Bionic climbing robot adapting to multiple scenes

Abstract

The application relates to the technical field of robots, in particular to a bionic climbing robot suitable for multiple scenes. The bionic climbing robot comprises a main body and climbing mechanisms arranged on the two sides of the main body respectively; the climbing mechanism comprises a base and two climbing arms arranged on the two sides of the base respectively; a first double-rocker mechanism is formed by hinging two connecting rods between each of the two climbing arms and the side wall of the corresponding base, the two first double-rocker mechanisms have a phase difference, and one of the two connecting rods is a telescopic rod; one connecting rod in the two first double-rocker mechanisms is simultaneously driven by a gear transmission mechanism to rotate around the hinging shaft, so as to drive the two climbing arms to make a periodic and alternating climbing action relative to the base; and a multipurpose claw for supporting the ground or gripping the ladder rung is fixedly arranged at the two ends of the climbing arm. The bionic climbing robot can realize ladder climbing operation by means of the climbing arms, and can be simultaneously suitable for civil staircases and vertical ladders.

Description

Technical Field

[0001] This invention relates to the field of robotics technology, specifically to a biomimetic climbing robot adaptable to multiple scenarios, which can be applied to scenarios such as climbing stairs in civilian buildings and vertical climbing operations on wind turbine towers. Background Technology

[0002] For scenarios involving climbing inclined stairs, such as residential staircases, existing stair-climbing robots mainly employ tracked or planetary wheel tumbling structures. Tracked robots rely on the friction between the tracks and the edge of the stairs to crawl, while planetary wheel tumbling robots use planetary gears within the wheel assembly to overcome obstacles. Both types of structures are prone to slipping, falling, and tipping during the climbing process, failing to guarantee the stability of the climbing process.

[0003] In high-altitude vertical climbing scenarios such as wind turbine towers, high-voltage transmission line poles, and transmission line towers, current operations rely on three methods: manual climbing, simple climbing aids, and dedicated lifts. All of these methods have significant shortcomings: manual climbing is physically demanding, inefficient, and carries extremely high safety risks; simple climbing aids are difficult to precisely control in terms of pulling speed and force, requiring dedicated personnel to monitor them, and improper coordination can easily lead to personal injury accidents; dedicated lifts are limited by the internal space of the tower, their operating range cannot cover the entire height, and they require a passage to be reserved during the tower design phase, making them impossible to install later, resulting in high equipment investment costs and extremely poor versatility.

[0004] Most existing ladder climbing robots are fixed structures specifically designed for vertical tower ladders, which can only be adapted to a single type of ladder. They cannot meet the general climbing needs of both inclined and vertical ladders. Furthermore, they generally suffer from insufficient safety protection, low work efficiency, and stiff climbing movements, which restricts the promotion and application of ladder climbing robots in various scenarios.

[0005] Currently, the industry lacks a biomimetic ladder climbing solution that combines high stability, high safety, and strong versatility, can be adapted to both inclined and vertical ladders, and can handle both cargo and human operations. Developing a new type of biomimetic ladder climbing robot has become an urgent technical problem to be solved in this field. Summary of the Invention

[0006] To achieve stability, safety, and versatility, and to be compatible with both civilian staircases and vertical ladders, as well as for both carrying goods and people, this invention provides a ladder climbing machine that can climb and carry people using stairs, steps, etc., to deliver workers or equipment to the corresponding location for equipment installation and maintenance. While ensuring the safety of personnel, it significantly reduces physical exertion and improves construction efficiency.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-purpose biomimetic climbing robot includes a main body and climbing mechanisms respectively disposed on both sides of the main body. Each climbing mechanism includes a base and two climbing arms respectively disposed on both sides of the base. The base is fixedly connected to the main body. Each climbing arm is connected to the side wall of its corresponding base via two hinged links, forming a first double-rocker mechanism. There is a phase difference between the two first double-rocker mechanisms, and one of the links is a telescopic rod. A gear transmission mechanism driven by a motor is disposed within the base. This gear transmission mechanism simultaneously drives one link of each of the two first double-rocker mechanisms to rotate around its hinge axis, thereby causing the two climbing arms to perform periodic alternating climbing actions relative to the base. Each end of the climbing arm is fixedly equipped with a multi-purpose claw for supporting the ground or gripping a ladder crossbar.

