Curved surface adaptive robot

Abstract

According to the curved surface adaptive robot, in the operation process, the robot can avoid an operation area to walk, and the stability of walking on the curved surface can be maintained. The curved surface adaptation robot comprises a robot base, the robot base comprises a bottom wall and a side wall, the bottom wall is opposite to the operation surface, and the side wall is perpendicular to the bottom wall; the walking wheel is used for walking on the working surface and comprises a wheel body and a first rotating shaft, the first rotating shaft is parallel to the diameter direction of the wheel body and parallel to the bottom wall, and the wheel body can rotate around the first rotating shaft; the rotating rod comprises a fixed end and rotating ends, the rotating ends are arranged on the two sides of the fixed end in the extending direction of the rotating rod, the rotating ends can rotate around the fixed end on the plane perpendicular to the bottom wall, and the rotating ends are at least connected with one walking wheel; three supporting points are arranged on the surface of the robot base, the projections of the three supporting points on the plane where the bottom wall is located are not collinear, the supporting points are used for being connected with a walking wheel or a fixed end, and at least one supporting point in the three supporting points is connected with the fixed end.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a surface-adaptive robot. Background Technology

[0002] With the development of science and technology, large-scale machinery and equipment are being used more and more widely in various industries. However, when it is necessary to operate large-scale machinery and equipment in high-altitude areas, it is often necessary to transport workers to the heights, which is a high-risk and low-efficiency method. Therefore, using industrial robots to operate in high-altitude areas is a safe and efficient option.

[0003] Since most machine surfaces are irregularly shaped curved surfaces, current industrial robots mostly use a three-wheeled support system to ensure stability. However, in some operations, the work area is directly beneath the robot, requiring the robot to move along this area while avoiding contact between the wheels and the work area, which could affect the robot's movement or damage the work area. Therefore, a new type of industrial robot is needed that can both avoid the work area and maintain stability while moving along curved surfaces. Utility Model Content

[0004] This application provides a surface-adaptive robot that, while walking along a work area, can both avoid the work area and maintain the stability of the robot walking on a curved surface.

[0005] In a first aspect, a curved surface adapting robot is provided, comprising: a robot base, including a bottom wall and side walls, the bottom wall being disposed opposite to a working surface, and the side walls being perpendicular to the bottom wall; at least four walking wheels connected to the robot base for walking on the working surface along a first direction, the first direction being parallel to the bottom wall, each walking wheel including a wheel body and a first pivot, the first pivot being parallel to the diameter direction of the wheel body and parallel to the bottom wall, the wheel body being rotatable around the first pivot, the at least four walking wheels being distributed in four quadrants centered on the center of mass of the robot base, with the first direction and a second direction as coordinate directions, the second direction being perpendicular to the first direction and parallel to the bottom wall; a rotating rod, including a fixed end and a rotating end, the fixed end being connected to the surface of the robot base, the rotating end being disposed on both sides of the fixed end along the extension direction of the rotating rod, the rotating end being rotatable around the fixed end in a plane perpendicular to the bottom wall, and two of the at least four walking wheels being respectively connected to the rotating ends on both sides of the fixed end.

[0006] In the curved surface adapting robot provided in this application embodiment, the rotating rod provides the walking wheels with a degree of freedom in the direction perpendicular to the bottom wall, and the first rotating shaft provides the walking wheels with a rotational degree of freedom. The walking wheels connected to the rotating rod can adjust their position and posture according to the curvature of the working surface by rotating the rotating rod and rotating themselves around the first rotating shaft, maintaining contact with the working surface. At the same time, multiple walking wheels are connected to the robot base through the rotating rod, which can generate a unique spatial position at the support point on the robot base and provide support for the robot base at three support points, improving the curved surface adapting robot's adaptability to curved surfaces and its stability when walking on curved surfaces.

[0007] In addition, the surface-adapting robot provided in this application embodiment can place multiple walking wheels at intervals around the work area. While maintaining the walking stability of the surface-adapting robot, the walking wheels only walk around the work area and do not directly contact the work area, thereby reducing the damage caused to the work area by the surface-adapting robot during operation.

[0008] In some embodiments, the surface-adapting robot includes a pressure mechanism for providing pressure between the surface-adapting robot and the working surface, the pressure being directed toward the working surface.

[0009] The pressure mechanism allows the surface-adapting robot to fit tightly against the working surface, improving the stability of the robot's movement on the working surface, especially when the robot is moving on three-dimensional curved surfaces, such as vertical walls of wind turbine towers, to prevent the robot from falling off the working surface.

[0010] In some embodiments, the pressure mechanism includes a magnet, with wheels disposed on both sides of the magnet in a direction perpendicular to the radial direction of the wheels, and the magnetic attraction force of the magnet is directed toward the working surface.

[0011] The magnets on the wheels help guide the wheels to fit the working surface, and at the same time provide a nearly constant magnetic attraction force on the metal surface, which helps improve the stability of the curved surface adapting robot when walking on the working surface.

[0012] In some embodiments, the pressure mechanism includes a fan for exhausting air to subject the curved surface-adapting robot to pressure toward the work surface.

[0013] The fan can apply pressure to the surface-adapting robot on the working surface where no magnetic attraction force can be generated, thereby improving the stability of the surface-adapting robot on the working surface.

[0014] In some embodiments, at least four traveling wheels include a first traveling wheel, the first traveling wheel including a second rotating shaft and a third rotating shaft, the second rotating shaft being perpendicular to the diameter direction of the wheel body, the third rotating shaft being perpendicular to the second rotating shaft and intersecting or being out of plane with the straight line containing the first rotating shaft, the first traveling wheel being capable of rotating around the third rotating shaft.

[0015] Multi-directional wheels possess rotational degrees of freedom in the plane formed by the first and second directions, enabling surface-adaptive robots to steer more flexibly on curved surfaces. Simultaneously, the rotating rod, the first axis, and the third axis provide different degrees of freedom for the wheel in three-dimensional space, enhancing the flexibility of the wheels in adjusting their position and posture on curved surfaces, thereby improving the stability of the surface-adaptive robot when walking on curved surfaces.

[0016] In some embodiments, at least four walking wheels include two drive wheels and two first walking wheels. The drive wheels are used to drive the curved surface adaptation robot to walk on the working surface. The first axis of the drive wheel is connected to the robot base, and the third axis of the first walking wheel is connected to the rotating end.

[0017] Two drive wheels provide power for the movement of the surface-adapting robot. Two multi-directional wheels connected to the rotating rod enable the surface-adapting robot to have good surface adaptability. At the same time, the robot can avoid the work area during its movement, thus improving the work efficiency.

[0018] In some embodiments, the curved surface adaptation robot includes: a working component disposed on one side of the robot base in a first direction for performing work on a working surface, the first direction being parallel to the bottom wall.

[0019] Placing the work component on one side of the surface-adapting robot helps control the robot to perform work on the work surface while moving along the work area, and also helps maintain the stability of the surface-adapting robot during movement.

[0020] In some embodiments, the working component includes a first connecting frame, a second connecting frame, and a working head. The first connecting frame is connected to the robot base, and the first and second connecting frames are slidably connected in a third-direction upward direction. The working head is disposed on the side of the second connecting frame in a third-direction upward direction close to the working surface, and the third-direction is perpendicular to the bottom wall.

[0021] The movable connection between the first and second connecting frames allows the working head to have a certain obstacle-crossing ability, reduces the possibility of the working head being stuck by protrusions, and improves the flexibility of the working components in adjusting on the working surface.

[0022] In some embodiments, the working component includes a first elastic element, which is connected to a first connecting frame at one end in a third direction and to a second connecting frame at the other end.

[0023] The first elastic element allows the second connecting frame to return to its initial position after movement in a third direction, so that the working head can remain in contact with the working surface after passing over the obstacle, which is conducive to realizing automated control of the working process.

[0024] In some embodiments, the working component includes a push rod, which includes a drive portion and a motion portion. The drive portion is connected to a first connecting frame and is used to drive the motion portion to move upward in a third direction. The second connecting frame has a protrusion disposed on the motion path of the motion portion.

