High-altitude high-temperature operation robot

Abstract

The invention discloses a high-altitude high-temperature operation robot. The robot is characterized by mainly comprising a roller box body (1), a bottom plate (2), a rotary mechanism (3), a first telescopic supporting column (4), a rotary outer wheel mechanism (5), a rotary inner wheel mechanism (6), a second telescopic supporting column (7), a third telescopic supporting column (8), a fourth telescopic supporting column (9), a circular hinged cover body (10), a round ball (11), a mechanical arm connecting piece (12), a first mechanical arm telescopic rod (13), a second mechanical arm telescopic rod (14), a mechanical gripper (15) and a first laser (16). The device is composed of a first laser (11), a second laser (17), a third laser (18), a fourth laser (19) and a roller body (20). The high-altitude high-temperature working robot can be stable and reliable in the walking process, meanwhile, it is guaranteed that the robot does not turn over when working at any height, the overall structure is stable, and application and popularization can be conducted.

Description

Technical Field

[0001] This invention relates to a high-altitude, high-temperature work robot. It primarily involves designing a more suitable robot walking mechanism for the working environment, optimizing the telescopic mechanism, and determining the rotation structure for accurate arrival at the work position. It also includes the development of a robotic arm made from specialized materials suitable for high-temperature operations. This invention first optimizes the robot's structure and then develops high-temperature resistant materials for the robotic arm, ensuring the robot can operate stably at high altitudes and effectively in high-temperature environments without deformation of the robotic arm. This invention belongs to the category of innovative research and development equipment combining optimized structural design and novel material preparation technologies. Background Technology

[0002] With the continuous upgrading of my country's artificial mini-sun technology, significant problems have arisen in the installation and maintenance of its related equipment. Building upon previous research projects on the mechanical and control components of artificial mini-suns, the inventors have further refined their research and development techniques. Given the large size, high temperatures, and radiation posed significant risks to human health during the installation and maintenance of these machines, direct human operation is impractical, necessitating the use of robots to replace human workers. Therefore, based on in-depth research on this topic, the high-altitude high-temperature operation robot of this invention was developed. During the development of this robot, high-altitude stability and operation in high-temperature environments were considered. Therefore, in the robot body design, four sets of rollers at 90° angles to each other were used instead of circular gears, allowing the robot to move like a spider. This structure ensures greater stability and prevents the robot from tipping over during operation. It also allows the robot to overcome obstacles of a certain height, ensuring stable movement in harsh environments. Furthermore, from the perspective of high-temperature resistant materials, carbon fiber, asbestos, graphite, and a small amount of high-temperature metal elements were selected to prepare the high-temperature operation manipulator. This is mainly due to the high-temperature resistance and strong structural stability of carbon fiber, which was used to prepare multi-layered high-temperature resistant carbon fiber material through a high-pressure, high-temperature preparation method. This ensures that the manipulator is not deformed or weakened by high temperatures in the high-temperature operating environment, guaranteeing stable and reliable operation in the designated working environment.

[0003] This invention not only optimizes the robot's structure for stability but also optimizes the preparation of high-temperature resistant robotic arm materials, ensuring stable operation of the robotic arm in high-temperature environments. This invention, based on both structural and material innovations, has significant engineering application value. Summary of the Invention

[0004] The purpose of this invention is to address the inconvenience of installing and maintaining existing small solar panels by designing a corresponding high-altitude, high-temperature operation robot. It first optimizes the robot's structure and then develops high-temperature resistant materials for the robotic arm, ensuring stable operation at high altitudes and effective operation in high-temperature environments without deformation of the robotic arm. This invention belongs to the category of innovative research and development equipment combining optimized structural design and novel material preparation technologies.

