CN112009588A - Single-degree-of-freedom cylindrical climbing robot - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to a single-degree-of-freedom cylindrical climbing robot which comprises a trunk assembly, a magnetic adsorption assembly, a tail end driving assembly for changing the magnetic force of the magnetic adsorption assembly and a swinging assembly for changing included angles among a plurality of groups of magnetic adsorption units, wherein the trunk assembly comprises a first motor and two groups of first connecting rods, one ends of the two groups of first connecting rods are respectively connected to two output ends of the first motor, the other ends of the two groups of first connecting rods are hinged with a second connecting rod, and the second connecting rod is connected with a base; the magnetic adsorption unit comprises a magnetic core magnetized in the radial direction and a plurality of groups of permanent magnets surrounding the periphery of the magnetic core, and the permanent magnets are connected in a heteropolar manner in sequence; the tail end driving assembly is installed on the base, the magnetic core is connected to an output shaft of the tail end driving assembly through a universal joint, and the swinging assembly is connected between the magnetic adsorption assembly and the base. The invention is adsorbed on the inner and outer surfaces of a steel structure plane or a cylindrical steel structure, can be self-adapted to cylindrical climbing with different curvatures, and has rapid action and convenient control.

Description

Single-degree-of-freedom cylindrical climbing robot

Technical Field

The invention relates to the technical field of robots, in particular to a single-degree-of-freedom cylindrical climbing robot.

Background

In some special operation environments such as large-scale oil storage tank clean maintenance, container inspection, wire pole maintenance, the robot is required to have certain climbing ability, especially cylinder climbing ability. In the selection of the operation situation of the climbing robot body, the scenes are generally wide barrier-free environments, and the problems of small size and material and overhigh cost exist when the traditional multi-degree-of-freedom climbing robot is used. In the selection of absorption module, current absorption module form is various, has negative pressure absorption, electromagnetism absorption, imitative gecko to adsorb etc. and all there is certain defect in its principle: (1) the negative pressure adsorption needs other external equipment such as a vacuum generator, is not favorable to long distance climbing, and does not possess the power-off protection characteristics, (2) the equipment that adopts the electromagnetic adsorption principle is complicated in structure usually, and weight is great, does not possess the power-off protection characteristics equally, (3) imitative gecko adsorbs still to be in research and development improvement stage, and the cost is higher. The magnetic adsorption unit adopting the permanent magnetic adsorption principle has the advantages of small volume, large suction force, and sensitive and convenient control, but in the existing scheme, the permanent magnetic adsorption module can only be adsorbed on a large plane.

Chinese patent CN111547152A discloses a multi freedom climbing robot, including gyration subassembly, pendulum commentaries on classics subassembly, the magnetism that contains a plurality of magnetism adsorption units adsorbs the subassembly, and is two sets of the gyration subassembly is connected in the both ends of pendulum commentaries on classics subassembly, magnetism adsorbs the subassembly and is connected with the gyration subassembly, magnetism adsorbs the unit and includes the radial magnet of first radial magnet and the radial magnet of second of coaxial setting, first radial magnet is connected with the first radial magnet of drive and rotates the transmission assembly of adjustment magnetic force size. Although the scheme can replace manual work to work or work high above ground in various severe environments, a large amount of labor investment is saved, and the method is safe and efficient. However, the climbing robot in the scheme has small suction force, is only suitable for climbing on a large plane and cannot be suitable for climbing on a cylindrical surface.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a single-degree-of-freedom cylindrical climbing robot which is suitable for climbing cylindrical surfaces with different curvatures, can be adsorbed on the inner surface and the outer surface of a steel structure plane or a cylindrical steel structure, and has the advantages of rapid action, convenience in control, safety and high efficiency.

