Biomimetic Tower Climbing Robot with Elastic Universal Joints
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Solution Overview
Problem
Tower climbing for power grid maintenance is hazardous due to high-altitude falls, excessive physical strength required, and difficulty with small acting point foot spikes, necessitating a safer and more efficient method for climbing and maintaining power transmission lines.
Innovation Solution
A biomimetic tower climbing robot with a main control body module and clamping/moving mechanism modules, utilizing elastic universal joints, telescopic screws, and position sensors to simulate human climbing by alternately locking and unlocking anti-fall tracks, allowing for smooth and controlled ascent along the tower.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual climbing with foot spikes is used, then the robot can climb the tower, but the physical strength consumption is excessive and safety risk increases
Solution Approach 1:
The patent replaces manual mechanical climbing with an automated robotic system that uses elastic universal joints, telescopic screws, and clamping mechanisms to ascend the tower automatically, eliminating human physical strain and associated safety risks
Solution Approach 2:
The climbing robot performs self-propelled ascent along the anti-fall track using its own motor-driven telescopic screw mechanism, without requiring external manual assistance or human physical strength
2Ease of operation
If foot spikes with small acting points and wide spacing are used, then the robot can climb vertically, but the climbing difficulty increases significantly
Solution Approach 1:
The climbing mechanism is divided into modular segments: elastic universal joints for connection, telescopic screw for propulsion, and clamping mechanisms for grip, making the complex climbing function achievable through standardized components
Solution Approach 2:
The anti-fall track serves as an intermediary structure that mediates between the robot and the tower, providing a guided path that simplifies vertical climbing compared to direct foot-spike contact with the tower surface
3Reliability
If automated climbing robot is used, then safety risk is reduced, but the device complexity increases
Solution Approach 1:
The elastic universal joint serves multiple functions: connecting robot segments, absorbing shock, and maintaining directional control, thereby reducing the need for separate specialized components and overall device complexity
Solution Approach 2:
The telescopic screw mechanism changes its length parameter dynamically during climbing operations, enabling smooth ascent while using a relatively simple mechanical structure compared to alternative automated climbing systems
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 robot ensures safe and efficient climbing by absorbing shock and maintaining directional control, reducing physical strain and risk of falls, while enabling the robot to carry tools and detection devices for maintenance and inspection in extreme weather conditions.
Implementation Method 1
two ends of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively
Implementation Method 2
the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards
Data Source
AI summary
A biomimetic tower climbing robot and a tower climbing method thereof are provided. The robot mainly includes a main control body module and clamping and moving mechanism modules; two ends of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track.