Suspension robot

Abstract

The embodiment of the utility model provides a suspension robot. The suspension robot comprises a robot body, a plurality of mechanical arms and a plurality of adsorption parts. Each mechanical arm comprises a rotating pair and a moving pair, one end of at least one rotating pair is pivotally connected with the machine body, and the moving pair is movably arranged at the other end of the mechanical arm in the height direction of the machine body; the multiple adsorption parts are arranged at the other ends of the moving pairs in a one-to-one correspondence mode. The suspension robot can adaptively adjust the positions of the mechanical arm in the X direction, the Y direction and the Z direction so as to be attracted to the adsorption face, the problem of adsorption failure is avoided, and the walking stability of the robot is improved. And therefore, the applicability of the suspension robot to the environment is improved. Therefore, the suspension robot provided by the embodiment of the utility model has the advantage of good environmental applicability.

Description

TECHNICAL FIELD

[0001] The utility model relates to mining technical field, concretely relates to a suspension robot. BACKGROUND

[0002] The suspension robot has great application potential in specific industries, buildings and coal mines and the like, and is particularly suitable for performing tasks such as inspection, maintenance and monitoring in narrow and complex spaces. In the related art, the suspension robot usually only moves on a two-dimensional plane by using a single adsorption mode, and cannot adapt to complex environments in a three-dimensional space. The current magnetic adsorption robot lacks sufficient flexibility and adjustment capability when facing irregular surfaces or changing working environments, and exhibits obvious limitations. The fixed adsorption structure makes it difficult to adjust the angle and position of the attachment point, cannot flexibly cope with the diversity of various adsorption surfaces, and has poor environmental adaptability. SUMMARY

[0003] The utility model aims at at least in a certain extent solves one of the technical problems in the related art. For this purpose, the embodiment of the utility model proposes a suspension robot. The suspension robot has the advantages of good environmental applicability.

[0004] The suspension robot of the utility model embodiment comprises a machine body, a plurality of mechanical arms and a plurality of adsorption accessories.

[0005] Each mechanical arm comprises a revolute pair and a moving pair, one end of at least one revolute pair is pivotally connected to the side of the machine body, and the moving pair is movably arranged on the other end of the mechanical arm in the height direction of the machine body; a plurality of adsorption accessories are arranged one by one on the other end of a plurality of moving pairs.

[0006] The suspension robot of the utility model embodiment movably arranges the moving pair on the other end of the mechanical arm in the height direction of the machine body, and when encountering uneven adsorption surfaces, the position of the moving pair relative to the machine body can be adjusted, so that each adsorption accessory can be attracted to the corresponding adsorption surface. When encountering complex adsorption surfaces with unevenness and multiple mutations, the suspension robot can adjust the positions of the mechanical arms in X, Y and Z directions to be attracted to the adsorption surface, avoid the problem of adsorption failure, and improve the walking stability of the robot. The environmental applicability of the suspension robot is further improved.

[0007] Therefore, the suspension robot of the utility model embodiment has the advantages of good environmental applicability.

[0008] In some embodiments, the adsorption accessory is rotatably arranged on the moving pair.

[0009] In some embodiments, the moving pair comprises a moving rod and one of a ball head and a spherical seat arranged on an end of the moving rod, the suction accessory comprises a disc body and the other of the ball head and the spherical seat connected to the disc body, and the ball head is rotatably fitted in the spherical seat.

[0010] In some embodiments, the moving pair further comprises a driving motor, the moving rod is a screw rod, the machine body has a threaded hole, and the screw rod is rotatably threaded in the threaded hole.

[0011] In some embodiments, the moving rod is a pneumatic rod or a hydraulic rod, a fixed part of the pneumatic rod or the hydraulic rod is connected to the machine body, and a movable part of the pneumatic rod or the hydraulic rod is connected to the suction accessory.

[0012] In some embodiments, one end of each of the mechanical arms is hinged to the machine body.