[0008] Furthermore, the multi-purpose claw includes: a claw body fixedly mounted on the climbing arm; two symmetrically arranged second double rocker mechanisms are provided inside the claw body; each of the two second double rocker mechanisms has an actuating end located outside the claw body; a clamping part is fixedly mounted on the actuating end; the two clamping parts are respectively driven by the two second double rocker mechanisms to interlock and cooperate with each other to form a fixed cavity for gripping the ladder crossbar; the top wall of the fixed cavity is used to support the inclined staircase floor; the claw body is provided with a drive mechanism that simultaneously drives the two second double rocker mechanisms to swing relative to each other.

[0009] Furthermore, it includes: a linear motor, a rack, and two gears; the linear motor is fixedly installed inside the claw body, the output shaft of the linear motor is fixedly connected to the rack, and the two gears are respectively installed on both sides of the rack and mesh with the rack; the gears are used to drive the second double rocker mechanism on the corresponding side to swing.

[0010] Furthermore, the second dual rocker mechanism is composed of a third link, a fourth link, a fifth link, and a sixth link hinged together; the third link is coaxially and fixedly connected to the gear on the corresponding side, the other end of the third link is hinged to the fourth link, the other end of the fourth link is hinged to the fifth link, the other end of the fifth link is hinged to the sixth link, and the other end of the sixth link is hinged inside the claw body; the clamping part is fixedly connected to the fourth link on the corresponding side.

[0011] Furthermore, the main body of the fuselage is a long plate-shaped structure with handles and platforms at both ends; the platforms are used as a support platform for people to stand on, and the handles are used for people to grip.

[0012] Furthermore, the gear transmission mechanism is disposed within the cavity of the base and includes: a drive gear rotatably disposed within the base and two transmission gears respectively meshing with the drive gear, the drive gear being driven to rotate by a motor; the gear shafts of the two transmission gears are respectively fixedly connected to the hinge shaft of a connecting rod in the first double rocker mechanism on the corresponding side.

[0013] Furthermore, the base is composed of two spaced steel plates, both perpendicular to the main body of the fuselage, and the two steel plates are connected and fixed by support ribs.

[0014] Furthermore, the climbing arm has a straight segment and arc segments at both ends of the straight segment. The straight segment is parallel to the main body of the machine body, and the end of the arc segment away from the straight segment is perpendicular to the main body of the machine body. An inner cavity parallel to its axis is opened inside the straight segment. The first end of the connecting rod is hinged in the inner cavity, and the other end of the connecting rod is rotatably mounted on the side wall of the base by a pin.

[0015] Furthermore, wheels are provided at both ends of the base along the entire length of the fuselage body.

[0016] Furthermore, a cavity is provided in the middle of the main body of the machine, which is used to house the motor and control unit that drive the climbing mechanism on both sides.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention relates to a climbing robot equipped with four sets of climbing arms, symmetrically arranged in two groups to alternately perform climbing actions. Each group has two symmetrical climbing arms, mimicking the human movement of climbing a ladder. Relying on the biomimetic nature of the climbing arms, the robot achieves ladder-climbing operations, maintaining balance and stability during the climb, ensuring a smooth and reliable climbing process. Breaking away from the traditional "one machine, one tower" model of elevators, this invention is adaptable to both civilian staircases and vertical ladders, accommodating both cargo and personnel operations, demonstrating strong versatility and providing a ladder-climbing machine suitable for multiple scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a biomimetic climbing robot adapted to multiple scenarios according to the present invention.

[0019] Figure 2 This is a schematic diagram illustrating the state of climbing a residential staircase according to the present invention.

[0020] Figure 3 This is a schematic diagram of the state when climbing the ladder according to the present invention.

[0021] Figure 4 This is a schematic diagram of the overall structure of the main body of the present invention.

[0022] Figure 5 This is a schematic diagram of the overall structure of the climbing mechanism of the present invention.

[0023] Figure 6 This is a schematic diagram of the overall structure of the multi-purpose claw of the present invention.

[0024] Figure 7 This is a schematic diagram of the internal structure of the multi-purpose claw of the present invention.