[0005] The technical solution of this invention is:

[0006] A robot for high-altitude and high-temperature operations is characterized by the following: the robot mainly consists of roller housings 1 (4 units), a base plate 2, a rotating mechanism 3, a first telescopic support column 4, a rotating outer wheel mechanism 5, a rotating inner wheel mechanism 6, a second telescopic support column 7, a third telescopic support column 8, a fourth telescopic support column 9, a circular hinge cover 10, a circular ball bearing 11, a first robotic arm connector 12, a second robotic arm telescopic rod 13, a third robotic arm telescopic rod 14, a mechanical gripper 15, a first laser 16, a second laser 17, a third laser 18, a fourth laser 19, and roller bodies 20. The roller body 20 is composed of vertical rollers 20-1 and horizontal rollers 20-2, a universal wheel structure 20-3, a connecting shaft 20-4, a motor 20-5, and a servo system 20-6. Each roller body 20 is equipped with four sets of rollers (vertical rollers 20-1 and horizontal rollers 20-2 form one set). Each roller is equipped with a universal swivel structure 20-3. A connecting shaft 20-4 is installed at the end of the universal swivel structure 20-3. A motor 20-4 is installed at the end of the connecting shaft 20-4. A servo system 20-6 is installed at the tail of the motor 20-4. When the high-altitude high-temperature operation robot starts to move, the servo system at the tail of the motor 20-5, controlled by the system, causes the four vertical rollers 20-1 in each roller body 20 to start first, driving the connecting shaft 20-3 to rotate. Under the drive of the universal wheel structure 20-3, the vertical rollers 20-1 fixed on the universal wheel structure 20-3 work first, moving the high-altitude high-temperature operation robot forward. When the rollers on the vertical rollers 20-1 start to move forward, the servo system connected to the horizontal rollers 20-2 is activated, causing them to operate accordingly. However, the rotation angle between the two is always controlled at 90° to ensure that when the rollers on the vertical rollers 20-1 leave the ground, the rollers on the horizontal rollers 20-2 behind them must contact the ground in a short time, ensuring the smooth operation of the high-altitude high-temperature operation robot.

[0007] Four sets of roller housings 1 support a base plate 2 side by side. A rotating mechanism 3 is mounted on the base plate 2. Telescopic support columns 4 are mounted on the rotating mechanism 3. An inner rotating wheel mechanism 6 is mounted at the end of the telescopic support column 4. A outer rotating wheel mechanism 5 is paired with the inner rotating wheel mechanism 6 (the outer rotating wheel mechanism 5 and the inner rotating wheel mechanism 6 have teeth of the same module; the number of teeth is determined by precision). A telescopic support column 7 is mounted inside the inner rotating wheel mechanism 6. A telescopic support column 8 is mounted on the telescopic support column 7. A telescopic support column 9 is mounted on the telescopic support column 8. A [missing information - likely a type of opening] is located at the end of the telescopic support column 9. A hemispherical recess contains a ball bearing 11, which is covered by a circular hinge cover 10. A robotic arm connector 12 is welded onto the circular hinge cover 10. A robotic arm telescopic rod 13 is mounted on the robotic arm connector 12. A robotic arm telescopic rod 14 is mounted on the robotic arm telescopic rod 13. A robotic gripper 15 is mounted at the end of the robotic arm telescopic rod 14. A movable laser 16 is mounted at the front of the base plate 2, and lasers 17 and 18 are mounted on the sides of the base plate 2 respectively. A laser 19 is mounted at the rear of the base plate 2.