[0013] In some embodiments, each of the rotating pairs comprises a first rotating arm and a first rotating driving member, a housing part of the first rotating driving member is connected to the machine body, a rotating shaft of the first rotating driving member is connected to the one end of the first rotating arm, and the suction accessory is arranged on the other end of the first rotating arm.

[0014] In some embodiments, each of the rotating pairs comprises a first rotating arm, a second rotating arm, a first rotating driving member, and a second rotating driving member, a housing part of the first rotating driving member is connected to the machine body, a rotating shaft of the first rotating driving member is connected to the one end of the first rotating arm, a housing part of the second rotating driving member is connected to the first rotating arm, a rotating shaft of the second rotating driving member is connected to the one end of the second rotating arm, and the suction accessory is arranged on the other end of the second rotating arm.

[0015] In some embodiments, the machine body comprises a housing and a controller and a power supply arranged in the housing, the controller is used to control the operation of the motor, and the controller is signal-responsive to at least one of the first rotating driving member and the second rotating driving member.

[0016] In some embodiments, the controller and the power supply are arranged in a middle region of the housing.

[0017] In some embodiments, a plurality of the mechanical arms are evenly arranged on the machine body.

[0018] In some embodiments, the suction accessory is a magnetic suction disc or a pneumatic suction disc. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1is a perspective view of the hanging robot according to an embodiment of the present application.

[0020] Figure 2 is another perspective view of the hanging robot according to an embodiment of the present application.

[0021] Figure 3 is a front view of the hanging robot according to an embodiment of the present application.

[0022] Figure 4 is a top view of the hanging robot according to an embodiment of the present application.

[0023] Figure 5 is Figure 4 is a schematic view along the direction of A-A.

[0024] Reference signs:

[0025] machine body 1;

[0026] mechanical arm 2; revolute pair 21; first rotary arm 211; second rotary arm 212;

[0027] prismatic pair 22; moving rod 221; spherical seat 222;

[0028] suction accessory 3; disc body 31; spherical head 32. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0030] The embodiments of the present application are described below with reference to Figures 1-5 The hanging robot according to an embodiment of the present application is described below.

[0031] The hanging robot according to an embodiment of the present application comprises a machine body 1, a plurality of mechanical arms 2 and a plurality of suction accessories 3.

[0032] Each mechanical arm 2 comprises a revolute pair 21 and a prismatic pair 22, one end of at least one revolute pair 21 is pivotally connected to a side of the machine body 1, and the prismatic pair 22 is movably arranged on the other end of the mechanical arm 2 along the height direction of the machine body 1; the plurality of suction accessories 3 are one-to-one correspondingly arranged on the other end of the plurality of prismatic pairs 22.

[0033] The suspension robot has the advantages that the mobile pair 22 is movably arranged on the other end of the mechanical arm 2 along the height direction of the machine body 1, when uneven adsorption surfaces are encountered, the position of the mobile pair 22 relative to the machine body 1 can be adjusted, and then each adsorption member 3 can be adsorbed with the corresponding adsorption surface, when uneven and multi-mutation complex adsorption surfaces are encountered, the suspension robot can adjust the positions of the mechanical arm 2 in the X, Y and Z directions to be adsorbed with the adsorption surface, the problem of adsorption failure is avoided, and the walking stability of the robot is improved.

[0034] Therefore, the suspension robot has the advantage of good environmental applicability.

[0035] As shown in Figure 1 and Figure 5 , the adsorption member 3 is rotatably arranged on the mobile pair 22. In this way, the adsorption member 3 can be rotated to adapt to the inclined adsorption surface. In this way, the suspension robot improves the stability of movement on uneven road surfaces.