[0025] In the diagram: 1. Main body; 2. Base; 3. First climbing arm; 4. Second climbing arm; 5. Transmission gear; 6. Drive gear; 7. Motor; 8. Wheel; 9. First link; 10. Second link; 11. Receiving cavity; 12. Control unit; 13. Multi-purpose claw; 14. Linear motor; 15. Rack; 16. Gear; 17. Third link; 18. Fourth link; 19. Fifth link; 20. First clamping part; 21. Second clamping part; 22. Claw body; 23. Handle; 24. Platform; 25. Sixth link. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0027] This invention provides a multi-purpose bionic climbing robot, such as... Figure 1-3 As shown, it includes: a fuselage body 1 and climbing mechanisms symmetrically arranged on both sides of the fuselage body 1.

[0028] The main body 1 of the fuselage is preferably a long plate-shaped structure, such as Figure 4 As shown, the main body 1 serves as a support structure for personnel to lie down and stand up when the robot is climbing inclined stairs and vertical tower ladders, respectively.

[0029] Furthermore, the two ends of the main body 1 are respectively provided with handles 23 and platforms 24. The platforms 24 are used as support when people stand, and the handles 23 are used for people to grip.

[0030] There are two climbing mechanisms, symmetrically arranged on both sides of the main body 1; the two have the same structure. The following description uses the climbing mechanism on one side as an example to illustrate its structure. Figure 5 As shown, it includes: a base 2 and a first climbing arm 3 and a second climbing arm 4 symmetrically arranged on both sides of the base 2. The first climbing arm 3 and the second climbing arm 4 are each connected by two connecting rods hinged to the side wall of the base 2, thereby forming a first double rocker mechanism in a plane perpendicular to the fuselage body 1, and there is a phase difference between the two first double rocker mechanisms.

[0031] The base 2 is fixedly installed on one side of the main body 1. It has a cavity inside. The cavity of the base 2 is rotatably provided with a transmission gear 5, which is used to drive the rotation of either of the two first double rocker mechanisms. Between the two transmission gears 5, there is a rotatable drive gear 6 that meshes with both transmission gears 5. The drive gear 6 is driven to rotate by a motor 7.

[0032] Specifically, in this embodiment, the base 2 is composed of two spaced steel plates, which serve as the side walls of the base 2 and are both perpendicular to the main body 1. One of the steel plates is fixedly connected to the side wall of the main body 1, and the two steel plates are connected and fixedly connected by fixed support ribs. The space between the two steel plates is the cavity of the base 2. Gear shafts with a matching number of transmission gears 5 and drive gears 6 are provided in the cavity. The two ends of the gear shafts are rotatably fixedly mounted on the corresponding steel plates. The transmission gears 5 and drive gears 6 are both fixedly mounted on the gear shafts by key connection, so that the two transmission gears 5 and drive gears 6 can be rotatably mounted in the cavity of the base 2. The gear shaft of the drive gear 6 rotatably passes through the base 2 and is fixedly connected to the output shaft of the motor 7, so that the motor 7 drives the drive gear 6 to rotate.

[0033] Furthermore, the motor 7 can be fixed to the base 2 by a bracket.

[0034] The first climbing arm 3 and the second climbing arm 4 are identical in shape. Both have a straight segment and arc segments at both ends of the straight segment. The straight segment is parallel to the main body 1 of the fuselage, and the arc segments at both ends of the straight segment are perpendicular to the main body 1 of the fuselage at the ends away from the straight segment. They are respectively set on the outside of two steel plates. Taking the first climbing arm 3 as an example, an inner cavity parallel to its axis is opened inside the straight segment. The first ends of the first connecting rod 9 and the second connecting rod 10 are hinged in the inner cavity of the first climbing arm 3, and the other ends are rotatably set on the side wall of the base 2 through pins, so that the first connecting rod 9 and the second connecting rod 10 can rotate around the pin in the plane of the side wall of the base 2, thereby forming a first double rocker mechanism formed by the first climbing arm 3, the first connecting rod 9, the second connecting rod 10 and the side wall of the base 2.