In order to solve the technical problems, the invention adopts the technical scheme that:

the single-degree-of-freedom cylindrical climbing robot comprises a trunk assembly, a magnetic adsorption assembly comprising a plurality of magnetic adsorption units, a tail end driving assembly used for changing the magnetic force of the magnetic adsorption assembly, and a swinging assembly used for changing included angles among a plurality of groups of magnetic adsorption units, wherein the trunk assembly comprises a first motor and two groups of first connecting rods, one ends of the two groups of first connecting rods are respectively connected to two output ends of the first motor, the other ends of the two groups of first connecting rods are hinged to a second connecting rod, and the second connecting rod is connected with a base; the magnetic adsorption unit comprises a magnetic core magnetized in the radial direction and a plurality of groups of permanent magnets surrounding the periphery of the magnetic core, and the permanent magnets are connected in a heteropolar manner in sequence; the magnetic core is connected to an output shaft of the tail end driving assembly through a universal joint, and the swinging assembly is connected between the magnetic adsorption assembly and the base.

According to the single-degree-of-freedom cylindrical climbing robot, under the driving of the first motor, two groups of first connecting rods and two groups of second connecting rods are synchronously linked, the climbing action can be completed, and the main body of the robot is driven by only one motor and the first motor; the arrangement of the universal joint and the swinging assembly enables the relative position of each magnetic adsorption unit to be changed, and the magnetic adsorption unit can be self-adaptive to cylindrical climbing with corresponding curvature; the magnetic core is rotated to change the magnetic pole direction of the magnetic core, so that the external magnetic force of the permanent magnet can be controlled, and the magnetic core can be conveniently switched between an adsorption state and a non-adsorption state. The invention is adsorbed on the inner and outer surfaces of the steel structure plane or the cylindrical steel structure, and has rapid action and convenient control; can apply to various work scenes, replace the workman at work or high altitude construction of various adverse circumstances steel construction, save a large amount of labours, safe and high-efficient.

Furthermore, a third connecting rod is hinged between one group of first connecting rods and one group of second connecting rods, and a third connecting rod is hinged between the other group of first connecting rods and the other group of second connecting rods.

Further, the end drive assembly comprises a second motor mounted on the base, an input shaft connected to an output end of the second motor, and a transmission assembly for converting rotation of the input shaft about the axis into rotation of the magnetic core about the axial direction, the transmission assembly being connected between the input shaft and the universal joint.

Furthermore, the transmission assembly comprises a worm, a worm wheel and an output shaft, the worm is arranged on the input shaft, the worm wheel is arranged on the output shaft, the output shaft is rotatably connected with the base, two ends of the output shaft penetrate out of the base to be connected with the universal joint, and the worm is meshed with the worm wheel.

Further, the swing assembly comprises a swing support and a hinge, the swing support is connected with the base through the hinge, and the magnetic adsorption assembly is installed on the swing support.

Further, the swing support is connected with a pressing assembly, the pressing assembly comprises a fixing support, a push rod and a spring, the fixing support is installed on the base, the spring is sleeved on the periphery of the push rod, and two ends of the push rod are hinged to the fixing support and the swing support respectively.

Further, magnetism adsorbs unit includes frame and yoke base, magnetic core, permanent magnet subassembly, yoke base all are fixed in the frame.

Furthermore, the sections of the first group of permanent magnets and the last group of permanent magnets are of square structures and are fixed on the yoke base, the sections of the other groups of permanent magnets are of sector structures, and the sections of the permanent magnet assemblies are of U-shaped structures.

Furthermore, the tip of magnetic core is equipped with the hole groove, the one end and the hole groove of transmission shaft are connected, and the other end and the universal joint of transmission shaft are connected.

Further, the magnetism adsorbs the unit and is semi-cylindrical and the bottom surface of magnetism adsorbs the unit is the adsorption plane, the pendulum changes the support and is equipped with the trompil that matches with the adsorption plane shape, pendulum changes the support bottom surface and is equipped with friction rubber.