[0025] The push rod can improve the ability and control precision of the working component to cross obstacles. When it is difficult to cross obstacles by adaptive adjustment of the working head, the distance between the working head and the working surface can be controlled by controlling the movement of the push rod, thus assisting the working head to cross the obstacle.

[0026] In some embodiments, the working assembly includes a swing frame, a first end of which is connected to the working head in a second direction, and a second end of which is movably connected to a second connecting frame in a second direction. The second end is rotatable in a plane perpendicular to the second direction, which is perpendicular to the first direction and parallel to the bottom wall.

[0027] The swing frame can drive the working head to rotate in a plane perpendicular to the second direction, adjusting the relative angle between the working head and the working surface, so that the working head can adapt to the changes in the curved surface and always be aligned with the working area during the operation, thereby improving the working effect.

[0028] In some embodiments, the working component includes a stop block connected to a second connecting frame and disposed on the rotation path of the swing frame, with a gap between the stop block and the swing frame.

[0029] The stop block can limit the rotation angle of the swing frame, so that the swing frame can only drive the working head to rotate within a certain range, reducing the possibility of excessive overturning of the working head and the swing frame, thereby enabling the working head to achieve stable detection on the working surface.

[0030] In some embodiments, the working component includes a slide bar, which is fixedly connected to a second connecting frame and passes through a stop block in a third direction. The stop block is movable along the slide bar in a third direction.

[0031] On the one hand, the slide bar can provide the stop block with a degree of freedom in the third direction, flexibly adjust the gap between the stop block and the swing frame, and provide space for the rotation of the swing frame; on the other hand, the movement of the stop block along the slide bar in the third direction can provide a certain range of buffer when the swing frame and the stop block collide, reducing the damage to both when the swing frame and the stop block interfere with each other.

[0032] In some embodiments, a second elastic member is provided between the stop block and the second connecting frame, and the second elastic member is disposed between the second connecting frame and the stop block in a third-direction orientation.

[0033] The second elastic element further buffers the collision between the swing frame and the stop, providing some adjustment space for the rotation angle of the swing frame and reducing the possibility of overturning due to excessive rotation of the swing frame.

[0034] In some embodiments, the curved surface adapting robot includes: a slide rail connected to the surface of the robot base and extending along a second direction perpendicular to the first direction, the slide rail having a slot; and a working component including a slider that engages with the slot.

[0035] The matching slider and slot allow the working components to slide and adjust in the second direction, flexibly adjusting the distance between two relatively set working components in the second direction, thereby adapting to the requirements of working areas of different widths and improving the applicability of the curved surface adaptable robot to working areas of different sizes.

[0036] In some embodiments, the curved surface adapting robot includes: a laser emitter disposed on the surface of the robot base for emitting laser light toward the work area; and a camera for identifying the work object via the laser light.

[0037] The combination of laser emitters and cameras can achieve automatic positioning of the work area, improving the accuracy of work area identification and the efficiency of high-altitude operations. Attached Figure Description

[0038] Figure 1 This is a structural schematic diagram of a curved surface adapting robot provided in this application.

[0039] Figure 2 This is a schematic diagram of the structure of a walking wheel and a rotating rod provided in this application.

[0040] Figure 3 This is a view of a curved surface adapting robot on one side of the bottom wall and a cross-sectional schematic diagram in the BB direction provided in this application.

[0041] Figure 4 This is a schematic diagram of another surface-adaptive robot provided in this application.

[0042] Figure 5 This is a structural schematic diagram of an operating component and a slide rail provided in this application.

[0043] Figure 6 yes Figure 5 A schematic diagram of the structure of part A.

[0044] Figure 7yes Figure 5 The structure in the view is in the first direction.

[0045] Figure 8 This is a schematic diagram of another surface-adaptive robot provided in this application. Detailed Implementation

[0046] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0047] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0048] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0050] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0051] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0052] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0053] The surface-adaptive robot provided in this application can be applied to surface operations on flat or curved surfaces, and is particularly suitable for surface operations on vertical, inclined, or difficult-to-reach walls. Specifically, it can be applied to surface operations on equipment such as ship hulls, oil tanks, water tanks, bridges, towers, and wind turbine towers, as well as surface operations on large industrial equipment (such as boilers and reactors).

[0054] When using industrial robots to work on surfaces, it is often necessary to avoid the work area to minimize damage or interference. For example, during weld inspection, the robot needs to move along the weld to perform the inspection, while avoiding wheel contact with raised weld seams that could cause instability. It also needs to be able to move stably in straight lines and turn on curved surfaces. Similarly, during spraying, welding, and inspection operations on surfaces, it is also necessary to avoid wheel contact with the work area while ensuring stable robot movement on curved surfaces.

[0055] Most current surface-adaptive robots employ a three-wheel contact method to ensure stability on the work surface, meaning three wheels provide support and propulsion. However, during movement along the work area, even if two symmetrically positioned wheels provide clearance, the third wheel will still cross the work area. If the robot has four wheels, only three will maintain contact with the curved surface. Especially during turns, the fourth wheel is prone to detaching from the work surface, compromising the robot's stability.

[0056] Therefore, this application provides a surface-adapting robot, in which at least two wheels have three degrees of freedom in each direction, and the posture of the wheels can be adjusted according to the actual situation of the surface, so that each wheel keeps in contact with the working surface. This allows the robot to avoid the working area by placing the wheels on both sides of the working area, while maintaining the stability of the surface-adapting robot walking on the working surface.

[0057] The surface-adaptive robot 1 provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0058] Figure 1 This paper presents a schematic diagram of the overall structure of a surface-adaptive robot 1 provided in this application. Figure 2 A schematic diagram of the rotating rod 20 and the walking wheel 30 on the curved surface adapting robot 1 is shown. Figure 1 and Figure 2 As shown, the curved surface adapting robot 1 includes a robot base 10, at least four walking wheels 30, and a rotating rod 20.

[0059] The surface-adaptive robot 1 provided in the embodiments of this application is described below with reference to the accompanying drawings.

[0060] Figure 1 This paper presents a schematic diagram of the overall structure of a surface-adaptive robot 1 provided in this application. Figure 2 A schematic diagram of the rotating rod 20 and the walking wheel 30 on the curved surface adapting robot 1 is shown. Figure 1 and Figure 2 As shown, the curved surface adapting robot 1 includes a robot base 10, walking wheels 30, and rotating rods 20.

[0061] The robot base 10 includes a bottom wall 11 and a side wall 12. The bottom wall 11 is disposed opposite to the working surface, and the side wall 12 is perpendicular to the bottom wall 11.

[0062] The traveling wheel 30 is used to travel on the working surface. The traveling wheel 30 includes a wheel body 301 and a first rotating shaft 302. The first rotating shaft 302 is parallel to the diameter direction of the wheel body 301 and parallel to the bottom wall 11. The wheel body 301 can rotate around the first rotating shaft 302.

[0063] The rotating rod 20 includes a fixed end 201 and a rotating end 202. The rotating end 202 is disposed on both sides of the fixed end 201 along the extension direction of the rotating rod 20. The rotating end 202 can rotate around the fixed end 201 in a plane perpendicular to the bottom wall 11. The rotating end 202 is connected to at least one traveling wheel 30.

[0064] The surface of the robot base 10 is provided with three support points. The projections of the three support points on the plane where the bottom wall 11 is located are not collinear. The support points are used to connect to the walking wheel 30 or the fixed end 201. At least one of the three support points is connected to the fixed end 201.

[0065] The robot base 10 refers to the portion of the curved-surface adapting robot 1 used to house components such as wiring and batteries, including a bottom wall 11, side walls 12, and a top wall (not shown in the figure). The bottom wall 11 of the robot base 10 is positioned opposite the working surface, and the side walls 12 are perpendicular to the bottom wall 11, forming a housing space with the bottom wall 11. The wiring, batteries, and other components of the curved-surface adapting robot 1 are housed within this housing space. The top wall of the robot base 10 is parallel to the bottom wall 11 and is located on the side of the bottom wall 11 facing away from the working surface, covering the housing space formed by the bottom wall 11 and the side walls 12.

