first electric actuator is used to make the docking platform fit against the working surface; the second electric actuator and the third electric actuator are used to adjust the tilt angle of the docking platform.

[0012] The attitude conversion and transport mechanism also includes a distance sensor, which is used to determine whether the docking platform is in contact with the working surface when the docking platform approaches the working surface.

[0013] The carrying and moving mechanism includes, from bottom to top, rollers, a base, a scissor lift mechanism, and a platform; the rollers are located below the base and are used to make the auxiliary tool roll on the ground; the scissor lift mechanism is located above the base and is used to make the auxiliary tool move up and down in the vertical direction; the platform is used to install the attitude conversion and transport mechanism.

[0014] The auxiliary tooling also includes a main control board, which is used to control the electrical components of the attitude conversion and transport mechanism and the multiple disengagement thrust mechanisms to operate automatically.

[0015] When the wall-climbing robot is on the working surface, the attitude conversion and transport mechanism flips to a horizontal state, the wall-climbing robot enters the docking platform, the attitude conversion and transport mechanism flips to a vertical state, the bearing and moving mechanism rises and positions itself to a first preset value, the docking platform extends, the wall-climbing robot adheres to and attaches to the working surface to begin working, the docking platform retracts, and the auxiliary tooling is removed; when the wall-climbing robot is off the working surface, the bearing and moving mechanism rises and positions itself to a second preset value, the docking platform extends forward to fix the wall-climbing robot to the docking platform, the disengagement thrust mechanism starts working, the disengagement thrust mechanism generates a backward thrust to make the wall-climbing robot overcome the magnetic attraction, thereby making the wall-climbing robot detach from the working surface, the attitude conversion and transport mechanism reverses from a vertical state to a horizontal state, and the wall-climbing robot leaves the docking platform and returns to the ground.

[0016] The beneficial effects of this invention are: This invention uses a carrying and moving mechanism to move the auxiliary tooling on the ground and raise and lower it vertically. A wall-climbing robot is placed on a docking platform, the posture and angle of which are adjustable, allowing the wall-climbing robot to switch from the ground to the work surface and back again. Furthermore, the docking platform is equipped with multiple release thrust mechanisms, enabling the wall-climbing robot to be retrieved from its state of being attached to the work surface and returned to the docking platform. This invention integrates automatic lifting, adaptive tilt adjustment, precise docking, and electromechanical controllable release functions, overcoming the technical problem in the prior art that requires manual hoisting to move the wall-climbing robot up and down the work surface, and realizing the automatic movement of the wall-climbing robot up and down the work surface without manual hoisting.

[0017] In addition, the electromechanical integrated thrust detachment mechanism of the present invention can provide a direct thrust with precise direction and controllable magnitude, which can safely overcome the robot's adsorption force in a predictable and repeatable manner, thereby filling the gap in the key function of "safe and controllable detachment" in the prior art and realizing the technological leap from "manual assisted handling" to "fully automatic safe docking". Attached Figure Description

[0018] Figure 1This is a perspective view of an embodiment of the auxiliary tooling for automatic climbing and lowering of a wall-climbing robot using the present invention; Figure 2 yes Figure 1 A three-dimensional view from another angle; Figure 3 yes Figure 1 A perspective view of an embodiment of the carrying and moving mechanism 1; Figure 4 yes Figure 3 A 3D view of a working state; Figure 5 yes Figure 3 A three-dimensional view from another angle; Figure 6 yes Figure 1 A perspective view of an embodiment of the attitude transformation and the carrier mechanism 2; Figure 7 yes Figure 6 A 3D view of a working state; Figure 8 yes Figure 7 A three-dimensional view from another angle; Figure 9 yes Figure 6 A perspective view of an embodiment of the connecting platform 21; Figure 10 yes Figure 1 A perspective view of an embodiment of the detachment thrust mechanism 3; Figure 11 This is a first working state diagram of an embodiment of the auxiliary tooling of the present invention; Figure 12 This is a second working state diagram of an embodiment of the auxiliary tooling of the present invention; Figure 13 This is a third working state diagram of an embodiment of the auxiliary tooling of the present invention. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0020] Please refer to the following: Figure 1 and Figure 2 .like Figure 1 and Figure 2As shown, the auxiliary tooling includes a carrying and moving mechanism 1, a posture conversion and transport mechanism 2, and multiple release thrust mechanisms 3. The carrying and moving mechanism 1 carries the posture conversion and transport mechanism 2 and enables the auxiliary tooling to move on the ground and move vertically. The posture conversion and transport mechanism 2 is mounted on the carrying and moving mechanism 1 and includes a docking platform 21 for placing the wall-climbing robot. The attitude and angle of the docking platform 21 are adjustable. Multiple release thrust mechanisms 3 are mounted on the docking platform 2 and are used to retrieve the wall-climbing robot back to the docking platform 2 after it has adhered to the working surface.