Compared with the prior art, the invention has the beneficial effects that:

the single-degree-of-freedom cylindrical climbing robot is adsorbed on the plane of a steel structure or the inner and outer surfaces of a cylindrical steel structure, can be self-adapted to cylindrical climbing with different curvatures, and is rapid in action and convenient to control; can apply to various work scenes, replace the workman at work or high altitude construction of various adverse circumstances steel construction, save a large amount of labours, safe and high-efficient.

Drawings

FIG. 1 is a schematic structural diagram of a single-degree-of-freedom cylindrical climbing robot of the present invention;

FIG. 2 is a schematic structural view of the end driving assembly and the magnetic attraction assembly;

FIG. 3 is a schematic view of the structure of the end driving assembly

FIG. 4 is a schematic structural view of the swing assembly and the push-down assembly;

FIG. 5 is a schematic structural view of a magnetic adsorption unit;

FIG. 6 is a schematic working diagram I of a single-degree-of-freedom cylindrical climbing robot;

FIG. 7 is a schematic diagram of the operation of the magnetic adsorption unit of the single-degree-of-freedom cylindrical climbing robot;

FIG. 8 is a schematic diagram of the operation of the climbing robot in an equidistant design;

FIG. 9 is a schematic diagram of the operation of a climbing robot of non-equidistant design;

FIG. 10 is a schematic diagram of a curvature adaptive magnetic attachment assembly;

FIG. 11 is a schematic diagram of the operation of a magnetic attachment assembly with controlled curvature: (a) working on a plane, (b) working on an outer cylindrical surface, (c) working on an inner cylindrical surface;

in the drawings: 1-a torso assembly; 11-a first electric machine; 12-a first link; 13-a second link; 14-a base; 15-a third link; 2-a magnetic adsorption assembly; 21-a magnetic adsorption unit; 22-a magnetic core; 23-a permanent magnet; 24-a frame; 25-a yoke base; 26-a transmission shaft; 27-friction rubber; 3-an end drive assembly; 31-a second motor; 32-an input shaft; 33-a transmission assembly; 331-a worm; 332-a worm gear; 333-output shaft; 334-a first sleeve; 335-a second bushing; 34-a universal joint; 4-a swing component; 41-swinging and rotating the bracket; 42-a hinge; 43-a first swing bracket; 44-a second swing bracket; 6-pressing the assembly; 61-a fixed support; 62-a push rod; 63-a spring; 64-a third motor; 65-lead screw; 66-a fourth link; 67-fifth link.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Examples

Fig. 1 to 6 show an embodiment of a single-degree-of-freedom cylindrical climbing robot according to the present invention, which includes a trunk assembly 1, a magnetic adsorption assembly 2 including a plurality of magnetic adsorption units 21, a terminal driving assembly 3 for changing the magnetic force of the magnetic adsorption assembly 2, and a swinging assembly 4 for changing the included angles between a plurality of sets of magnetic adsorption units 21, wherein the trunk assembly 1 includes a first motor 11 and two sets of first connecting rods 12, one end of each set of first connecting rods 12 is connected to two output ends of the first motor 11, the other end of each set of first connecting rods 12 is hinged to a second connecting rod 13, and the second connecting rod 13 is connected to a base 14; the magnetic adsorption unit 21 comprises a magnetic core 22 magnetized in the radial direction and a plurality of groups of permanent magnets 23 surrounding the periphery of the magnetic core 22, and the permanent magnets 23 are connected in a different polarity mode in sequence; the end driving assembly 3 is mounted on the base 14, the magnetic core 22 is connected to an output shaft 333 of the end driving assembly 3 through a universal joint 34, and the swing assembly 4 is connected between the magnetic attraction assembly 2 and the base 14.