[0066] The walking wheel 30 is a structure on the curved surface adapting robot 1 that drives the robot base 10 to move along the working surface. The walking wheel 30 can be, for example, a drive wheel 31, which typically includes a wheel and a drive motor. The drive motor is used to drive the rotation of the wheel, providing power for the walking of the curved surface adapting robot 1. Furthermore, the wheel of the drive wheel 31 can be one or more of rolling wheels, Mecanum wheels, and omnidirectional wheels, providing the curved surface adapting robot 1 with multiple degrees of freedom of movement under the drive of the drive motor.

[0067] In some embodiments, the walking wheel 30 may be, for example, a driven wheel that does not provide power itself and moves along with the robot base 10 during its movement. Further, the driven wheel may be one or more of a rolling wheel, a Mecanum wheel, and a swivel wheel, enabling it to have multiple degrees of freedom in multiple directions during the movement of the curved surface adapting robot 1.

[0068] like Figure 1 and Figure 2 As shown, the traveling wheel 30 includes a wheel body 301 and a first rotating shaft 302. The wheel body 301 is used to travel along a first direction X on the working surface, wherein the first direction X is parallel to the bottom wall 11. The first rotating shaft 302 is parallel to the diameter direction of the wheel body 301 and parallel to the bottom wall 11, and the wheel body 301 can rotate about the first rotating shaft 302 as the axis of rotation. When the working surface is an irregular curved surface, the wheel body 301 can adjust its angle around the first rotating shaft 302 according to the actual situation of the working surface during travel to maintain contact with the working surface.

[0069] The rotating rod 20 is connected to the surface of the robot base 10, such as... Figure 1 and Figure 2As shown, the rotating rod 20 includes a fixed end 201 and a rotating end 202. The fixed end 201 refers to the structure on the rotating rod 20 that enables connection; for example, when the rotating rod 20 is connected to the robot base 10, the fixed end 201 on the rotating rod 20 is connected to the surface of the robot base 10. In some embodiments, such as... Figure 2 As shown, the fixed end 201 may include a fixed shaft 2011 and a rotating part 2012. The fixed shaft 2011 is fixedly connected to the surface of the robot base 10, and the rotating part 2012 is sleeved on the fixed shaft 2011 and rotates around the fixed shaft 2011. Optionally, the fixed end 201 may be directly connected to the surface of the robot base 10, and the rotating end 202 and the fixed end 201 may rotate together relative to the surface of the robot base 10, that is, the fixed shaft 2011 and the rotating part 2012 are fixedly connected.

[0070] The rotating end 202 refers to the portion of the rotating rod 20 that extends away from the fixed end 201 along the extending direction of the rotating rod 20, and is capable of rotating around the fixed end 201. The rotating rod 20 typically has an elongated structure extending in a certain direction, which refers to the length direction of the elongated structure. In some embodiments, the fixed end 201 is located at one end of the rotating rod 20 along its extending direction, and the rotating end 202 is the other end of the rotating rod 20 along its extending direction. In some embodiments, such as... Figure 1 and Figure 2 As shown, the fixed end 201 of the rotating rod 20 is located in the middle region of the rotating rod 20, and the rotating ends 202 are distributed on both sides of the fixed end 201 along the extension direction of the rotating rod 20.

[0071] At both ends of the rotating rod 20, namely the two rotating ends 202, at least one traveling wheel 30 is connected to each end. In one embodiment, the fixed end 201 of the rotating rod 20 is connected to the surface of the robot base 10, and each of the two rotating ends 202 is connected to a traveling wheel 30, which rotates around the fixed end 201 in a plane perpendicular to the bottom wall 11, providing the traveling wheel 30 with a degree of freedom in the direction perpendicular to the bottom wall 11 for adjusting to the curved surface.

[0072] In another embodiment, the surface-adapting robot 1 includes a first rotating rod and a second rotating rod, the structures of which can be similar to those of... Figure 1 and Figure 2The rotating rods 20 shown in the figure have the same structure. The fixed end 201 of the first rotating rod is connected to the surface of the robot base 10, and the rotating end 202 of the first rotating rod is connected to the fixed end 201 of the second rotating rod. Each of the two rotating ends 202 of the second rotating rod is connected to a walking wheel 30, which means that the rotating end 202 of the first rotating rod is connected to multiple walking wheels 30. In some embodiments, each of the two rotating ends 202 of the first rotating rod can be connected to a second rotating rod, that is, each can be connected to a fixed end 201 of a second rotating rod; in other embodiments, one rotating end 202 of the first rotating rod is connected to the fixed end 201 of the second rotating rod, and the other rotating end 202 is connected to a walking wheel 30. And so on, the rotating end 202 of each rotating rod 20 can be connected to the fixed end 201 of another rotating rod 20 to achieve the arrangement of multiple walking wheels 30.

[0073] In another embodiment, the surface of the curved adaptation robot 1 can be connected to a plurality of rotating rods 20. The rotating end 202 of each rotating rod 20 can be connected to the fixed end 201 of another rotating rod 20 or to the walking wheel 30. Each rotating end 202 can rotate around the fixed end 201 in a plane perpendicular to the bottom wall 11.

[0074] In the curved surface adapting robot 1 provided in this embodiment, the walking wheels 30 and the fixed ends 201 of the rotating rods 20 connected to the surface of the robot base 10 are connected to support points on the surface of the robot base 10. Specifically, the surface of the robot base 10 is provided with three support points. The projections of these three support points on the plane where the bottom wall 11 is located are not collinear. The walking wheels 30, which are directly or indirectly connected to the support points, are in contact with the working surface. At least one of the support points is connected to the fixed end 201 of the rotating rod 20, and the rotating end 202 of the rotating rod 20 is connected to the walking wheel 30, or to the fixed end 201 of another rotating rod 20; the other support points are connected to the walking wheels 30. That is, all three support points can be connected to the fixed end 201 of the rotating rod 20, or part of them can be connected to the fixed end 201 of the rotating rod 20, and the other part can be connected to the walking wheels 30. The walking wheels 30 connected to the rotating rods 20 are in contact with the working surface, creating a unique spatial position at the support point connected to the fixed end 201, and supporting the robot base.

[0075] The curved surface adapting robot 1 can adjust the position and posture of the walking wheels 30 by rotating the rotating rod 20 around the fixed end 201 and rotating the walking wheels 30 around the first rotating axis 302, so that at least four walking wheels 30 on the curved surface adapting robot 1 can conform to the curved surface. Taking the curved surface adapting robot 1 including four walking wheels 30 as an example, the first and second walking wheels of the four walking wheels 30 are respectively connected to the two rotating ends 202 of the rotating rod 20, and the third and fourth walking wheels are respectively connected to the robot base 10. When the curved surface adapting robot 1 walks on the curved surface, the first and second walking wheels simultaneously rotate adaptively around the fixed end 201 in the middle region of the rotating rod 20 to adjust the position of the first and second walking wheels relative to the working surface. In one possible implementation, the first, third, and fourth walking wheels remain in contact with the working surface, while the second walking wheel rotates under the drive of the rotating end 202 and has a tendency to detach from the working surface. Simultaneously, the wheel body 301 of the second traveling wheel can rotate around the first rotating shaft 302, adjusting the wheel body 301 of the second traveling wheel to fit in contact with the working surface. Furthermore, the support point where the first and second traveling wheels are connected at the fixed end 201 creates a unique spatial position, thereby ensuring that all four traveling wheels 30 on the curved surface adapting robot 1 are in contact with the working surface, maintaining the stability of the curved surface adapting robot 1 when walking on the curved surface.