[0036] As shown in Figure 5 , the mobile pair 22 includes a moving rod 221 and one of a ball head 32 and a spherical seat 222 arranged on the end of the moving rod 221, and the adsorption member 3 includes the other of the ball head 32 and the spherical seat 222 connected to the disc body 31, and the ball head 32 is rotatably matched in the spherical seat 222. In other words, the mobile pair 22 includes the moving rod 221 and the ball head 32 arranged on the end of the moving rod 221, and the adsorption disc includes the disc body 31 and the spherical seat 222 connected to the disc body 31; or the mobile pair 22 includes the moving rod 221 and the spherical seat 222 arranged on the end of the moving rod 221, and the adsorption disc includes the disc body 31 and the spherical seat 222 connected to the disc body 31.

[0037] The suspension robot has the advantages that the moving rod 221 and the adsorption member 3 are matched by the ball head 32 and the spherical seat 222, universal rotation is realized, and the applicability of the adsorption member 3 to the inclined road surface is improved. In this way, the suspension robot further improves the applicability of the walking environment of the suspension robot.

[0038] The mobile pair 22 further includes a driving motor, the moving rod 221 is a screw rod, the machine body 1 has a threaded hole, and the screw rod is rotatably arranged in the threaded hole.

[0039] The suspension robot has the advantages that the moving rod 221 is arranged as a screw rod, and the screw rod and the machine body 1 are matched with each other. The suspension robot has the advantage of good structural stability.

[0040] The embodiments of the utility model are not limited to this, for example, in other embodiments, the movable rod 221 is a pneumatic rod or a hydraulic rod, the fixed part in the pneumatic rod or the hydraulic rod is connected with the body 1, and the movable part of the pneumatic rod or the hydraulic rod is connected with the suction accessory 3.

[0041] The suspension robot of the embodiments of the utility model controls the movement of the suction accessory 3 by setting the movable rod 221 as a pneumatic rod or a hydraulic rod.

[0042] As shown in Figures 1 to 4 One end of each mechanical arm 2 is hinged with the body 1.

[0043] The suspension robot of the embodiments of the utility model can be adaptively adjusted in all directions and multiple mutations of complex suction surface, which helps to avoid the problem of suction failure and further improves the walking stability of the suspension robot.

[0044] As shown in Figures 1 to 4 Each mechanical arm 2 includes a first rotating arm 211, a second rotating arm 212, a first rotating drive and a second rotating drive, the shell part of the first rotating drive is connected with the body 1, the rotating shaft of the first rotating drive is connected with one end of the first rotating arm 211, the shell part of the second rotating drive is connected with the first rotating arm 211, the rotating shaft of the second rotating drive is connected with one end of the second rotating arm 212, and the suction accessory 3 is arranged on the other end of the second rotating arm 212.

[0045] The suspension robot of the embodiments of the utility model divides the mechanical arm 2 into the first rotating arm 211 and the second rotating arm 212, the first rotating arm 211 can rotate relative to the body 1, the second rotating arm 212 can rotate relative to the first rotating arm 211, and the range of movement of the mechanical arm 2 in the X and Y plane quadrants can be improved by adjusting the two rotating arms.

[0046] The embodiments of the utility model are not limited to this, for example, in other embodiments, each rotating pair 21 includes a first rotating arm 211 and a first rotating drive, the shell part of the first rotating drive is connected with the body 1, the rotating shaft of the first rotating drive is connected with one end of the first rotating arm 211, and the suction accessory 3 is arranged on the other end of the first rotating arm 211.

[0047] The first rotating driving member and the second rotating driving member each comprise a motor, a first gear and a second gear, the first gear is sleeved on an output shaft of the motor, a shell part of the motor is connected with the machine body 1, the second gear is arranged to be rotatable on the first gear, the first gear and the second gear are engaged, and the first gear and the second gear are taper gears arranged vertically.

[0048] The machine body 1 comprises a shell and a controller arranged in the shell, the controller is used for controlling the motor to operate, and the controller is in signal response with at least one of the first rotating driving member and the second rotating driving member. The signal response between the controller and the first rotating driving member and the second rotating driving member. Therefore, the hanging robot has the advantages of high automation.