In the implementation of the embodiment, under the driving of the first motor 11, the two groups of the first connecting rods 12 and the second connecting rods 13 are synchronously linked, so that the crawling action can be completed, and the main body of the robot moves only by means of the first motor 11 of one motor; the universal joint 34 and the swinging assembly 4 are arranged, so that the relative position of each magnetic adsorption unit 21 can be changed, and the magnetic adsorption unit can be adaptive to cylindrical climbing with corresponding curvature; the magnetic core 22 is rotated to change the magnetic pole direction of the magnetic core 22, so that the external magnetic force of the permanent magnet 23 can be controlled, and the switching between the adsorption state and the non-adsorption state can be conveniently carried out. The invention is adsorbed on the inner and outer surfaces of the steel structure plane or the cylindrical steel structure, and has rapid action and convenient control; can apply to various work scenes, replace the workman at work or high altitude construction of various adverse circumstances steel construction, save a large amount of labours, safe and high-efficient.

In one embodiment, a third link 15 is hinged between one set of the first links 12 and one set of the second links 13, and a third link 15 is hinged between the other set of the first links 12 and the other set of the second links 13. The third connecting rod 15 is hinged with the upper ends of the first connecting rod 12 and the second connecting rod 13 on the same side, and the first connecting rod 12, the second connecting rod 13 and the third connecting rod 15 are synchronously linked under the driving of the first motor 11 to complete the crawling action of the robot; in order to reduce the rotation friction, the embodiment provides a shaft sleeve and a bearing at the hinged position of the first connecting rod 12, the second connecting rod 13 and the third connecting rod 15 for axial positioning and reducing the rotation friction force. In this embodiment, in the initial state, the included angle between the two sets of first links 12 may be set to 120 °, and may also be adaptively adjusted according to the structural characteristics of the surface of the working steel structure.

In one embodiment, the end drive assembly 3 includes a second motor 31 mounted to the base 14, an input shaft 32 connected to an output end of the second motor 31, and a transmission assembly 33 for converting rotation of the input shaft 32 about an axis into axial rotation of the magnetic core 22, the transmission assembly 33 being connected between the input shaft 32 and a universal joint 34. In the embodiment, the second motor 31 operates to drive the input shaft 32 to rotate, and the transmission of the transmission assembly 33 drives the magnetic core 22 to rotate around the axial direction, so as to change the magnetic pole direction of the magnetic core 22 and control the magnitude of the external magnetic force of the permanent magnet 23. The universal joint 34 in the present embodiment is a commercially available universal joint 34 or universal joint, which is used to realize variable angle power transmission, and is used to change the position of the transmission shaft 26 in the linear direction. Due to the arrangement of the universal joint 34, conditions are provided for the position change of the magnetic adsorption unit 21, so that the climbing robot disclosed by the invention can adapt to climbing of cylindrical surfaces with different curvatures and can also adapt to climbing of flat plate planes.

In one embodiment, the transmission assembly 33 includes a worm 331, a worm wheel 332, and an output shaft 333, the worm 331 is disposed on the input shaft 32, the worm wheel 332 is mounted on the output shaft 333, the output shaft 333 is rotatably connected to the base 14, two ends of the output shaft 333 penetrate through the base 14 and are connected to the universal joint 34, and the worm 331 is engaged with the worm wheel 332. In this embodiment, the second motor 31 is operated to rotate the input shaft 32, the worm 331 fixed to the input shaft 32 is rotated, the worm 331 and the worm wheel 332 are engaged, the worm wheel 332 is rotated, and the worm wheel 332 is rotated to rotate the core 22. In this embodiment, a plurality of sets of worms 331 may be disposed at different positions on the input shaft 32, worm wheels 332 equal in number to the worms 331 may be disposed, the worm wheels 332 are mounted on the output shaft 333, two ends of the output shaft 333 are respectively connected to the two sets of magnetic adsorption units 21, and the second motor 31 operates to drive the magnetic cores 22 of the plurality of sets of magnetic adsorption units 21 to rotate. The number of the magnetic adsorption units 21 can be adjusted according to different applications, and the number of the worm wheels 332 and the number of the worms 331 are half of the number of the magnetic adsorption units 21.

