Climbing Machine With Variable-Rope Suspension and Differential Drive
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Solution Overview
Problem
Existing climbing robots face challenges in moving on complex surfaces such as hollow or bending structures due to insufficient suction force and increased weight from multi-joint designs, which complicates their operation and safety.
Innovation Solution
A climbing machine with a machine body, mechanical arm, and variable-length ropes, featuring a gripping mechanism with spatial movement and angle adjustment capabilities, and a suspension mechanism that can connect or disengage from the object structure, allowing it to move on smooth and complex surfaces using magnetic suction, hooks, or mechanical claws, while damping mechanisms reduce shaking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If vacuum suction or magnetic suction is used for climbing, then the robot can adhere to the wall surface, but it cannot effectively climb hollow surfaces such as wire meshes or steel frames due to vacuum leakage or insufficient suction area
Solution Approach 1:
The climbing robot divides the suction mechanism into multiple independent suction cups distributed across the bottom surface. Each suction cup can independently adhere to the surface, allowing the robot to maintain attachment even when some cups cannot form effective seals on complex surfaces like wire meshes. This segmentation enables the robot to adapt to both smooth and hollow surfaces reliably.
2Adaptability or versatility
If a multi-joint multi-legged robot design is used to cross bending surfaces, then the robot can theoretically navigate complex terrain, but the mechanism becomes very complex and the weight increases significantly
Solution Approach 1:
The robot employs a differential drive wheel mechanism where the left and right wheels can rotate at different speeds and directions. This dynamic control allows the robot to navigate bending surfaces and complex terrains by creating asymmetric motion patterns, achieving terrain adaptability without requiring complex multi-joint legs or multiple mechanical arms.
Solution Approach 2:
The differential drive wheel mechanism serves multiple functions: it enables both forward motion and navigation on complex surfaces using a single integrated system. This universal mechanism replaces what would otherwise require separate specialized components for different movement modes, significantly reducing overall system complexity.
3Adaptability or versatility
If a multi-joint multi-legged robot design is used to cross bending surfaces, then the robot can theoretically navigate complex terrain, but the robot weight increases due to many joint motors
Solution Approach 1:
The robot employs a differential drive wheel mechanism where the left and right wheels can rotate at different speeds and directions. This dynamic control allows the robot to navigate bending surfaces and complex terrains by creating asymmetric motion patterns, achieving terrain adaptability without requiring complex multi-joint legs or multiple mechanical arms.
Solution Approach 2:
The differential drive wheel mechanism serves multiple functions: it enables both forward motion and navigation on complex surfaces using a single integrated system. This universal mechanism replaces what would otherwise require separate specialized components for different movement modes, significantly reducing overall system complexity.
4Ease of operation
If a vertical facade mobile robot with wheel-driven structure is used, then the robot can move on plane surfaces, but it cannot move from surface M to surface N on bending objects due to suction mechanism failure
Solution Approach 1:
The climbing robot divides the suction mechanism into multiple independent suction cups distributed across the bottom surface. Each suction cup can independently adhere to the surface, allowing the robot to maintain attachment even when transitioning between different surfaces. This segmentation enables the robot to adapt to both smooth and hollow surfaces reliably.
Solution Approach 2:
The robot employs a differential drive wheel mechanism where the left and right wheels can rotate at different speeds and directions. This dynamic control allows the robot to navigate bending surfaces and complex terrains by creating asymmetric motion patterns, achieving terrain adaptability without requiring complex multi-joint legs or multiple mechanical arms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The machine can safely and efficiently move on various surfaces, including smooth and complex structures like wire meshes or steel frames, with a simple structure and wide application scope, reducing weight and interference, and enhancing safety.
Implementation Method 1
the gripping mechanism includes a magnetic suction device, a magnetically sucked magnetic conductive surface is disposed on the suspension mechanism, and the magnetic suction device is capable of sucking or being disengaged from the suspension mechanism
Implementation Method 2
one or more damping mechanisms are disposed on the machine body, and the damping mechanism is capable of generating a damping force by using an air flow
Data Source
AI summary
The present invention relates to a climbing machine and a moving method therefor. The climbing machine includes a machine body, a mechanical arm, and at least two ropes, each rope connects a suspension mechanism and the machine body; the suspension mechanism is connected to or disengaged from an object structure, the length of the rope between the suspension mechanism and the machine body is variable; through dragging or pulling of the rope, the machine body can move on the object structure; the mechanical arm connects a gripping mechanism and the machine body; the gripping mechanism can grip and move any suspension mechanism and disengage a gripped suspension mechanism. In the present invention, the machine body moves without interference, and can be pulled not only on a smooth surface but also on a hollow or bending surface, and features a simple structure, a wide application scope, and the like.