[0076] In some embodiments, the fixed end 201 of the rotating rod 20 can be disposed on the side wall 12 of the robot base 10. Taking the rotating end 202 of the rotating rod 20 being directly connected to the walking wheel 30 as an example, specifically... Figure 1 and Figure 2 As shown, the fixed end 201 of the rotating rod 20 is connected to the side wall 12 of the robot base 10 parallel to the second direction Y. The rotating rod 20 extends along the second direction Y, and the rotating ends 202 at both ends of the rotating rod 20 are respectively connected to two traveling wheels 30 spaced apart along the second direction Y. Optionally, the fixed end 201 of the rotating rod 20 can also be connected to the side wall 12 of the robot base 10 perpendicular to the second direction Y, and the rotating ends 202 at both ends of the rotating rod 20 are respectively connected to two traveling wheels 30 spaced apart along the first direction X. Optionally, the fixed end 201 of the rotating rod 20 can be connected to the top wall or bottom wall 11 of the robot base 10, and the rotating ends 202 at both ends of the rotating rod 20 can be respectively connected to two traveling wheels 30 spaced apart along the first direction X, or two traveling wheels 30 spaced apart along the second direction Y, or two traveling wheels 30 arranged diagonally.

[0077] In the curved surface adapting robot 1 provided in this embodiment, the rotating rod 20 provides the walking wheels 30 with a degree of freedom in the direction perpendicular to the bottom wall 11, and the first rotating shaft 302 provides the walking wheels 30 with a rotational degree of freedom. The walking wheels 30 connected to the rotating rod 20 can adjust their position and posture according to the curvature of the working surface by rotating the rotating rod 20 and rotating themselves around the first rotating shaft 302, maintaining contact with the working surface. At the same time, multiple walking wheels 30 are connected to the robot base 10 through the rotating rod 20, which can generate a unique spatial position at the support point on the robot base 10 and provide support for the robot base 10 at the three support points, improving the adaptability of the curved surface adapting robot 1 to curved surfaces and the stability of walking on curved surfaces.

[0078] In addition, the curved surface adaptation robot 1 provided in this application embodiment can set multiple walking wheels 30 around the work area respectively. While maintaining the walking stability of the curved surface adaptation robot 1, the walking wheels 30 only walk around the work area and do not directly contact the work area, thereby reducing the damage to the work area caused by the curved surface adaptation robot 1 during the operation.

[0079] According to some embodiments of this application, the surface-adapting robot 1 includes a pressure mechanism for providing pressure between the surface-adapting robot 1 and the working surface, with the pressure directed toward the working surface.

[0080] The pressure mechanism can be a structure such as a magnet, a fan, or a suction cup that can provide pressure between the curved surface adapting robot 1 and the working surface. The pressure generated by the pressure mechanism is directed towards the working surface, so that the curved surface adapting robot 1 can fit tightly against the working surface, improving the stability of the curved surface adapting robot 1 when walking on the working surface. In particular, when the curved surface adapting robot 1 walks on vertical walls such as wind turbine towers, it reduces the possibility of the curved surface adapting robot 1 falling off the working surface.

[0081] According to some embodiments of this application, the pressure mechanism includes a magnet 33, and a wheel 301 is disposed on both sides of the magnet 33 in a direction perpendicular to the radial direction of the wheel 301, and the magnetic attraction force of the magnet 33 is directed toward the working surface.

[0082] like Figure 2 As shown, the traveling wheel 30 may include multiple wheel bodies 301, which are arranged in parallel and in a direction perpendicular to the radial direction of the wheel bodies 301. Taking a traveling wheel 30 with two wheel bodies 301 as an example, the pressure mechanism includes a magnet 33, which is disposed between the two wheel bodies 301. The magnetic attraction force of the magnet 33 is directed towards the working surface to maintain the overall stability of the traveling wheel 30. In some embodiments, a first rotating shaft 302 may also be disposed between the two wheel bodies 301.

[0083] During the movement of the curved surface adaptation robot 1 on the curved surface, at least four wheels 30 can generate magnetic attraction with the working surface. When the working surface is curved, the magnets 33 of the rotating rod 20 and the wheels 30 can guide the wheels 301 to adjust so that both wheels 301 on the wheels 30 can contact the working surface. Specifically, when the curvature of the working surface changes, the rotating rod 20 rotates on a plane perpendicular to the bottom wall 11 to adjust the position of the wheels 30 connected to both ends of the rotating rod 20 on the corresponding plane. When one of the wheels 30 tends to detach from the working surface, the magnetic attraction force generated by the magnets 33 on the working surface can guide the wheels 301 to rotate around the first axis 302, so that the wheels 301 can be adjusted to contact the working surface. This ensures that both wheels 30 connected to the rotating rod 20 remain in contact with the working surface.

[0084] Meanwhile, to reduce damage to the working surface caused by the magnet 33, or damage to the magnet 33 caused by the working surface, the magnet 33 is usually positioned with a certain gap between it and the working surface, between the two wheel bodies 301 of the walking wheel 30. This allows for a large magnetic attraction force while minimizing the volume of the magnet 33. When the curved surface adapting robot 1 walks on the curved surface, the distance between the magnet 33 and the working surface can be kept approximately constant. In this case, the magnet 33 can provide an approximately constant magnetic attraction force to the walking wheel 30, and the magnetic attraction force is less likely to change when the curvature of the working surface changes. This improves the stability of the curved surface adapting robot 1 when walking on the working surface.

[0085] The magnet 33 on the walking wheel 30 helps guide the wheel 301 to adjust to a state of contact with the working surface, and at the same time can provide a nearly constant magnetic attraction force for the walking wheel 30 on the metal surface, which helps improve the stability of the curved surface adapting robot 1 walking on the working surface.

[0086] According to some embodiments of this application, the pressure mechanism includes a fan for exhausting air so that the curved surface adapting robot 1 is subjected to pressure toward the working surface.

[0087] When the working surface is made of a non-metallic material or other material that cannot generate an attractive force through the magnet 33, the pressure mechanism may include a fan. The fan can exhaust air away from the working surface, so that the air pressure applies pressure to the curved surface adapting robot 1 in the direction towards the working surface. In some embodiments, the fan may be disposed through the robot base 10; alternatively, the fan may also be connected to the robot base 10.

[0088] The fan can provide pressure to the curved surface adapting robot 1 on the working surface where no magnetic attraction force can be generated, thereby improving the stability of the curved surface adapting robot 1 on the working surface.

[0089] According to some embodiments of this application, at least four walking wheels 30 include multi-directional wheels 32. Each multi-directional wheel 32 includes a second pivot 303 and a third pivot 304. The second pivot 303 is perpendicular to the diameter direction of the wheel body 301, and the third pivot 304 is perpendicular to the second pivot 303 and intersects or is not in the same plane as the straight line where the first pivot 302 is located. The multi-directional wheels 32 can rotate around the third pivot 304, and the third pivot 304 is connected to the robot base 10.

[0090] In some embodiments, when the traveling wheel 30 is a drive wheel 31 or a Mecanum wheel, the traveling wheel 30 includes a first pivot 302 and a second pivot 303. The second pivot 303 is perpendicular to the diameter direction of the wheel body 301. The wheel body 301 of the traveling wheel 30 rotates around the second pivot 303 to achieve the rolling of the wheel body 301. It rotates around the first pivot 302 to adjust the posture of the wheel body 301 to fit the working surface. The drive wheel 31 and the Mecanum wheel themselves can provide the ability to rotate in the plane formed by the extension direction of the first pivot 302 and the extension direction of the second pivot 303.

[0091] In other embodiments, the traveling wheel 30 includes a multi-directional wheel 32, i.e., a multi-directional wheel 32 is a possible structure for the traveling wheel 30. The multi-directional wheel 32 includes a first pivot 302, a second pivot 303, and a third pivot 304. The second pivot 303 is perpendicular to the diameter direction of the wheel body 301. The wheel body 301 of the multi-directional wheel 32 rotates around the second pivot 303 to achieve rolling of the wheel body 301, rotates around the first pivot 302 to adjust the posture of the wheel body 301 to fit the working surface, and rotates around the third pivot 304 to adjust the direction of movement of the wheel body 301.