In one embodiment, the worm 331 is disposed on the input shaft 32, and is fixed in position in the circumferential direction and the axial direction by a set screw and a first bushing 334, two sides of the output shaft 333 extend out from two sides of the base 14, and are designed for two-end output, the output shaft 333 is connected with the base 14 through a bearing, and the bearing is fixed in the axial direction by a snap ring; the worm gear 332 is arranged on the output shaft 333 and is fixed in position in the circumferential direction and the axial direction by a set screw and a second shaft sleeve 335. In this embodiment, the spiral angle of the worm wheel 332 is greater than the friction angle of the worm 331, so that self-locking can be achieved, and when the climbing robot is powered off, the adsorption state can be maintained.

In one embodiment, the swing assembly 4 includes a swing bracket 41 and a hinge 42, the swing bracket 41 is connected to the base 14 via the hinge 42, and the magnetic attraction assembly 2 is mounted to the swing bracket 41. The angle of the swing bracket 41 relative to the base 14 can be adjusted so as to adapt to climbing of cylindrical surfaces with different curvatures. In this embodiment, the included angle between the two sets of swing brackets 41 disposed oppositely may be set to 150 ° to 200 °, and the above-mentioned included angle range may be set to absorb the inner surface and the outer surface of the column, but is not limited to the present invention.

In one embodiment, the swing bracket 41 is connected to the pressing assembly 6, the pressing assembly 6 includes a fixing bracket 61, a push rod 62 and a spring 63, the fixing bracket 61 is mounted on the base 14, the spring 63 is sleeved on the periphery of the push rod 62, and two ends of the push rod 62 are respectively hinged to the fixing bracket 61 and the swing bracket 41. The push rod 62 can be freely extended and retracted under the action of external force, and specifically can be formed by two or more connecting rods which are sleeved and connected, and can also be a commercially available electric push rod. In this embodiment, the spring 63 is in a pre-compression state, and the push rod 62 is in an extension state under the action of the spring 63, so as to drive the swing bracket 41 and the magnetic adsorption unit 21 to swing downwards. In the initial state, the swing bracket 41 is in the state of the minimum included angle under the action of the pressing component 6, and the magnetic adsorption unit 21 has no magnetic force outward.

In one embodiment, the magnetic attraction unit 21 includes a frame 24 and a yoke base 25, and the magnetic core 22, the permanent magnet assembly, and the yoke base 25 are fixed to the frame 24. The yoke base 25 is used for guiding the magnetic circuit, and when the direction of the magnetic core 22 is changed, the acting force between the magnetic core 22 and the permanent magnet assembly is changed, so that the magnitude of the external magnetic force of the magnetic adsorption unit 21 can be controlled. This embodiment adopts the design that magnetic core 22 outer lane set up permanent magnetism subassembly, has increased the proportion of accounting for of magnet in whole magnetism adsorption unit 21, and suction is big, light in weight, switch convenient, the closed state magnetic leakage volume is little.

In one embodiment, the first group of permanent magnets 23 and the last group of permanent magnets 23 have square sections and are fixed on the yoke base 25, the other groups of permanent magnets 23 have fan-shaped sections, and the sections of the permanent magnet assemblies are in U-shaped structures. In this embodiment, the yoke base 25 has an upper surface including a first surface contacting the bottom surfaces of the first group of permanent magnets 23 and the last group of permanent magnets 23 and an inner surface contacting the permanent magnet assembly, and the yoke base 25 is used to guide the magnetic circuit.

In one embodiment, the core 22 is cylindrical, and the center line of the core 22 coincides with the center line of the permanent magnet assembly. The yoke base 25 is provided with a cavity matched with the magnetic core 22, so that the magnetic core 22 can rotate, the magnetic core 22 rotates, the magnetic pole direction of the magnetic core 22 changes along with the rotation, and the magnitude of the external magnetic force of the permanent magnetic adsorption unit 21 changes.