[0035] In this embodiment, the pin of the first connecting rod 9 is fixedly connected to the gear shaft of the transmission gear 5. That is, when the driving gear 6 drives the transmission gear 5 to rotate, the transmission gear 5 drives the first connecting rod 9 to rotate through the gear shaft, thereby driving the entire first double rocker mechanism.

[0036] Furthermore, the second link 10 is a telescopic rod, which, in conjunction with the first double rocker mechanism, forms the movement of the first climbing arm 3.

[0037] The second climbing arm 4 adopts the same method as the first climbing arm 3, so that the pin of one of the connecting rods of the second climbing arm 4 is fixedly connected to the gear shaft of another transmission gear 5; at the same time, the connecting rod on the second climbing arm 4 that is coaxial with the transmission gear 5 can be used as a telescopic rod, so that the second climbing arm 4 and the first climbing arm 3 can achieve the action of alternating climbing.

[0038] Therefore, when the motor 7 drives the drive gear 6 to rotate, the rotating drive gear 6 simultaneously drives the two transmission gears 5 to rotate in opposite directions. The rotating transmission gears 5, through the first double rocker mechanism, respectively drive the first climbing arm 3 and the second climbing arm 4 to climb relative to the side wall of the base 2. Due to the phase difference between the two and the opposite rotation directions of the two transmission gears 5, the first climbing arm 3 and the second climbing arm 4 alternate in a periodic manner.

[0039] Because the climbing arms of the two climbing mechanisms are symmetrically arranged relative to the main body 1, the entire robot can achieve stable climbing.

[0040] In addition, along the entire length of the fuselage body 1, wheels 8 are provided at both ends of the base 2, and the wheels 8 are preferably Mecanum wheels driven by a hub motor.

[0041] Meanwhile, a cavity 11 is provided in the middle of the main body 1, which is used to house the motor 7 and control unit 12 that drive the climbing mechanism on both sides of the main body 1. Furthermore, a multi-purpose claw 13 is fixedly provided at the end of the curved end of each climbing arm; such as Figure 6-7 As shown, it includes: a linear motor 14, a rack 15, a gear 16, a second double rocker mechanism, a first clamping part 20, a second clamping part 21, and a claw body 22; Specifically, the claw body 22 is a groove structure with a cavity and an open end, and its bottom plate is fixedly set on the arc end of the climbing arm; a linear motor 14 is fixedly installed inside the claw body 22, and the output shaft of the linear motor 14 is fixedly connected to the rack 15, and gears 16 that mesh with it are provided on both sides of the rack 15. Each gear 16 is used to drive a link in the second double rocker mechanism on the corresponding side to rotate. The first clamping part 20 and the second clamping part 21 are respectively fixedly connected to each second double rocker mechanism.

[0042] That is, the linear motor 14 drives the rack 15 to drive the gears 16 on both sides to rotate synchronously, and then the two double rocker mechanisms simultaneously drive the first clamping part 20 and the second clamping part 21 to make periodic relative movements.

[0043] In this embodiment, the second dual rocker mechanism consists of a third link 17, a fourth link 18, a fifth link 19, and a sixth link 25. Specifically, the third link 17 is coaxially and fixedly connected to the gear 16 inside the claw body 22. The other end of the third link 17 is hinged to the fourth link 18, the other end of the fourth link 18 is hinged to the fifth link 19, the other end of the fifth link 19 is hinged to the sixth link 25, and the other end of the sixth link 25 is hinged inside the claw body 22. By setting the shapes of the fourth link 18 and the fifth link 19, the first clamping part 20 is fixedly connected to the fourth link 18.

[0044] The first clamping part 20 and the second clamping part 21 are interlocked to form a fixed cavity for gripping the ladder crossbar. At the same time, the top wall of the fixed cavity formed by the first clamping part 20 and the second clamping part 21 is a plane, which is used to support the inclined stair floor. That is, the relative periodic swing between the first clamping part 20 and the second clamping part 21, the swing arm and the climbing arm are used to grip the vertically set ladder crossbar.

[0045] When climbing an inclined staircase, the first clamping part 20 and the second clamping part 21 do not swing, but instead plug and match together to form a fixed cavity, using the top wall of the fixed cavity to stably support the entire robot on the floor of the staircase.