[0092] like Figure 2 As shown, the third rotating axis 304 is perpendicular to the second rotating axis 303 and not parallel to the first rotating axis 302. In some embodiments, the direction of the line containing the third rotating axis 304 is perpendicular to the direction of the line containing the second rotating axis 303. That is, the third rotating axis 304 may be located on the same plane as the first rotating axis 302, and the line containing the first rotating axis 302 intersects the line containing the third rotating axis 304 on this plane. Alternatively, the line containing the third rotating axis 304 and the line containing the first rotating axis 302 are not on the same plane. Further, the extending direction of the third rotating axis 304 may be perpendicular to the extending direction of the first rotating axis 302.

[0093] In some embodiments, the multi-directional wheel 32 is connected to the rotating end 202 of the rotating rod 20, and the third rotating shaft 304 is connected to the robot base 10 through the rotating end 202. When the rotating end 202 rotates around the fixed end 201, the wheel body 301 of the multi-directional wheel 32 and the third rotating shaft 304 rotate together on the rotation trajectory of the rotating end 202, while cooperating with the first rotating shaft 302 to rotate to a state of contact with the working surface. When the curved surface adapting robot 1 needs to turn, especially when turning on a curved surface, the multi-directional wheel 32 rotates around the third rotating shaft 304 to cooperate with the steering of the other walking wheels 30, thereby maintaining the stability of the curved surface adapting robot 1 when turning on a curved surface, while providing a more flexible movement mode for the curved surface adapting robot 1 to turn.

[0094] In other embodiments, the multi-directional wheel 32 can be directly connected to the surface of the robot base 10, and the third rotating shaft 304 is connected to the surface of the robot base 10. During the process of the curved surface adapting robot 1 walking along the working surface, the multi-directional wheel 32 adaptively rotates around the third rotating shaft 304 according to the walking direction of the curved surface adapting robot 1, so that the curved surface adapting robot 1 can have a flexible movement direction on the working surface.

[0095] The multi-directional wheel 32 has rotational degrees of freedom in the plane formed by the first direction X and the second direction Y, which enables the curved surface adapting robot 1 to turn more flexibly on the curved surface. At the same time, the rotating rod 20, the first rotating shaft 302 and the third rotating shaft 304 can provide the wheel body 301 with degrees of freedom in different directions in three-dimensional space, which is beneficial to improving the flexibility of the walking wheel 30 in adjusting its position and posture on the curved surface, thereby improving the stability of the curved surface adapting robot 1 walking on the curved surface.

[0096] According to some embodiments of this application, at least four walking wheels 30 include two drive wheels 31 and two multi-directional wheels 32. The drive wheels 31 are used to drive the curved surface adapting robot 1 to walk on the working surface. The first shaft 302 of the drive wheels 31 is connected to the robot base 10, and the third shaft 304 of the multi-directional wheels 32 is connected to the rotating end 202.

[0097] Figure 3 (a) in the middle shows Figure 1 The curved surface adaptation robot 1 is viewed from the third-party Z-axis view on one side of the bottom wall 11. Figure 3 (b) shows a schematic cross-sectional view of the structure in (a) along the BB direction.

[0098] like Figures 1 to 3 As shown, in one specific embodiment, the curved surface adapting robot 1 is provided with four walking wheels 30, two of which are drive wheels 31 and the other two are multi-directional wheels 32. The drive wheels 31 and the multi-directional wheels 32 are both possible structures for serving as walking wheels 30.

[0099] The drive wheel 31 refers to the walking wheel 30 on the curved surface adapting robot 1 that can drive the robot 1 to move. The drive wheel 31 typically includes a drive motor to provide driving force. The drive wheels 31 can be spaced apart along the first direction X to provide driving force for the curved surface adapting robot 1 to move in the second direction Y. The first pivot 302 of the drive wheel 31 is connected to the robot base 10, and the wheel body 301 of the drive wheel 31 rotates relative to the robot base 10 around the first pivot 302.

[0100] The multi-directional wheel 32 refers to the walking wheel 30 on the curved surface adapting robot 1 that moves following the motion of the drive wheel 31, and has rotational degrees of freedom in three mutually perpendicular directions. Figure 2 Taking the multi-directional wheel 32 shown as an example, the wheel body 301 of the multi-directional wheel 32 can rotate around the first pivot 302 to adjust the posture of the wheel body 301 so that the wheel body 301 can fit in contact with the working surface; the wheel body 301 of the multi-directional wheel 32 can rotate around the second pivot 303 so that the wheel body 301 can roll on the working surface; the wheel body 301 of the multi-directional wheel 32 can rotate around the third pivot 304 to adaptively change the direction of movement of the wheel body 301, so that the curved surface adapting robot 1 has flexible steering ability. The third pivot 304 of the multi-directional wheel 32 is connected to the rotating end 202 of the rotating rod 20. The rotating rod 20 adjusts the position and posture of the two multi-directional wheels 32 according to the curvature change of the working surface, so that both multi-directional wheels 32 can stably fit in contact with the working surface, thereby maintaining the stability of the curved surface adapting robot 1 walking on the curved surface. Two multi-directional wheels 32 can be spaced apart along the first direction X, that is, connected to both ends of the rotating rod 20 along the first direction X, so that the two multi-directional wheels 32 can move on both sides of the working area.

[0101] The two drive wheels 31 provide power for the movement of the surface-adapting robot 1, and the two multi-directional wheels 32 connected to the rotating rod 20 enable the surface-adapting robot 1 to have good surface adaptability. At the same time, the surface-adapting robot 1 can avoid the work area during its movement, thus improving the work efficiency.

[0102] According to some embodiments of this application, the curved surface adaptation robot 1 includes a working component 40, which is disposed on one side of the robot base 10 in a first direction X, for performing work on the working surface, wherein the first direction X is parallel to the bottom wall 11.

[0103] The working component 40 is a mechanism for performing operations on the working surface, such as a weld inspection component, a surface spraying component, a welding component, etc.

[0104] Figure 4 A surface-adaptive robot 1 equipped with a working component 40 is shown, such as Figure 4 As shown, the working component 40 can be positioned along the travel direction of the curved surface adapting robot 1. That is, when the curved surface adapting robot 1 is moving towards the first direction X, the working component 40 can be positioned on the side of the curved surface adapting robot 1 perpendicular to the first direction X. The walking wheels 30 have a certain spacing distance, which can leave space for the working area.

[0105] The operation component 40 is positioned on one side of the walking direction of the surface-adapting robot 1, which helps to control the surface-adapting robot 1 to perform operations on the work surface by using the operation component 40 while walking along the work area. It also helps to maintain the stability of the surface-adapting robot 1 during the walking process.

[0106] According to some embodiments of this application, the working component 40 includes a first connecting frame 41, a second connecting frame 42, and a working head 43. The first connecting frame 41 is connected to the robot base 10. The first connecting frame 41 and the second connecting frame 42 are slidably connected in the third direction Z. The working head 43 is disposed on the side of the second connecting frame 42 in the third direction Z that is close to the working surface. The third direction Z is perpendicular to the bottom wall 11.

[0107] In some embodiments, the curved surface adaptation robot 1 may include two working components 40, which are arranged opposite each other along the second direction Y. During the operation, the working components 40 are located on both sides of the working area.

[0108] Figure 5 The structure of one of the working components 40 is shown, such as Figure 5 As shown, the working component 40 includes a first connecting frame 41, a second connecting frame 42, and a detection head. The first connecting frame 41 is connected to the robot base 10, for example, it can be fixedly connected to the robot base 10 to perform operations in a fixed position; alternatively, it can be movably connected to the robot base 10, flexibly adjusting the position of the working head 43 according to the location and size of the working area; alternatively, one of the two working components 40 can be fixedly connected to the robot base 10, while the other is movably connected to the robot base 10.

[0109] The second connecting frame 42 is slidably connected to the first connecting frame 41, that is, the second connecting frame 42 can slide relative to the first connecting frame 41 in the third direction Z; the working head 43 is disposed on the side of the second connecting frame 42 in the third direction Z close to the working surface, that is, the working head 43 can move in the third direction Z as the second connecting frame 42 slides, so as to adjust the position of the working head 43 relative to the working surface.