[0008] Lasers 17, 18, and 19, installed on the left, right, and rear sides of the base plate 2 respectively, monitor the distance between the high-altitude high-temperature operation robot and surrounding obstacles to ensure that the robot does not collide with them. Laser 16, mounted directly in front of the base plate 2, can rotate left and right. It has a laser probe mounted in front and another above it. The laser probe in front of laser 16 primarily measures the distance between the robot and obstacles, ensuring collision prevention. The laser probe above laser 16 measures the height of the robot at a designated position. These measurements determine the robot's specific working position and facilitate calculations for its stability structure, including the telescopic supports 4, 7, 8, and 9. The telescopic length ensures optimal stability of the high-altitude, high-temperature operation robot, protecting it from tilting and tipping over. The rotating mechanism 3 on the base plate 2 is mainly responsible for large-angle rotation, while the outer rotating wheel structure 5 and the inner rotating wheel structure 6 are mainly responsible for small-angle rotation. Through the design of these two parts, the telescopic support column 4 can be quickly deflected at a large angle, and the telescopic supports 7, 8, and 9 can be deflected at a small angle, which is beneficial to the overall stability of the high-altitude, high-temperature operation robot. The ball bearing 11 installed in the end groove of the telescopic support column 9 is precisely controlled by the circular hinge cover 10 installed above it, ensuring that the robotic arm connector 12 welded to it is accurately fixed in the direction and position required for the high-altitude, high-temperature operation robot to work. Through the coordinated operation of the robotic arm telescopic rods 13 and 14 on it, the robotic arm 15 is finally accurately delivered to the position required for work.

[0009] The robotic arm 15 is made of non-metallic materials, mainly obtained by high-temperature extrusion sintering of carbon fiber, asbestos, graphite, and a small amount of high-temperature resistant metals such as titanium, cobalt, and tungsten. The specific preparation process is as follows: first, a dense mesh structure of carbon fiber is laid on the sintering platform, and then a layer of high-temperature resistant adhesive is applied to its surface. Then, crushed asbestos, graphite, and trace amounts of titanium, cobalt, and tungsten (not less than 0.05% of the total mass) are added on top. After this is laid, another mesh structure of carbon fiber is laid on its surface, and high-temperature resistant adhesive is applied again. This process is repeated 10 to 20 times (depending on the size of the workpiece). Then, constant extrusion is performed under a press (generally the pressure is controlled at around 200 MPa). Finally, it is placed in a high-temperature hot press furnace for sintering. During the sintering process, the temperature is controlled at 1000-1500℃, and the sintering time is controlled at 2-4 hours (the specific sintering time is determined according to different performance requirements).

[0010] The beneficial effects of this invention are:

[0011] This invention enables robots operating at high altitudes and in high temperatures to maintain stability and reliability during movement, ensuring they will not tip over at any height. The overall structure remains stable. Furthermore, it develops a composite material suitable for high-temperature operations: a carbon fiber composite material prepared through high-temperature, high-pressure bonding. This material aims to create robotic arms that do not deform or change performance under high temperatures. The invention features a clever and simple structural design, and the new material preparation process is easily implemented, allowing for widespread application. Attached Figure Description

[0012] Figure 1 A schematic diagram of the overall structure of a high-altitude, high-temperature operation robot.

[0013] Figure 2 Schematic diagram and layout diagram of horizontal (vertical) roller structure.

[0014] Figure 3 Schematic diagram of a single roller drive structure.

[0015] Figure 4 A schematic diagram of the connected structure of the robot's manipulator. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] like Figure 1 and 4 As shown,

[0018] A robot for high-altitude and high-temperature operations mainly consists of roller housings 1 (4 units), a base plate 2, a rotating mechanism 3, a first telescopic support column 4, a rotating outer wheel mechanism 5, a rotating inner wheel mechanism 6, a second telescopic support column 7, a third telescopic support column 8, a fourth telescopic support column 9, a circular hinge cover 10, a circular ball bearing 11, a robotic arm connector 12, a second robotic arm telescopic rod 13, a third robotic arm telescopic rod 14, a robotic gripper 15, a first laser 16, a second laser 17, a third laser 18, a fourth laser 19, and roller bodies 20 (see...). Figure 1 The black dots in the diagram represent the installation positions of one roller. Two groups of four rollers are arranged on each side, for a total of four groups (16 rollers in total). The roller housing 1 is installed on the lower part of the base plate 2, and the rollers 20 that drive the base plate 2 and the entire robot are installed in the roller housing 1. Figure 2 and 3 As shown, the roller body 20 consists of vertical rollers 20-1 and horizontal rollers 20-2, a universal wheel structure 20-3, a connecting shaft 20-4, a motor 20-5, and a servo system 20-6. Each roller body 20 has four sets of rollers installed (vertical rollers 20-1 and horizontal rollers 20-2 form one set). Each roller has a universal wheel structure 20-3 installed inside. A connecting shaft 20-4 is installed at the end of the universal wheel structure 20-3. A motor 20-4 is installed at the end of the connecting shaft 20-4. A servo system 20-6 is installed at the tail of the motor 20-4. When the high-altitude high-temperature operation robot starts to move, the servo system at the tail of the motor 20-5, controlled by the system, causes the four vertical rollers 20-1 in each roller body 20 to start first, driving the connecting shaft 20-3 to rotate. Under the drive of the universal wheel structure 20-3, the vertical rollers 20-1 fixed on the universal wheel structure 20-3 work first, moving the high-altitude high-temperature operation robot forward. When the rollers on the vertical rollers 20-1 start to move forward, the servo system connected to the horizontal rollers 20-2 is activated, causing them to operate accordingly. However, the rotation angle between the two is always controlled at 90° to ensure that when the rollers on the vertical rollers 20-1 leave the ground, the rollers on the horizontal rollers 20-2 behind them must contact the ground in a short time, ensuring the smooth operation of the high-altitude high-temperature operation robot.

