Pneumatic bionic aerial work robot

Abstract

The utility model discloses a pneumatic bionic aerial work robot which comprises a climbing assembly, the climbing assembly comprises a main body frame and a movable frame, the main body frame and the movable frame are arranged in parallel, the lower end of the main body frame is fixedly connected with a climbing air cylinder, and the telescopic end of the climbing air cylinder is fixedly connected with the movable frame. According to the pneumatic bionic aerial work robot provided by the utility model, through the matching design of multiple structures, the device can easily complete aerial work with higher danger level, meanwhile, the safety problem of industrial injury or accidental injury is solved, and huge benefits are brought while the safety of workers is guaranteed for enterprises. According to macroscopic analysis, compressed air is adopted as a power source, the energy conversion efficiency is relatively high, dependence on fossil fuel and emission of greenhouse gas are reduced through the overall lightweight design and use of environment-friendly materials, less energy consumption is achieved, and the original intention of energy conservation and emission reduction is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a pneumatic bionic high-altitude operation robot. Background Technology

[0002] According to statistics from the International Alliance for Aerial Work Platforms (IPAF), this year's report shows that a total of 759 reports of aerial work safety accidents were collected from 34 countries and regions in 2024, representing an increase of 15% and 21% respectively in the probability of such accidents. Although existing technologies and equipment have made progress in many aspects—for example, the magnetic adsorption robot developed by US companies (such as GE Inspection Robotics) can adapt to complex metal surfaces, the biomimetic gecko robot from Festo in Germany has lightweight adhesion capabilities, and the modular climbing robot developed by the University of Tokyo in Japan can dynamically reconfigure its structure to adapt to different work scenarios—these devices still cannot completely replace the work of personnel at heights due to obstacles such as utility poles and advertising frames. Furthermore, magnetic adsorption relies on ferromagnetic surfaces, and biomimetic adhesion is susceptible to dust pollution, making it difficult to meet the needs of complex environments such as agriculture and construction.

[0003] Therefore, this application proposes a safe, efficient, and environmentally friendly solution. By developing a pneumatic biomimetic high-altitude work robot, manual high-altitude work can be replaced, reducing accident risks, improving work efficiency, and reducing energy consumption and environmental impact. Utility Model Content

[0004] Therefore, it is necessary to address the aforementioned technical problems by providing a pneumatic bionic high-altitude work robot. Through the coordinated design of multiple structures, the device can easily complete high-altitude operations with a high degree of danger, while also solving the safety problem of workplace injuries or accidental injuries, bringing significant benefits to enterprises while ensuring the safety of their workers. From a macroscopic perspective, this application uses compressed air as a power source, which has relatively high energy conversion efficiency. Furthermore, the overall lightweight design and the use of environmentally friendly materials reduce dependence on fossil fuels and greenhouse gas emissions, achieving lower energy consumption and fulfilling the initial goal of energy conservation and emission reduction.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A pneumatic bionic high-altitude work robot, which is applied to high-altitude work robots.

[0007] The pneumatic bionic high-altitude operation robot specifically includes:

[0008] A climbing assembly, comprising a main frame and a movable frame, the main frame and the movable frame being arranged in parallel, a climbing cylinder being fixedly connected to the lower end of the main frame, and the telescopic end of the climbing cylinder being fixedly connected to the movable frame.

[0009] A first support clamping assembly and a second support clamping assembly are located at the lower ends of the movable frame and the main frame, respectively, at opposite ends. The first support clamping assembly is fixedly connected to the movable frame, and the second support clamping assembly is fixedly connected to the main frame. Both the first and second support clamping assemblies include clamping grippers. Each clamping gripper has a gripper body at both ends. The ends of the gripper bodies are rotatably connected to the movable ends of the clamping grippers via rotating connectors. A return spring is provided on the side of the gripper body and the rotating connector. The lower end of the return spring is connected to the gripper body, and the upper end of the return spring is connected to the rotating connector.

[0010] A locking component, which is disposed on the gripper body, is used to limit the movement of the robot;

[0011] A central operating mechanism is located at the upper end of the main frame. The central operating mechanism includes a rotating frame, which is fixedly connected to the main frame. A robotic arm is mounted on the rotating frame, and a drive motor for driving the robotic arm to rotate is located inside the rotating frame.