Claims

1. A biomimetic climbing robot adaptable to multiple scenarios, characterized in that, It includes a fuselage body (1) and climbing mechanisms respectively disposed on both sides of the fuselage body (1); The climbing mechanism includes: a base (2) and two climbing arms respectively disposed on both sides of the base (2); The base (2) is fixedly connected to the fuselage body (1); Each of the two climbing arms is connected to the side wall of the corresponding base (2) by two connecting rods to form a first double rocker mechanism. There is a phase difference between the two first double rocker mechanisms, and one of the two connecting rods is a telescopic rod. The base (2) is provided with a gear transmission mechanism driven by a motor (7). The gear transmission mechanism is used to simultaneously drive one of the two first double rocker mechanisms to rotate around its hinge axis, thereby driving the two climbing arms to perform periodic alternating climbing actions relative to the base (2). Both ends of the climbing arm are fixed with multi-purpose claws (13) for supporting the ground or gripping the ladder crossbar.

2. The biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, The multi-purpose claw (13) includes: a claw body (22) fixedly mounted on the climbing arm, the claw body (22) having two symmetrically arranged second double rocker mechanisms inside, each of the two second double rocker mechanisms having an actuating end located outside the claw body (22), the actuating end being fixedly provided with a clamping part, the two clamping parts being respectively driven by the two second double rocker mechanisms to interlock and cooperate with each other to form a fixed cavity for gripping the ladder crossbar, the top wall of the fixed cavity being used to support the inclined stair floor; The claw body (22) is provided with a drive mechanism that simultaneously drives the two second double rocker mechanisms to swing relative to each other.

3. The biomimetic climbing robot adaptable to multiple scenarios according to claim 2, characterized in that, The drive mechanism includes: a linear motor (14), a rack (15), and two gears (16). The linear motor (14) is fixedly installed inside the claw body (22). The output shaft of the linear motor (14) is fixedly connected to the rack (15). Two gears (16) are respectively installed on both sides of the rack (15) and mesh with the rack (15). The gears (16) are used to drive the second double rocker mechanism on the corresponding side to swing.

4. The biomimetic climbing robot adaptable to multiple scenarios according to claim 3, characterized in that, The second dual rocker mechanism is composed of a third link (17), a fourth link (18), a fifth link (19), and a sixth link (25) hinged together; The third link (17) is coaxially and fixedly connected to the gear (16) on the corresponding side. The other end of the third link (17) is hinged to the fourth link (18). The other end of the fourth link (18) is hinged to the fifth link (19). The other end of the fifth link (19) is hinged to the sixth link (25). The other end of the sixth link (25) is hinged inside the claw body (22). The clamping part is fixedly connected to the fourth link (18) on the corresponding side.

5. A biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, The main body (1) is a long plate-shaped structure with handles (23) and platforms (24) at both ends; the platforms (24) are used as a support platform for people to stand on, and the handles (23) are used for people to grip.

6. The biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, The gear transmission mechanism is disposed in the cavity of the base (2) and includes: a drive gear (6) rotatably disposed in the base (2) and two transmission gears (5) respectively meshing with the drive gear (6). The drive gear (6) is driven to rotate by a motor (7). The gear shafts of the two transmission gears (5) are respectively fixedly connected to the hinge shaft of a connecting rod of the first double rocker mechanism on the corresponding side.

7. A biomimetic climbing robot adaptable to multiple scenarios according to claim 6, characterized in that, The base (2) consists of two steel plates spaced apart and perpendicular to the main body (1), and the two steel plates are connected and fixed by support ribs.

8. A biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, The climbing arm has a straight segment and an arc segment at both ends of the straight segment. The straight segment is parallel to the main body (1), and the end of the arc segment away from the straight segment is perpendicular to the main body (1). The straight segment has an inner cavity parallel to its axis. The first end of the connecting rod is hinged in the inner cavity, and the other end of the connecting rod is rotatably mounted on the side wall of the base (2) by means of a pin.

9. A biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, Along the length of the fuselage body (1), wheels (8) are provided at both ends of the base (2).

10. A biomimetic climbing robot adaptable to multiple scenarios according to claim 1, characterized in that, The main body (11) has a cavity (11) in the middle, which is used to house the motor (7) and control unit (12) that drive the climbing mechanism on both sides.

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