[0110] The third direction Z is perpendicular to the second direction Y and the first direction X, and is generally parallel to the normal vector of the working surface. The movement of the working head 43 in the third direction Z allows the detection head to move closer to or further away from the working surface. In some embodiments, there may be protrusions on the working surface that are higher than the surrounding area, such as welds, obstacles, or other surface structures, as well as dirt such as bird droppings or clumps of dust. Therefore, when the working component 40 needs to cross these protrusions, the second connecting frame 42 can slide in the third direction Z, causing the working head 43 to move away from the working surface and thus cross these protrusions. When the curved surface adaptation robot 1 is adjusted to a position on the working surface where it can perform the work, the second connecting frame 42 slides along the third direction Z toward the working surface, allowing the working head 43 to fit against the working surface.

[0111] Specifically, the first connecting frame 41 may be provided with a slide rail, which may include an elongated groove. The second connecting frame 42 is provided with a protruding structure, which is engaged in the slide rail and can slide along the slide rail, thereby realizing the sliding of the second connecting frame 42 relative to the first connecting frame 41.

[0112] The movable connection between the first connecting frame 41 and the second connecting frame 42 enables the working head 43 to have a certain obstacle-crossing ability, reduces the possibility of the working head 43 being stuck by protrusions, and improves the flexibility of the working component 40 in adjusting on the working surface.

[0113] According to some embodiments of this application, the working component 40 includes a first elastic element 44, which is connected to a first connecting frame 41 at one end in the third direction Z and to a second connecting frame 42 at the other end.

[0114] Figure 5 A connection method for the first elastic element 44 is shown. Specifically, the end of the first elastic element 44 that is farther away from the working surface in the third direction Z is connected to the second connecting frame 42, and the end that is closer to the working surface in the third direction Z is connected to the first connecting frame 41. The elastic force of the first elastic element 44 tends to pull the end of the second connecting frame 42 connected to the first elastic element 44 toward the end of the first connecting frame 41 connected to the first elastic element 44. On the one hand, this allows the working head 43 to fit against the working surface during operation. On the other hand, if the second connecting frame 42 slides along the third direction Z to allow the working head 43 to pass over an obstacle, the elastic force of the first elastic element 44 pulls the second connecting frame 42 back to its initial position.

[0115] Optionally, a baffle can be installed on the first connecting frame 41, positioned along the movement path of the second connecting frame 42. The second connecting frame 42 has a platform structure that abuts against the baffle, limiting the distance the second connecting frame 42 can move in the Z-direction and preventing excessive movement of the second connecting frame 42 in the Z-direction. The baffle can be positioned so that the working head 43 is precisely in contact with the working surface when the platform structure abuts against the baffle.

[0116] The first elastic element 44 allows the second connecting frame 42 to return to its initial position after moving in the Z direction, so that the working head 43 can remain in contact with the working surface after passing over the obstacle, which is conducive to realizing automated control of the working process.

[0117] According to some embodiments of this application, the working assembly 40 includes a push rod 45, which includes a drive part 451 and a moving part 452. The drive part 451 is connected to a first connecting frame 41 and is used to drive the moving part 452 to move in the third direction Z. The second connecting frame 42 has a protrusion 421, which is disposed on the movement path of the moving part 452.

[0118] The push rod 45 refers to the structure in the working assembly 40 that pushes the second connecting frame 42 to move in the third direction Z; it can be, for example, a telescopic motor. Figure 5 As shown, the push rod 45 includes a drive part 451 and a motion part 452. The drive part 451 is connected to the first connecting frame 41 and fixed relative to the robot base 10. The motion part 452 moves along the third direction Z under the drive of the drive part 451. The protrusion 421 on the second connecting frame 42 is located on the motion path of the motion part 452. The motion part 452 can move along the third direction Z to a position that abuts against the protrusion 421, and further push the second connecting frame 42 to move in the third direction Z by pushing the protrusion 421.

[0119] Specifically, the moving part 452 can push the protrusion 421 in the Z-direction away from the working surface, causing the second connecting frame 42 to move the working head 43 away from the working surface in the Z-direction, enabling the working head 43 to overcome obstacles and achieve protection for the working head 43. When it is necessary to control the working head 43 to adhere to the working surface for detection, the moving part 452 moves towards the working surface in the Z-direction, and the second connecting frame 42 slides towards the working surface in the Z-direction, causing the working head 43 to approach the working surface. In some embodiments, the working assembly 40 includes a first elastic member 44. When the moving part 452 and the protrusion 421 are not in contact, the first elastic member 44 can pull the second connecting frame 42 towards the working surface, allowing the working head 43 to adhere to the working surface.

[0120] In some embodiments, the drive portion 451 of the push rod 45 can be connected to the surface of the robot base 10, the motion portion 452 of the push rod 45 moves in the third direction Z, and can push the second connecting frame 42 to move in the third direction Z by pushing the protrusion 421 of the second connecting frame 42.

[0121] The push rod 45 can improve the ability and control accuracy of the working component 40 to cross obstacles. When it is difficult to cross obstacles by adaptive adjustment of the working head 43, the distance between the working head 43 and the working surface can be controlled by controlling the movement of the push rod 45, thereby assisting the working head 43 to cross the obstacle.

[0122] According to some embodiments of this application, the working assembly 40 includes a swing frame 46, a first end 461 of the swing frame 46 in the second direction Y is connected to the working head 43, and a second end 462 of the swing frame 46 in the second direction Y is movably connected to a second connecting frame 42. The second end 462 is capable of rotating in a plane perpendicular to the second direction Y, which is perpendicular to the first direction X and parallel to the bottom wall 11.

[0123] The swing frame 46 refers to the structure that connects the working head 43 and the second connecting frame 42. When two working components 40 are connected to the robot base 10 and are arranged opposite each other in the second direction Y, the swing frame 46 can extend along the second direction Y so that the two working heads 43 are arranged opposite each other in the second direction Y.

[0124] The first end 461 of the swing frame 46 refers to the end connected to the working head 43 in the second direction Y. The first end 461 can be fixedly connected to the working head 43 or movably connected to the working head 43. For example, the working head 43 can be connected to the first end 461 via a rotatable shaft, such as... Figure 5 As shown, the working head 43 is connected to the first end 461 via an axis extending in the first direction X. The working head 43 can rotate around this axis in a plane perpendicular to the first direction X, thereby adjusting the relative angle between the working head 43 and the working surface. This allows the working head 43 to adapt to changes in the curved surface and to always be aligned with the working area during the operation, thus improving the working effect.

[0125] The second end 462 of the swing frame 46 refers to the end connected to the second connecting frame 42 in the second direction Y. In this embodiment, the second end 462 of the swing frame 46 is rotatable in a plane perpendicular to the second direction Y. Specifically, the swing frame 46 may include a rotating shaft connected to the second connecting frame 42, and the second end 462 is rotatable about the rotating shaft. In some embodiments, the rotating shaft may be fixedly connected to the second end 462 and rotate relative to the second connecting frame 42 together with the second end 462; alternatively, the rotating shaft may be fixedly connected to the second connecting frame 42, and the second end 462 rotates relative to the rotating shaft.

[0126] The swing frame 46 can drive the working head 43 to rotate in a plane perpendicular to the second direction Y, adjusting the relative angle between the working head 43 and the working surface, so that the working head 43 can adapt to the changes of the curved surface and always be aligned with the working area during the operation, thereby improving the working effect.

[0127] According to some embodiments of this application, the working component 40 includes a stop 47, which is connected to the second connecting frame 42 and disposed on the rotation path of the swing frame 46, with a gap between the stop 47 and the swing frame 46.

[0128] like Figure 5 As shown, the stop 47 can be disposed on one side of the swing frame 46 in the third direction Z, and there is a certain gap between the stop 47 and the swing frame 46. The gap between the swing frame 46 and the stop 47 allows the swing frame 46 to have a certain space to rotate, while the stop 47, disposed on the rotation path of the swing frame 46, can limit the swing of the swing frame 46 to a certain extent. That is to say, when the swing frame 46 rotates around the straight line containing the second direction Y, the swing frame 46 will be blocked by the stop 47 when it rotates to a certain angle, and can only rotate within the angle range limited by the gap between the stop 47 and the swing frame 46.