[0021] Please refer to the following: Figures 3 to 5 The supporting and moving mechanism 1 includes, from bottom to top, rollers 11, a base 12, a scissor lift mechanism 13, and a platform 14. The rollers 11 are located below the base 12 and are used to allow the auxiliary tooling to roll on the ground. The scissor lift mechanism 13 is located above the base 12 and is used to allow the auxiliary tooling to move vertically. The platform 14 is used to mount the attitude conversion and transport mechanism 2.

[0022] The roller 11 includes a drive wheel (not shown) and a steering wheel (not shown). The scissor lift mechanism 13 includes a hydraulic cylinder 131 and a boom 132. The hydraulic cylinder 131 drives the boom 132 to rise and fall.

[0023] Please refer to the following: Figures 6 to 8 , Figure 10 The attitude conversion and transport mechanism 2 also includes: multiple electric push rods 22, angle adjustment sub-mechanism 23, bottom connecting frame 24, first cable winding sub-mechanism 25, second cable winding sub-mechanism 26, second V-shaped guide rail 27, and second V-shaped roller 28.

[0024] Multiple electric actuators 22 are connected to the docking platform 21. An angle adjustment sub-mechanism 23 is used to adjust the pitch angle of the docking platform 21 via the multiple electric actuators 22. The multiple electric actuators 22 include a first electric actuator 221, a second electric actuator 222, and a third electric actuator 223. The first electric actuator 221 is used to make the docking platform 21 fit against the working surface; the second electric actuator 222 and the third electric actuator 223 are used to adjust the tilt angle of the docking platform 21. The first electric actuator 221, the second electric actuator 222, and the third electric actuator 223 are all equipped with position sensors, which can sense the distance the actuator extends and adjust the pitch angle of the docking platform 21 based on the distance extended.

[0025] A bottom connecting frame 24 is mounted on the bearing and moving mechanism 1. A threaded connecting plate is welded to the platform 14 of the bearing and moving mechanism, and the bottom connecting frame 24 is fixed to this connecting plate with screws. A first winding sub-mechanism 25 is located at the front end of the bottom connecting frame 24, used to rotate the angle adjustment sub-mechanism 23 from horizontal to vertical and vice versa by pulling the first steel wire ribbon 251. A second winding sub-mechanism 26 is located at the rear end of the bottom connecting frame 24, used to fix it to the bearing and moving mechanism 1 via a second steel wire ribbon (not shown), providing tension to counteract the torque exerted when the first winding sub-mechanism 25 rotates. A second V-shaped guide rail 27 and a second V-shaped roller 28 are located at the bottom of the connecting platform 21, used to extend and retract the connecting platform 21.

[0026] Please see Figure 10 The attitude conversion and transport mechanism 2 also includes a distance sensor 29, which is used to determine whether the docking platform 21 is in contact with the working surface when it approaches the working surface. Preferably, the distance sensor 29 is disposed on the disengagement thrust mechanism 3, because the installation space of the disengagement thrust mechanism 3 is more than that of the attitude conversion and transport mechanism 2. Optionally, the distance sensor can be a diffuse reflection sensor, which works by: after the laser is emitted, it is diffusely reflected back after hitting the working surface, and then the distance is measured. When the docking platform 21 approaches the working surface, the data transmitted back by the distance sensor is used to determine whether the docking platform 21 is in contact with the working surface, thereby controlling the stop and extension of the first electric push rod 221.

[0027] Please see Figure 9 , Figure 9 yes Figure 6 A perspective view of an embodiment of the connection platform 21. Figure 9As shown, the docking platform 21 includes a support frame 211, positioning components 212, guide strips 213, and cushioning pads 214. The support frame 211 includes four enclosing supports 2111, 2112, 2113, and 2114. The positioning component 212 is used to hook onto the chassis of the wall-climbing robot. The positioning component 212 includes a first positioning component 2121 and a second positioning component 2122, which are used to hook onto the chassis of the wall-climbing robot from the left and right sides, respectively. The guide strip 213 is used to fine-tune the position of the wall-climbing robot after it enters the support frame. The guide strip 213 includes a first guide strip 2131, a second guide strip 2132, and a third guide strip 2133. The first guide strip 2131 is also used to hook onto the ear plate installed on the wall-climbing robot. There are two guide strips 213, which are respectively located on the left and right sides of the docking platform 21. The guide strip 213 is a plastic part. Preferably, the guide strip 213 is made of POM, which has self-lubricating properties. The buffer pad 214 is used to cushion the robot when it enters the docking platform. The buffer pad 214 includes a first buffer pad 2141 and a second buffer pad 2142.