[0019] like Figure 1 and 4As shown, the high-altitude high-temperature work machine consists of four sets of roller housings 1 arranged side-by-side to support a base plate 2. A rotating mechanism 3 is mounted on the base plate 2. A first telescopic support column 4 (hydraulic or pneumatically driven) is mounted on the rotating mechanism 3. An inner rotating wheel mechanism 6 is mounted at the end of the first telescopic support column 4. A rotating outer wheel mechanism 5 is paired with the inner rotating wheel mechanism 6 (the outer rotating wheel mechanism 5 and the inner rotating wheel mechanism 6 are driven by gears; they have the same module of teeth, and the number of teeth is determined by precision). A second telescopic support column 7 (hydraulic or pneumatically driven) is mounted inside the inner rotating wheel mechanism 6. A third telescopic support column 8 (hydraulic or pneumatically driven) is mounted on the second telescopic support column 7. A fourth telescopic support column 8 is mounted on the third telescopic support column 8. The fourth telescopic support 9 (hydraulic or pneumatic driven) has a hemispherical recess at its end, inside which a ball bearing 11 is placed. The ball bearing 11 is covered by a circular hinge cover 10. A first robotic arm connector 12 is welded onto the circular hinge cover 10. A second robotic arm telescopic rod 13 is mounted on the first robotic arm connector 12. A third robotic arm telescopic rod 14 is mounted on the second robotic arm telescopic rod 13. A robotic gripper 15 is mounted at the end of the third robotic arm telescopic rod 14. A movable first laser 16 is mounted at the front of the base plate 2. A second laser 17 and a third laser 18 are mounted on the sides of the base plate 2, respectively. A fourth laser 19 is mounted at the rear of the base plate 2.

[0020] like Figure 1 and 2As shown, the second laser 17, the third laser 18, and the fourth laser 19 installed on the left, right, and tail sections of the base plate 2 of the high-altitude high-temperature operation robot of the present invention monitor the distance between the high-altitude high-temperature operation robot and surrounding obstacles to ensure that the high-altitude high-temperature operation robot does not collide with obstacles. The first laser 16 installed at the front of the base plate 2 can rotate left and right on the base plate 2. A laser probe is installed in front of it and another laser probe is installed above it. The laser probe installed in front of the second laser 16 mainly measures the distance between the high-altitude high-temperature operation robot and obstacles in front to ensure that the high-altitude high-temperature operation robot does not collide with obstacles in front. The laser probe installed above the first laser 16 mainly measures the height of the high-altitude high-temperature operation robot at the designated position. The specific working position of the high-altitude high-temperature operation robot is determined by the measurement of the laser probes, and the stability structure of the high-altitude high-temperature operation robot is calculated to determine the first telescopic support 4, the second telescopic support 7, and the third telescopic support. The telescopic lengths of 8 and the fourth telescopic support 9 ensure the optimal stable telescopic structure of the high-altitude high-temperature operation robot, protecting it from tilting and tipping over. The slewing mechanism 3 mounted on the base plate 2 is mainly responsible for large-angle rotation, while the outer slewing wheel structure 5 and the inner slewing wheel structure 6 are mainly responsible for small-angle rotation. Through the design of these two parts, the first telescopic support 4 can be deflected at a large angle quickly, while the second telescopic support 7, the third telescopic support 8, and the fourth telescopic support 9 can be deflected at a small angle, which is beneficial to the overall stability of the high-altitude high-temperature operation robot. The ball bearing 11 installed in the end groove of the fourth telescopic support 9 is precisely controlled by the circular hinge cover 10 installed above it, ensuring that the first robotic arm connector 12 welded to it is accurately fixed in the direction and position required for the high-altitude high-temperature operation robot to operate. Through the coordinated operation of the second robotic arm telescopic rod 13 and the third robotic arm telescopic rod 14 on it, the robotic arm 15 is finally accurately delivered to the position required for operation.