[0012] In a preferred embodiment of the pneumatic bionic high-altitude work robot provided by this utility model, the number of the second support clamping components at the end of the main frame is two, and the number of the first support clamping components at the end of the movable frame is two.

[0013] As a preferred embodiment of the pneumatic bionic high-altitude work robot provided by this utility model, the locking component includes an anti-slip cylinder and an elastic friction plate. Anti-slip cylinders are fixedly connected to the two gripper bodies on the same clamping gripper on opposite sides. Two anti-slip cylinders are fixedly fixed to the same gripper body. An elastic friction plate is fixedly connected to the telescopic end of the two anti-slip cylinders. The elastic friction plate is located between the two gripper bodies.

[0014] In a preferred embodiment of the pneumatic bionic high-altitude work robot provided by this utility model, a first ring-shaped cylinder is fixedly connected to the gripper body of the first support and clamping assembly, and a second ring-shaped cylinder is fixedly connected to the gripper body of the other first support and clamping assembly.

[0015] In a preferred embodiment of the pneumatic bionic high-altitude work robot provided by this utility model, a first ring-shaped cylinder is fixedly connected to the gripper body of one of the second support and clamping components, and a second ring-shaped cylinder is fixedly connected to the gripper body of the other second support and clamping component.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This utility model provides a pneumatic bionic high-altitude work robot. Through the coordinated design of multiple structures, the device can easily complete high-altitude operations with a high degree of danger, while also solving the safety problem of workplace injuries or accidental injuries. This brings significant benefits to enterprises while ensuring the safety of their employees. From a macroscopic perspective, this application uses compressed air as a power source, which has relatively high energy conversion efficiency. Furthermore, the overall lightweight design and the use of environmentally friendly materials reduce dependence on fossil fuels and greenhouse gas emissions, achieving lower energy consumption and fulfilling the initial goal of energy conservation and emission reduction. Attached Figure Description

[0018] To more clearly illustrate the solutions in this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of the pneumatic bionic high-altitude work robot provided by this utility model;

[0020] Figure 2 Side view of the overall structure of the pneumatic bionic high-altitude work robot provided by this utility model;

[0021] Figure 3 A schematic diagram of the structure of the pneumatic bionic high-altitude work robot climbing component, the first support and clamping component, and the second support and clamping component provided by this utility model;

[0022] Figure 4 A schematic diagram of the structure of the anti-slip cylinder, elastic friction plate, first ring cylinder, return spring, and second ring cylinder of the pneumatic bionic high-altitude operation robot provided by this utility model;

[0023] Figure 5 A schematic diagram of the central working mechanism of the pneumatic bionic high-altitude work robot provided by this utility model.

[0024] The markings in the diagram are explained as follows:

[0025] 1. Climbing assembly; 2. First support clamping assembly; 3. Second support clamping assembly; 4. Central operating mechanism; 5. Main frame; 6. Movable frame; 7. Climbing cylinder; 8. Clamping gripper; 9. Gripper body; 10. Rotating connector; 11. Anti-slip cylinder; 12. Elastic friction plate; 13. First encircling cylinder; 14. Return spring; 15. Second encircling cylinder; 16. Drive motor; 17. Robotic arm; 18. Rotating frame. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0027] Example 1:

[0028] Please refer to Figures 1-5 A pneumatic biomimetic high-altitude work robot, comprising:

[0029] Climbing component 1 includes a main frame 5 and a movable frame 6, which are arranged in parallel. A climbing cylinder 7 is fixedly connected to the lower end of the main frame 5, and the telescopic end of the climbing cylinder 7 is fixedly connected to the movable frame 6.

[0030] The first support clamping assembly 2 and the second support clamping assembly 3 are located at the lower ends of the movable frame 6 and the main frame 5, respectively, away from each other. The first support clamping assembly 2 is fixedly connected to the movable frame 6, and the second support clamping assembly 3 is fixedly connected to the main frame 5. Both the first support clamping assembly 2 and the second support clamping assembly 3 include clamping grippers 8, and each end of the clamping gripper 8 is provided with a gripper body 9. The ends of the gripper body 9 are connected to the ends of the clamping gripper 8 via a rotating connector 10. The movable end is rotatably connected, and a return spring 14 is provided on the side of the gripper body 9 and the rotating connector 10. The lower end of the return spring 14 is connected to the gripper body 9, and the upper end of the return spring 14 is connected to the rotating connector 10. It can be seen that by extending and retracting the movable end of the clamping gripper 8, the two gripper bodies 9 are driven to move, realizing the opening and closing action of the first support clamping component 2 and the second support clamping component 3. During the pole climbing process, the clamping gripper 8 drives the gripper body 9 to tightly hug the pole, providing a stable gripping force for the robot and ensuring the stability of the climbing process.