[0129] The stop block 47 can limit the rotation angle of the swing frame 46, so that the swing frame 46 can only drive the working head 43 to rotate within a certain range, reducing the possibility of excessive overturning of the working head 43 and the swing frame 46, thereby enabling the working head 43 to achieve stable detection on the working surface.

[0130] According to some embodiments of this application, the working component 40 includes a slide bar 48, which is fixedly connected to a second connecting frame 42, and a stop block 47 passes through it in the third direction Z. The stop block 47 is movable along the slide bar 48 in the third direction Z.

[0131] In some embodiments, the stop 47 can be fixedly connected to the second connecting frame 42, and the swing frame 46 can rotate within a fixed angle range. In other embodiments, the working assembly 40 can be provided with a slide bar 48, and the stop 47 can slide along the slide bar 48 in the third direction Z, adjusting the gap between the stop 47 and the slide frame, thereby adjusting the angle at which the swing frame 46 can rotate. When the gap between the stop 47 and the slide frame is small, the angle at which the swing frame 46 can rotate is small; when the gap between the stop 47 and the slide frame is large, the angle at which the swing frame 46 can rotate is large.

[0132] Specifically, Figure 6 It shows Figure 5 An enlarged structural diagram of part A is shown below. Figure 6As shown, the slide rod 48 extends along the third direction Z, with one end fixedly connected to the second connecting frame 42 and the other end passing through the stop block 47, giving the stop block 47 the freedom to move along the third direction Z. When the swing frame 46 rotates to the position of the stop block 47, the swing frame 46 abuts against the stop block 47 and is restricted by the stop block 47, making it difficult for it to continue rotating. When the force on the swing frame 46 is large, if the stop block 47 continues to resist the rotation of the swing frame 46, it may cause some damage to the stop block 47 and the swing frame 46. Therefore, the stop block 47, which is sleeved on the slide rod 48, slides along the slide rod 48 along the third direction Z under the push of the swing frame 46, increasing the gap between the stop block 47 and the swing frame 46, so that the swing frame 46 can rotate further. At the same time, the stop block 47 can still provide resistance to the further rotation of the swing frame 46, minimizing the rotation amplitude of the swing frame 46.

[0133] In some embodiments, the gap between the stop 47 and the swing frame 46 may be smaller than the rotation radius of the swing frame 46.

[0134] On the one hand, the slide bar 48 can provide the stop block 47 with a degree of freedom in the third direction Z, flexibly adjusting the gap between the stop block 47 and the swing frame 46, providing space for the rotation of the swing frame 46; on the other hand, the movement of the stop block 47 along the slide bar 48 in the third direction Z can provide a certain range of buffer when the swing frame 46 and the stop block 47 collide, reducing the damage to both when the swing frame 46 and the stop block 47 interfere with each other.

[0135] According to some embodiments of this application, a second elastic member 49 is provided between the stop block 47 and the second connecting frame 42, and the second elastic member 49 is provided between the second connecting frame 42 and the stop block 47 in the third direction Z.

[0136] like Figure 6 As shown, the second elastic element 49 can be disposed along the slide bar 48 to provide an elastic force between the stop 47 and the second connecting frame 42. On the one hand, when the swing frame 46 rotates to contact the stop 47 and has a tendency to continue rotating, the second elastic element 49 can allow the stop 47 to move along the slide bar 48 in the third direction Z to release the restriction on the angle at which the swing frame 46 can rotate; on the other hand, when the swing frame 46 pushes the stop 47, the second elastic element 49 can apply an elastic force to the stop 47 in the third direction Z to resist further rotation of the swing frame 46 and limit the excessive rotation of the swing frame 46.

[0137] In some embodiments, one end of the second elastic member 49 is fixedly connected to the second connecting frame 42, and the other end is fixedly connected to the stop block 47; optionally, one end of the two ends of the second elastic member 49 is fixedly connected to the second connecting frame 42, or fixedly connected to the stop block 47; optionally, neither end of the second elastic member 49 is fixedly connected, and when the second elastic member 49 is in a compressed state, one end abuts against the second connecting frame 42, and the other end abuts against the stop block 47.

[0138] The second elastic element 49 further provides a buffer for the collision between the swing frame 46 and the stop block 47, which can provide a certain adjustment space for the rotation angle of the swing frame 46 and reduce the possibility of the swing frame 46 overturning due to excessive rotation.

[0139] According to some embodiments of this application, the curved surface adapting robot 1 includes a slide rail 50, which is connected to the surface of the robot base 10 and extends along a second direction Y, which is perpendicular to the first direction X. The slide rail 50 has a slot 51. The working component 40 includes a slider 52, which engages with the slot 51.

[0140] The working component 40 is connected to the surface of the robot base 10. In some embodiments, the working component 40 is fixedly connected to the surface of the robot base 10, and the distance between two oppositely arranged working components 40 is fixed. In other embodiments, the working component 40 is movably connected to the surface of the robot base 10. When multiple working components 40 are provided, at least one working component 40 can adapt to the surface movement of the robot 1 relative to the curved surface, and the distance between two oppositely arranged working components 40 can be adjusted.

[0141] Specifically, Figure 7 for Figure 5 The structure shown in the image is a view in the second direction Y, as follows: Figure 7 As shown, the surface of the robot base 10 may be provided with a slide rail 50, which extends along the second direction Y and has at least one slot 51. Correspondingly, the working component 40 is provided with at least one slider 52 that cooperates with the slot 51, at least a portion of the slider 52 being received in the slot 51, so that the working component 40 can slide along the slide rail 50 in the second direction Y.

[0142] The opening of the slot 51 can face multiple directions. For example, if the slide rail 50 is disposed on the side wall 12 of the robot base 10, the opening of the slot 51 can face both ends in the third direction Z, or it can face away from the side wall 12 along the first direction X. Optionally, the slide rail 50 can be disposed on the bottom wall 11 and / or the top wall of the robot, in which case the opening of the slot 51 can face both ends in the first direction X, or it can face away from the bottom wall 11 and / or the top wall along the third direction Z.

[0143] The matching slider 52 and slot 51 can realize the sliding adjustment of the working component 40 in the second direction Y, flexibly adjust the distance between the two relatively set working components 40 in the second direction Y, thereby adapting to the requirements of working areas of different widths and improving the applicability of the curved surface adapting robot 1 to working areas of different sizes.

[0144] According to some embodiments of this application, the curved surface adaptation robot 1 includes a laser emitter 60 and a camera 70. The laser emitter 60 is disposed on the surface of the robot base 10 and is used to emit lasers toward the work area. The camera 70 is used to identify the work object through the laser.

[0145] like Figure 8 As shown, Figure 8 A curved surface adapting robot 1 equipped with a laser emitter 60 and a camera 70 is shown. In this embodiment, the area to be detected refers to the area that the working head 43 can detect. Taking ultrasonic flaw detection as an example, the area to be detected is the area that the ultrasonic waves emitted by the working head 43 can cover. That is, the laser emitter 60 is connected to the surface of the robot base 10 and emits a laser at a certain angle toward the area to be detected on the working surface to identify the working area and the work object. Taking weld detection as an example, when there is no weld in the area to be detected, the laser appears as an approximately straight line on the working surface; when a weld is present in the area to be detected, since the weld usually presents a structure protruding from the surrounding area on the working surface, the laser will appear as a bent line on the weld. By observing the different patterns presented by the laser on the working surface, it can be determined whether the curved surface adapting robot 1 has moved to the vicinity of the weld.

[0146] The camera 70 is a structure on the curved surface adapting robot 1 used to identify the work object. The camera 70 can be equipped with an image processor to analyze the image information acquired by the camera 70. Specifically, the camera 70 is connected to the surface of the robot base 10 to acquire image information of the area to be detected, that is, the laser state of the area to be detected. By analyzing the image information presented by the laser, it is determined whether there is a work object in the area to be detected.