[0028] Please refer to the following: Figure 1 and Figure 2 ,like Figure 1 and Figure 2 As shown, the multiple disengagement thrust mechanisms 3 are two disengagement thrust mechanisms, which are respectively located on the left and right sides of the docking platform 21.

[0029] Please see Figure 10 , Figure 10 yes Figure 1 A perspective view of an embodiment of the disengagement thrust mechanism 3. The disengagement thrust mechanism 3 includes a base plate 31, a motor 32, a coupling 33, a lead screw 34, a slide table 35, a limit switch (not shown), a first V-shaped guide rail 36, and a first V-shaped roller 37.

[0030] The base plate 31 is fixed on the connecting platform 21, and the motor 32, the coupling 33, the lead screw 34, the slide 35, the limit switch, the first V-shaped guide rail 36 and the first V-shaped roller 37 are all mounted on the base plate 31.

[0031] The lead screw 34 is connected to the motor 32 by the coupling 33. The slide 35 moves on the first V-shaped guide rail 36 via the first V-shaped roller 37. The slide 35 is used to extend forward and retract backward under the drive of the lead screw 34.

[0032] The limit switch is used to limit the travel distance of the slide table 35. Two limit switches are used, one in front of the other at the moving position of the slide table 35, to prevent the slide table 35 from moving beyond its range. When the slide table 35 moves forward or backward and encounters a limit switch, the limit switch sends a signal to stop the motor 32.

[0033] When both slides 35 of the detachment thrust mechanism 3 extend forward and contact the working surface, the base plate 31 and the connecting mechanism 21 move backward to generate a backward thrust, causing the wall-climbing robot to retract from the working surface.

[0034] In addition, the auxiliary tooling also includes a main control board (not shown), used to control the electrical components of the attitude conversion and transport mechanism 2 and the multiple disengagement thrust mechanisms 3 to operate automatically. The main control board is electrically connected to the electrical components of the attitude conversion and transport mechanism 2 and the multiple disengagement thrust mechanisms 3. Specifically, the main control board is electrically connected to multiple electric push rods 22, an angle adjustment sub-mechanism 23, a first winding sub-mechanism 25, a second winding sub-mechanism 26, and a distance sensor 29 to control the docking platform 21 to switch from a horizontal to a vertical state, or to extend forward or retract backward. The main control board is also electrically connected to the motor 32 and the limit switch to control the slide 35 to extend forward or retract backward.

[0035] The working method of this invention is as follows: (1) When working on the wall-climbing robot 4, please refer to Figure 11 This attitude transition occurs when the carrier 2 flips to a horizontal position, and the wall-climbing robot 4 enters the docking platform 21. (See also...) Figure 12 The posture conversion and transport mechanism 2 flips to a vertical state, the bearing and moving mechanism 1 rises and positions itself to the first preset value, the docking platform 21 extends, the wall-climbing robot 4 adheres to and attaches to the working surface to start working, the docking platform 21 retracts, and the auxiliary tooling is removed.

[0036] (2) When the wall-climbing robot 4 is on the working surface, the bearing and moving mechanism 2 is raised and positioned to the second preset value, and the docking platform 21 extends forward to fix the wall-climbing robot 4 on the docking platform 21. Please refer to Figure 13 When the detachment thrust mechanism 3 is activated, the slide 35 of the detachment thrust mechanism 3 extends forward and contacts the working surface to generate a backward thrust, causing the base plate 31 and the docking platform 21 of the detachment thrust mechanism 3 to move backward, thereby enabling the wall-climbing robot 4 to overcome the magnetic attraction and detach from the working surface. The attitude conversion and transport mechanism 2 reverses from a vertical state to a horizontal state, and the wall-climbing robot 4 leaves the docking platform 21 and returns to the ground.

[0037] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An auxiliary tooling for an automated climbing robot to ascend and descend a working surface, characterized in that, include: Load-bearing and moving mechanisms; An attitude conversion and transport mechanism is provided on the bearing and moving mechanism. The attitude conversion and transport mechanism includes a docking platform for placing the wall-climbing robot. The attitude and angle of the docking platform are adjustable. Multiple detachment thrust mechanisms are set on the docking platform for retrieving the wall-climbing robot back to the docking platform after it has adhered to the working surface.