[0049] The plurality of mechanical arms 2 are arranged uniformly apart on the machine body 1. Therefore, the hanging robot has the advantages of good stress uniformity.

[0050] As shown in Figures 1 to 4 The controller and the power supply are arranged in the middle region of the shell. Therefore, the hanging robot has the advantages of high structural stability.

[0051] As shown in Figures 1 to 5 The number of the mechanical arms 2 is four, and the four mechanical arms 2 are arranged uniformly apart on the machine body 1. Therefore, the hanging robot has the advantages of good support stability.

[0052] The embodiments of the utility model are not limited to this, for example, in other embodiments, the number of the mechanical arms 2 can be three, and the three mechanical arms 2 are arranged uniformly apart on the machine body 1.

[0053] The suction accessory 3 is a magnetic suction disc or a pneumatic suction disc. Specifically, the disc body 31 is a magnetic suction disc or a pneumatic suction disc.

[0054] In the description of the utility model, it is understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0055] In addition, the terms "first", "second", "third", etc. are used herein only to describe different instances, and are not used to indicate or imply relative importance or a number of indicated technical features. Thus, features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0056] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0058] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description, the illustrative representation of the above terms is not necessarily directed to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0059] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A suspended robot, characterized in that, The suspension robot comprises: a machine body and a plurality of mechanical arms, each of the mechanical arms comprising a rotating pair and a moving pair, one end of at least one of the rotating pairs being pivotally connected to a side of the machine body, the moving pair being movably arranged on the other end of the mechanical arm along the height direction of the machine body; a plurality of suction accessories, each of the suction accessories being correspondingly arranged on the other end of one of the moving pairs.

2. The suspended robot of claim 1, wherein, The suction accessory is rotatably arranged on the moving pair.

3. The suspended robot of claim 2, wherein, The moving pair comprises a moving rod and one of a ball head and a spherical seat arranged on the end of the moving rod, the suction accessory comprises the other of the ball head and the spherical seat connected to a disc body, and the ball head is rotatably fitted in the spherical seat.

4. The suspended robot of claim 3, wherein, The moving pair further comprises a driving motor, the moving rod is a screw rod, the machine body has a threaded hole, and the screw rod is rotatably arranged in the threaded hole; alternatively, the moving rod is a pneumatic rod or a hydraulic rod, a fixed part of the pneumatic rod or the hydraulic rod is connected to the machine body, and a movable part of the pneumatic rod or the hydraulic rod is connected to the suction accessory.

5. The hanging robot of claim 1, wherein, One end of each of the mechanical arms is hinged to the machine body.

6. The suspension robot according to claim 5, wherein each of the rotating pairs comprises a first rotating arm and a first rotating driving member, a housing part of the first rotating driving member is connected to the machine body, a rotating shaft of the first rotating driving member is connected to the one end of the first rotating arm, and the suction accessory is arranged on the other end of the first rotating arm; alternatively, each of the rotating pairs comprises a first rotating arm, a second rotating arm, a first rotating driving member and a second rotating driving member, a housing part of the first rotating driving member is connected to the machine body, a rotating shaft of the first rotating driving member is connected to the one end of the first rotating arm, a housing part of the second rotating driving member is connected to the first rotating arm, a rotating shaft of the second rotating driving member is connected to the one end of the second rotating arm, and the suction accessory is arranged on the other end of the second rotating arm.

7. The suspended robot of claim 6, wherein, The machine body comprises a housing and a controller and a power supply arranged in the housing, the controller is used for controlling the operation of the motor, and the controller is signal-responsive to at least one of the first rotating driving member and the second rotating driving member.

8. The suspended robot of claim 7, wherein, The controller and the power supply are arranged in the middle region of the housing.

9. The suspended robot of any one of claims 1-8, wherein, The plurality of mechanical arms are uniformly arranged on the machine body.

10. The suspension robot according to any one of claims 1-8, wherein the suction accessory is a magnetic suction disc or a pneumatic suction disc.

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