[0147] In some implementations, the curved surface adaptation robot 1 may be equipped with only a camera 70 to visualize the working surface, which is beneficial for operators to observe the working status of the curved surface adaptation robot 1 from the ground and to control the operation of the curved surface adaptation robot 1.

[0148] The combination of laser emitter 60 and camera 70 can achieve automatic positioning of the work area, improving the accuracy of work area identification and the efficiency of high-altitude operations.

[0149] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A curved surface-adapting robot, characterized by, The curved surface adaptive robot comprises: a robot base (10) comprising a bottom wall (11) and a side wall (12), the bottom wall (11) being arranged opposite to a work surface, and the side wall (12) being perpendicular to the bottom wall (11); a walking wheel (30) for walking on the work surface, the walking wheel (30) comprising a wheel body (301) and a first rotation shaft (302), the first rotation shaft (302) being parallel to the diameter direction of the wheel body (301) and parallel to the bottom wall (11), and the wheel body (301) being capable of rotating around the first rotation shaft (302); a rotating rod (20) comprising a fixed end (201) and a rotating end (202), the rotating end (202) being arranged on both sides of the fixed end (201) along the extension direction of the rotating rod (20), the rotating end (202) being capable of rotating around the fixed end (201) in a plane perpendicular to the bottom wall (11), and the rotating end (202) being connected to at least one walking wheel (30); the surface of the robot base (10) is provided with three supporting points, the projections of the three supporting points on the plane where the bottom wall (11) is located are not collinear, the supporting points are used to be connected to the walking wheels (30) or the fixed end (201), and at least one of the three supporting points is connected to the fixed end (201).

2. The curved surface-adaptive robot of claim 1, wherein, The curved surface adaptive robot comprises: a pressure mechanism for providing pressure between the curved surface adaptive robot and the work surface, the direction of the pressure being directed towards the work surface.

3. The curved surface adaptive robot according to claim 2, wherein the pressure mechanism comprises a magnet (33), the wheel body (301) is arranged on both sides of the magnet (33) in a direction perpendicular to the radial direction of the wheel body (301), and the magnetic attraction force of the magnet (33) is directed towards the work surface.

4. The curved surface adaptive robot according to claim 2, wherein the pressure mechanism comprises a fan, and the fan is used to exhaust air so that the curved surface adaptive robot is subjected to pressure directed towards the work surface.

5. The curved surface adaptive robot according to any one of claims 1 to 4, wherein at least four walking wheels (30) comprise a multi-directional wheel (32), the multi-directional wheel (32) comprising a second rotation shaft (303) and a third rotation shaft (304), the second rotation shaft (303) being perpendicular to the diameter direction of the wheel body (301), the third rotation shaft (304) being perpendicular to the second rotation shaft (303) and intersecting a straight line where the first rotation shaft (302) is located or being in a different plane, and the multi-directional wheel (32) being capable of rotating around the third rotation shaft (304).

6. The curved surface adaptive robot according to claim 5, wherein At least four of the walking wheels (30) include two drive wheels (31) and two multi-directional wheels (32), the drive wheels (31) are used to drive the curved surface adaptive robot to walk on the working surface, the first rotating shaft (302) of the drive wheels (31) is connected with the robot base (10), and the third rotating shaft (304) of the multi-directional wheels (32) is connected with the rotating end (202).

7. The curved surface-adaptive robot of claim 6, wherein, The curved surface adaptive robot comprises: A working assembly (40) is arranged on one side of the robot base (10) in a first direction (X) and is used to work on a working surface, and the first direction (X) is parallel to the bottom wall (11).

8. The curved surface adaptive robot according to claim 7, wherein The working assembly (40) comprises a first connecting frame (41), a second connecting frame (42) and a working head (43), the first connecting frame (41) is connected with the robot base (10), the first connecting frame (41) and the second connecting frame (42) are slidingly connected in a third direction (Z), and the working head (43) is arranged on one side of the second connecting frame (42) close to the working surface in the third direction (Z), and the third direction (Z) is perpendicular to the bottom wall (11).

9. The curved surface adaptive robot according to claim 8, wherein The working assembly (40) comprises a first elastic member (44), one end of the first elastic member (44) is connected with the first connecting frame (41) in the third direction (Z), and the other end is connected with the second connecting frame (42).

10. The curved surface adaptive robot according to claim 8, wherein The working assembly (40) comprises a push rod (45), the push rod (45) comprises a driving part (451) and a moving part (452), the driving part (451) is connected with the first connecting frame (41) and is used to drive the moving part (452) to move in the third direction (Z); The second connecting frame (42) has a protruding part (421), and the protruding part (421) is arranged on a movement path of the moving part (452).

11. The curved surface adaptive robot according to claim 9, wherein The working assembly (40) comprises a push rod (45), the push rod (45) comprises a driving part (451) and a moving part (452), the driving part (451) is connected with the first connecting frame (41) and is used to drive the moving part (452) to move in the third direction (Z); The second connecting frame (42) has a protruding part (421), and the protruding part (421) is arranged on a movement path of the moving part (452).

12. The curved surface adaptive robot according to claim 8, wherein The work assembly (40) comprises a swing frame (46), a first end (461) of the swing frame (46) in a second direction (Y) is connected with the work head (43), a second end (462) of the swing frame (46) in the second direction (Y) is movably connected with the second connecting frame (42), the second end (462) can rotate in a plane perpendicular to the second direction (Y), the second direction (Y) is perpendicular to the first direction (X) and parallel to the bottom wall (11).

13. The robot of claim 9, wherein, The work assembly (40) comprises a swing frame (46), a first end (461) of the swing frame (46) in a second direction (Y) is connected with the work head (43), a second end (462) of the swing frame (46) in the second direction (Y) is movably connected with the second connecting frame (42), the second end (462) can rotate in a plane perpendicular to the second direction (Y), the second direction (Y) is perpendicular to the first direction (X) and parallel to the bottom wall (11).

14. The robot of claim 10, wherein, The work assembly (40) comprises a swing frame (46), a first end (461) of the swing frame (46) in a second direction (Y) is connected with the work head (43), a second end (462) of the swing frame (46) in the second direction (Y) is movably connected with the second connecting frame (42), the second end (462) can rotate in a plane perpendicular to the second direction (Y), the second direction (Y) is perpendicular to the first direction (X) and parallel to the bottom wall (11).

15. The robot of claim 11, wherein, The work assembly (40) comprises a swing frame (46), a first end (461) of the swing frame (46) in a second direction (Y) is connected with the work head (43), a second end (462) of the swing frame (46) in the second direction (Y) is movably connected with the second connecting frame (42), the second end (462) can rotate in a plane perpendicular to the second direction (Y), the second direction (Y) is perpendicular to the first direction (X) and parallel to the bottom wall (11).

16. The robot of claim 12, wherein, The work assembly (40) comprises a stop block (47), the stop block (47) is connected with the second connecting frame (42) and is arranged on a rotation path of the swing frame (46), the stop block (47) has a gap with the swing frame (46).

17. The robot of claim 16, wherein, The work assembly (40) comprises a slide rod (48) fixedly connected with the second connecting frame (42), penetrating through the stop block (47) in the third direction (Z), and the stop block (47) is movable along the slide rod (48) in the third direction (Z).

18. The curved surface adaptive robot according to claim 17, characterized in that, A second elastic member (49) is arranged between the stop block (47) and the second connecting frame (42), and is arranged between the second connecting frame (42) and the stop block (47) in the third direction (Z).

19. The curved surface-adapted robot of claim 12, wherein, The curved surface adaptive robot comprises: A slide rail (50) is connected with the surface of the robot base (10) and extends along the second direction (Y) which is perpendicular to the first direction (X), and the slide rail (50) has a clamping groove (51); The work assembly (40) comprises a slide block (52) matched with the clamping groove (51).

20. The curved surface-adapting robot of claim 7, wherein, The curved surface adaptive robot comprises: A laser emitter (60) is arranged on the surface of the robot base (10) and used for emitting laser towards a work area; A camera (70) is used for identifying a work object through the laser.

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