[0031] Furthermore, in order to improve the stability and reliability of climbing, the number of second support clamping components 3 at the end of the main frame 5 is two, and the number of first support clamping components 2 at the end of the movable frame 6 is two.

[0032] A locking component is installed on the gripper body 9 for limiting the movement of the robot. Specifically, the locking component includes an anti-slip cylinder 11 and an elastic friction plate 12. Anti-slip cylinders 11 are fixedly connected to the two gripper bodies 9 on the same clamping gripper 8 on opposite sides. Two anti-slip cylinders 11 are fixedly fixed on the same gripper body 9. An elastic friction plate 12 is fixedly connected to the telescopic end of the two anti-slip cylinders 11. The elastic friction plate 12 is located between the two gripper bodies 9. To facilitate robot climbing of poles of different shapes and sizes, multiple anti-slip cylinders 11 are installed in parallel on each of the first support clamping assembly 2 and the second support clamping assembly 3. The telescopic end of the anti-slip cylinder 11 is fixedly connected to an elastic friction plate 12. When the first support clamping assembly 2 and the second support clamping assembly 3 clamp, the anti-slip cylinder 11 pushes the elastic friction plate 12, so that the elastic friction plate 12 fits against the pole. Regardless of whether the pole is square or round, the friction plate and the pole can fit perfectly, maximizing the friction force and preventing the robot from sliding down.

[0033] The central operating mechanism 4 is located at the upper end of the main frame 5. Specifically, the central operating mechanism 4 includes a rotating frame 18, which is fixedly connected to the main frame 5. A robotic arm 17 is mounted on the rotating frame 18, and a drive motor 16 for driving the robotic arm 17 to rotate is located inside the rotating frame 18. The robotic arm 17 is installed through a second ring cylinder 15, and the robotic arm 17 can be rotated by starting the drive motor 16, thus adjusting the orientation of the robotic arm 17.

[0034] This application utilizes bionic principles to vertically position the climbing component 1. A first support clamping component 2 and a second support clamping component 3 are used to ensure the robot firmly grips the pole. In this embodiment, assuming the first support clamping component 2 is positioned above the second support clamping component 3, the first support clamping component 2 releases the pole, and the climbing cylinder 7 is activated to push the movable frame 6 upwards. Then, the first support clamping component 2 clamps the pole again, the second support clamping component 3 releases the pole, and the climbing cylinder 7 is activated to pull the main frame 5 upwards. This process is repeated to complete the climbing action.

[0035] In addition, the gripper body 9 is rotatably connected to the movable end of the clamping gripper 8 via the rotating connector 10, and the gripper body 9 is connected to the rotating connector 10 via the return spring 14. Thus, when the robot does not encounter an obstacle (such as a horizontal bar), it can climb upward normally. When it encounters an obstacle, the gripper body 9 contacts the obstacle and rotates downward, which drives the return spring 14 to stretch and store force. After the gripper body 9 successfully passes the obstacle, the return spring 14 releases the stored force and pulls the gripper body 9 to reset, so that the robot can continue to climb upward.

[0036] Example 2:

[0037] The pneumatic bionic high-altitude work robot provided in Example 1 has been further optimized, specifically, as follows: Figure 1 and Figure 4 As shown, a first ring-clamping cylinder 13 is fixedly connected to the pneumatic gripper body 9 of one of the first support clamping assemblies 2, and a second ring-clamping cylinder 15 is fixedly connected to the pneumatic gripper body 9 of the other first support clamping assembly 2. Similarly, a first ring-clamping cylinder 13 is fixedly connected to the pneumatic gripper body 9 of one of the second support clamping assemblies 3, and a second ring-clamping cylinder 15 is fixedly connected to the pneumatic gripper body 9 of the other second support clamping assembly 3.