[0021] The parts not covered in this invention, such as the specific structure of the rotary mechanism and the lifting mechanism, are the same as or can be implemented using existing technologies.

Claims

1. A high-altitude, high-temperature operation robot, characterized by: The robot is mainly composed of a roller housing (1), a base plate (2), a rotary mechanism (3), a first telescopic support (4), a rotary outer wheel mechanism (5), a rotary inner wheel mechanism (6), a second telescopic support (7), a third telescopic support (8), a fourth telescopic support (9), a circular hinge cover (10), a round ball bearing (11), a robotic arm connector (12), a first robotic arm telescopic rod (13), a second robotic arm telescopic rod (14), a robotic gripper (15), a first laser (16), a second laser (17), a third laser (18), a fourth laser (19), and a roller body (20). The roller housing (1) is installed on the lower part of the base plate (2), and the roller body (20) is installed in the roller housing (1). The rotary mechanism (3) is installed on the upper part of the base plate (2). The rotary mechanism (3) is mounted on the base plate (2). The rotary structure (3) is equipped with a first telescopic support (4). The end of the first telescopic support (4) is equipped with a rotary inner wheel mechanism (6). The rotary outer wheel mechanism (5) is paired with the rotary inner wheel structure (6). The rotary outer wheel mechanism (5) and the rotary inner wheel structure (6) have the same module of teeth. The number of teeth is determined by the precision. The first telescopic support (7) is installed inside the rotary inner wheel structure (6). The second telescopic support (8) is mounted on the first telescopic support (7). The third telescopic support (9) is mounted on the second telescopic support (8). The end of the third telescopic support (9) has a hemispherical recess. A round ball (11) is placed inside the recess. 11) An outer circular hinged cover (10) is fitted with a first robotic arm connector (12) welded onto the circular hinged cover (10). A second robotic arm telescopic rod (13) is mounted on the first robotic arm connector (12). A third robotic arm telescopic rod (14) is mounted on the second robotic arm telescopic rod (13). A robotic gripper (15) is mounted at the end of the third robotic arm telescopic rod (14). A movable first laser (16) is mounted at the front of the base plate (2). A second laser (17) and a third laser (18) are mounted on the sides of the base plate (2) respectively. A fourth laser (19) is mounted at the tail of the base plate (2). The second laser (17), the third laser (18), and the fourth laser (19) are respectively installed on the left, right, and tail of the base plate (2). The first laser (16) is mounted on the front of the base plate (2) and can rotate left and right on the base plate (2). A laser probe is mounted in front of the first laser (16) and above it. The laser probe in front of the first laser (16) mainly measures the distance between the high-altitude high-temperature operation robot and the obstacles in front, ensuring that the high-altitude high-temperature operation robot does not collide with the obstacles in front. The laser probe above the first laser (16) mainly measures the height of the high-altitude high-temperature operation robot at the designated position. The specific working position of the high-altitude high-temperature operation robot is determined by the measurement of the laser probe and the high-altitude high-temperature operation robot is then carried out. The calculation of the stable structure of the high-altitude high-temperature operation robot determines the telescopic length of the first telescopic support (4), the second telescopic support (7), the third telescopic support (8) and the fourth telescopic support (9), ensuring the optimal stable telescopic structure of the high-altitude high-temperature operation robot and protecting the working high-altitude high-temperature operation robot from tilting and overturning; the rotary mechanism (3) installed on the base plate (2) is mainly responsible for large-angle rotation, while the cooperation of the rotary outer wheel structure (5) and the rotary inner wheel structure (6) is mainly responsible for small-angle rotation. Through the design of these two parts, the first telescopic support (4) can be quickly deflected at a large angle, and the second telescopic support (7), the third telescopic support (8) and the fourth telescopic support (9) can be deflected at a small angle, which is beneficial to the overall stability of the high-altitude high-temperature operation robot;The ball bearing (11) installed in the end groove of the telescopic support (9) is precisely controlled by the circular hinge cover (10) installed above it, ensuring that the robotic arm connector (12) welded to it is accurately fixed in the direction and position required for the high-altitude high-temperature operation robot. Through the coordinated operation of the robotic arm telescopic rod (13) and robotic arm telescopic rod (14) on it, the robotic arm (15) is finally accurately delivered to the required operation position.