2. The auxiliary tooling according to claim 1, characterized in that, The plurality of disengagement thrust mechanisms consist of two disengagement thrust mechanisms, which are respectively located on the left and right sides of the docking platform.

3. The auxiliary tooling according to claim 2, characterized in that, The disengagement thrust mechanism includes a base plate, a motor, a coupling, a lead screw, a slide, a limit switch, a first V-shaped guide rail, and a first V-shaped roller. The base plate is fixed to the connecting platform. The motor, the coupling, the lead screw, the slide, the limit switch, the first V-shaped guide rail, and the first V-shaped roller are all mounted on the base plate. The lead screw and the motor are connected by the coupling. The slide moves on the first V-shaped guide rail via the first V-shaped roller. The slide is used to extend forward and retract backward under the drive of the lead screw. The limit switch is used to limit the travel distance of the slide. When both slides of the detached thrust mechanism extend forward and contact the working surface, the base plate and the connecting mechanism move backward to generate a backward thrust, causing the wall-climbing robot to retract from the working surface.

4. The auxiliary tooling according to claim 1, characterized in that, The connection platform includes: A support frame, the support frame comprising four enclosing supports; Positioning element for hooking onto the chassis of the wall-climbing robot; Guide bars are used to fine-tune the position of the wall-climbing robot after it enters the support frame, and to hook the ear plates installed on the wall-climbing robot. The cushioning pad is used to cushion the robot when it enters the docking platform.

5. The auxiliary tooling according to claim 1, characterized in that, The attitude conversion and transport mechanism also includes: Multiple electric actuators are connected to the docking platform, respectively; An angle adjustment sub-mechanism is used to adjust the pitch angle of the docking platform via the plurality of electric push rods; The bottom connecting frame is mounted on the bearing and moving mechanism; The first winding sub-mechanism is located at the front end of the bottom connecting frame and is used to complete the rotation of the angle adjustment sub-mechanism from horizontal to vertical and from vertical to horizontal by pulling the first steel wire. The second winding sub-mechanism is located at the rear end of the bottom connecting frame and is used to fix it to the bearing and moving mechanism by means of the second steel wire, providing tension to counteract the torque when the first winding sub-mechanism is flipped. The second V-shaped roller and the second V-shaped guide rail are located at the bottom of the docking platform and are used to extend and retract the docking platform.

6. The auxiliary tooling according to claim 5, characterized in that, The plurality of electric actuators includes a first electric actuator, a second electric actuator, and a third electric actuator. The first electric actuator is used to make the docking platform fit against the working surface; the second electric actuator and the third electric actuator are used to adjust the tilt angle of the docking platform.

7. The auxiliary tooling according to claim 1, characterized in that, The attitude conversion and transportation mechanism also includes a distance sensor, which is used to determine whether the docking platform is attached to the working surface when the docking platform approaches the working surface.

8. The auxiliary tooling according to claim 1, characterized in that, The load-bearing and moving mechanism includes, from bottom to top, rollers, a base, a scissor lift mechanism, and a platform; The rollers are located below the base and are used to make the auxiliary tooling roll on the ground; The scissor lift mechanism is located above the base and is used to lift the auxiliary tooling vertically. The platform is used to install the attitude conversion and transportation mechanism.

9. The auxiliary tooling according to claim 1, characterized in that, The auxiliary tooling also includes a main control board, which is used to control the electrical components of the attitude conversion and transport mechanism and the multiple disengagement thrust mechanisms to work automatically.

10. The auxiliary tooling according to any one of claims 1 to 9, characterized in that, When the wall-climbing robot is on the working surface, the posture conversion and transport mechanism flips to a horizontal state, the wall-climbing robot enters the docking platform, the posture conversion and transport mechanism flips to a vertical state, the bearing and moving mechanism rises and positions itself to a first preset value, the docking platform extends, the wall-climbing robot adheres to and attaches to the working surface to start working, the docking platform retracts, and the auxiliary tooling is removed. When the wall-climbing robot descends to the working surface, the bearing and moving mechanism rises and positions itself to a second preset value. The docking platform extends forward to fix the wall-climbing robot on the docking platform. The detachment thrust mechanism starts working and generates a backward thrust to make the wall-climbing robot overcome the magnetic attraction, thereby causing the wall-climbing robot to detach from the working surface. The attitude conversion and transport mechanism reverses from a vertical state to a horizontal state, and the wall-climbing robot leaves the docking platform and returns to the ground.

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