[0038] Through the above structural design, in order to prevent the robot from tipping backward due to gravity when climbing the vertical pole and causing danger, a first ring-holding cylinder 13 and a second ring-holding cylinder 15 are added to each of the first support clamping assembly 2 and the second support clamping assembly 3. During normal climbing, the telescopic end of the first ring-holding cylinder 13 extends, so that the first support clamping assembly 2 and the second support clamping assembly 3 can achieve the effect of ringing the pole; when encountering an obstacle, the telescopic end of the first ring-holding cylinder 13 retracts.

[0039] To ensure that the vehicle does not tip backward when crossing obstacles, a design using two first support clamping components 2 and two second support clamping components 3 is employed.

[0040] When the two first support clamping components 2 cross the obstacle, one of the first support clamping components 2 crosses the obstacle by retracting the telescopic end of the first ring cylinder 13, while the second ring cylinder 15 in the other first support clamping component 2 remains in the state of ringing the upright. When the other first support clamping component 2 crosses the obstacle, the first ring cylinder 13 in the previously crossed first support clamping component 2 extends to ring the upright, thereby causing the telescopic end of the second ring cylinder 15 in the other first support clamping component 2 to retract, thus realizing the alternating crossing of obstacles by the two first support clamping components 2.

[0041] According to the above steps, the two second support clamping components 3 can also alternately overcome obstacles.

Claims

1. A pneumatic bionic high-altitude work robot, characterized in that, include: Climbing assembly (1), the climbing assembly (1) includes a main frame (5) and a movable frame (6), the main frame (5) and the movable frame (6) are arranged in parallel, a climbing cylinder (7) is fixedly connected to the lower end of the main frame (5), and the telescopic end of the climbing cylinder (7) is fixedly connected to the movable frame (6). The first support clamping assembly (2) and the second support clamping assembly (3) are located at the lower ends of the movable frame (6) and the main frame (5) respectively, away from each other. The first support clamping assembly (2) is fixedly connected to the movable frame (6), and the second support clamping assembly (3) is fixedly connected to the main frame (5). Both the first support clamping assembly (2) and the second support clamping assembly (3) include clamping air grippers (8). Both ends of the clamping air grippers (8) are provided with air gripper bodies (9). The ends of the air gripper bodies (9) are rotatably connected to the movable ends of the clamping air grippers (8) through rotating connectors (10). The sides of the air gripper bodies (9) and the rotating connectors (10) are provided with return springs (14). The lower end of the return springs (14) is connected to the air gripper bodies (9), and the upper end of the return springs (14) is connected to the rotating connectors (10). A locking component, which is disposed on the gripper body (9), is used to limit the movement of the robot; The central working mechanism (4) is located at the upper end of the main frame (5). The central working mechanism (4) includes a rotating frame (18), which is fixedly connected to the main frame (5). A mechanical arm (17) is provided on the rotating frame (18), and a drive motor (16) for driving the mechanical arm (17) to rotate is provided on the inner side of the rotating frame (18).

2. The pneumatic bionic high-altitude work robot according to claim 1, characterized in that, The main frame (5) has two end second support clamping assemblies (3), and the movable frame (6) has two end first support clamping assemblies (2).

3. The pneumatic bionic high-altitude work robot according to claim 2, characterized in that, The locking assembly includes an anti-slip cylinder (11) and an elastic friction plate (12). The two gripper bodies (9) on the same clamping gripper (8) are fixedly connected to each other on the side away from each other. Two anti-slip cylinders (11) are fixed on the same gripper body (9). An elastic friction plate (12) is fixedly connected to the telescopic end of the two anti-slip cylinders (11). The elastic friction plate (12) is located between the two gripper bodies (9).

4. The pneumatic bionic high-altitude work robot according to claim 2, characterized in that, One of the first support clamping assemblies (2) has a first ring-shaped cylinder (13) fixedly connected to the pneumatic gripper body (9), and the other of the first support clamping assemblies (2) has a second ring-shaped cylinder (15) fixedly connected to the pneumatic gripper body (9).

5. The pneumatic bionic high-altitude work robot according to claim 2, characterized in that, One of the second support clamping assemblies (3) has a first ring-shaped cylinder (13) fixedly connected to the pneumatic gripper body (9), and the other of the second support clamping assemblies (3) has a second ring-shaped cylinder (15) fixedly connected to the pneumatic gripper body (9).

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