2. The high-altitude, high-temperature operation robot, characterized in that... The roller body (20) consists of vertical rollers (20-1) and horizontal rollers (20-2), a universal wheel structure (20-3), a connecting shaft (20-4), a motor (20-5), and a servo system (20-6). Each roller body (20) contains four roller groups, each consisting of vertical rollers (20-1) and horizontal rollers (20-2). Each roller contains a universal wheel structure (20-3), and a connecting shaft (20-4) is installed at the end of the universal wheel structure (20-3). A motor (20-4) is installed at the end of the connecting shaft (20-4), and a servo system (20-6) is installed at the tail of the motor (20-5). When the high-altitude high-temperature operation robot starts to move, the system controls the servo system at the tail of the motor (20-5). The servo system first activates the four vertical rollers (20-1) in each roller body (20), driving the connecting shaft (20-3) to rotate. Driven by the universal wheel structure (20-3), the vertical rollers (20-1) fixed on the universal wheel structure (20-3) work first, moving the high-altitude high-temperature operation robot forward. When the rollers on the vertical rollers (20-1) start moving forward, the servo system connected to the horizontal rollers (20-2) is activated, allowing them to operate accordingly. However, the rotation angle between the two is always controlled at 90° to ensure that when the rollers on the vertical rollers (20-1) leave the ground, the rollers on the subsequent horizontal rollers (20-2) must contact the ground in a short time, ensuring the smooth operation of the high-altitude high-temperature operation robot.

3. The high-altitude, high-temperature operation robot according to claim 1 or 4, characterized in that... The robotic arm (15) is made of non-metallic materials. It is mainly obtained by high-temperature extrusion sintering of carbon fiber, asbestos, graphite and titanium, cobalt and tungsten. The specific preparation process is to first lay a dense mesh structure of carbon fiber on the sintering work platform, then coat the surface with a layer of high-temperature resistant adhesive, and then lay crushed asbestos, graphite and trace amounts of titanium, cobalt and tungsten elements on it. The titanium, cobalt and tungsten elements are not less than 0.05% of the total mass. After it is laid, carbon fiber is laid on the surface to form a mesh structure, and high-temperature resistant adhesive is applied again. This process is repeated for 10 to 20 layers. Then, constant extrusion is carried out under a press, and the extrusion pressure is controlled at 200 MPa. Finally, it is placed in a high-temperature hot press furnace for sintering. The temperature is controlled at 1000 to 1500℃ during the sintering process, and the sintering time is controlled at 2 to 4 hours.

4. The high-altitude, high-temperature operation robot according to claim 1, characterized in that: There are 4 roller boxes (1).

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