Pneumatic Climbing Robot With Rotatable Feet for Curved Surfaces
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Solution Overview
Problem
Existing climbing robots for wind turbine blades are either too heavy and clumsy or not robust enough to perform specific tasks efficiently, posing safety risks and efficiency challenges.
Innovation Solution
A pneumatically controlled robot design featuring a frame with suspended tracks, translatable carriers, and rotatable feet, utilizing pneumatic actuators for linear and rotational movements, enabling precise control and grip on various surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If traditional climbing robot designs are used, then the robot has sufficient strength to perform tasks, but the robot becomes too heavy and clumsy
Solution Approach 1:
The robot is divided into modular components including a frame, track system, carrier, and multiple feet assemblies that can be independently positioned. This segmentation allows for optimized weight distribution and selective deployment of functional elements, reducing overall robot weight while maintaining task performance capability
Solution Approach 2:
The robot employs dynamic foot positioning where the third foot can be linearly displaced between first and second positions relative to the frame. This dynamic adjustment allows the robot to optimize its grip and distribution of weight during climbing, maintaining strength requirements while minimizing the weight of individual components
2Ease of operation
If the robot is made lighter to improve maneuverability, then the robot becomes more agile, but the robot is no longer robust enough to complete specific tasks
Solution Approach 1:
The robot implements dynamic adjustments through the translatable carrier and linearly displaceable feet that can adapt to different surface conditions and task requirements. This dynamic capability allows a lighter robot structure to achieve the robustness needed for reliable task completion by optimizing its configuration in real-time
Solution Approach 2:
The robot changes its operational parameters through pneumatic actuation of the feet positions and carrier translation. By adjusting the position of the third foot between first and second positions, the robot can modify its mechanical properties to match task requirements, achieving both maneuverability and robustness
3Adaptability or versatility
If more feet are added to improve grip on various surfaces, then the climbing capability is enhanced, but the device complexity increases
Solution Approach 1:
The foot system is segmented into first feet mounted to frame ends and a third foot mounted to the carrier. This segmentation allows independent control and positioning of each foot assembly, enabling versatile surface gripping while managing structural complexity through modular design
Solution Approach 2:
The third foot serves multiple functions by being linearly displaceable between first and second positions, allowing it to engage with different surface geometries. This multi-functional design enhances adaptability to various surfaces without proportionally increasing device complexity
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 achieves lightweight, precise, and efficient climbing and movement on surfaces, including vertical and curved surfaces, reducing weight and enhancing safety and operational efficiency.
Implementation Method 1
The double rod piston cylinder may be configured to receive a first flow of pressurized gas in a controlled manner that causes the rods of the double rod piston cylinder to move and cause linear translation of the robot
Implementation Method 2
each of the at least one first foot, the at least one second foot, and the at least one third foot may include a respective single rod piston cylinder for linearly displacing a corresponding foot. a given single rod piston cylinder may be configured to receive a second flow of pressurized gas in a controlled manner for linearly displacing a corresponding foot
Implementation Method 3
the at least one third foot may be rotatable mounted to the carrier by a rotation cylinder. the rotation cylinder may be configured to receive a third flow of pressurized gas in a controlled manner that causes the rotation cylinder to rotate
Data Source
AI summary
Various implementations of a robot are described which generally includes: a frame having first and second frame ends, the frame extending longitudinally between the first and second frame ends; a track having first and second track ends, the track being suspended below the frame and extending longitudinally between the first and second track ends, the first track end being positioned proximate to the first frame end and the second track end being positioned proximate the second frame end; a carrier drivingly coupled to the track, the carrier being translatable along the track between the first and second track ends; and at least one first foot mounted to the first frame end, at least one second foot mounted to the second frame end, and at least one third foot being rotatably mounted to the carrier so that the at least one third foot is rotatable relative to the track.