In one embodiment, the end of core 22 is provided with a slot, one end of shaft 26 is connected to the slot, and the other end of shaft 26 is connected to gimbal 34. It should be noted that the connection between the hole and the transmission shaft 26 in this embodiment is preferable for improving the convenience and stability of the connection, and is not intended to limit the present invention.

In one embodiment, the magnetic adsorption unit 21 is semi-cylindrical and the bottom surface of the magnetic adsorption unit 21 is an adsorption surface, the swing bracket 41 is provided with an opening matched with the shape of the adsorption surface, and the bottom surface of the swing bracket 41 is provided with the friction rubber 27. The friction rubber 27 may be used to enhance the friction of the climbing robot with the adsorbed surface.

In the above embodiments, the turning motion of the climbing robot is controlled by controlling the rotation of the trunk assembly 1, and the climbing is assisted by controlling the adsorption and release of the magnetic adsorption unit 21. Specifically, the other components at the two ends of the trunk component 1 are respectively denoted as a terminal I and a terminal II, then:

the torso assembly 1 is inverted as follows: as shown in fig. 6(a), the end I is in a released state and the end II is in an adsorbed state; the first connecting rod 12 is driven to rotate relatively around the first motor 11 by controlling the rotation of the first motor 11, and the second connecting rod 13 also moves relatively around the hinged position of the second connecting rod and the first connecting rod 12 under the limitation of the third connecting rod 15; since the end II is in the adsorption state, the whole body assembly 1 will make a rotary linkage with the end II as a pivot relative to the object to be climbed, as shown in FIG. 6 (b); when the tail end I is rotated to be in contact with the object to be climbed, the tail end I is controlled to adsorb, the tail end II loosens, and the compensated climbing is completed, as shown in figure 6 (c); and then, taking the tail end I as a fulcrum, and climbing for the next long step by analogy.

The adsorption pattern at the end was as follows: when one end of the climbing robot approaches to the surface of the steel structure to be climbed, the outer side of the swinging assembly 4 firstly contacts with the surface of the steel structure to be climbed, as shown in fig. 7 (a); at this time, a certain pressure is applied to the tail end, so that the swinging assembly 4 and the magnetic adsorption unit 21 thereon are gradually opened under the action of the reaction force of the surface of the steel structure to be climbed, as shown in fig. 7 (b); when the swing assembly 4 is opened to the angle that the curvature of the surface of the steel structure is matched, the second motor 3121 is controlled to rotate, so that the transmission assembly 334 drives the middle shaft of the magnetic adsorption unit 215 to rotate by a certain angle, the state is switched from the non-magnetic state to the state with extremely strong suction force, and the tail end of the magnetic adsorption unit is firmly adsorbed to the surface of the steel structure, as shown in fig. 7 (c); when the tail end of the climbing robot needs to be loosened from the surface of a steel structure, the second motor 31 is controlled to rotate, so that the transmission assembly 33 drives the middle shaft of the magnetic adsorption unit 21 to rotate for a certain angle on the basis of the adsorption state, the state of strong suction is switched to the state of no suction, and then the tail end is driven to be far away from the surface of the steel structure to be climbed; the swing assembly 4 and the upper magnetic adsorption unit 21 thereof restore to the initial small-angle state again under the action of the spring 63 and the push rod 62, and the release is completed.

It should be noted that the above embodiments are not only suitable for crawling on a single cylinder, but the present invention can complete the cross-crawling from one surface to another surface by calculating the planned step length in advance.

In another embodiment, the angle between the two sets of first links 12 in the beginning and end states of the torso assembly 1 is set to 120 °, and the step-wise crawling can be completed, as shown in fig. 8. In the present embodiment, the step S1 and the step S2 are equal.

In another embodiment, when the angle between the two sets of first links 12 is set to different values in the beginning and end states of torso assembly 1, the step size during crawling changes, and step size S1 and step size S2 are not equal, as shown in fig. 9.

In another embodiment, the swing assemblies 4 are respectively connected to two sides of the base 14, each swing bracket 41 includes two sets, including a first swing bracket 43 and a second swing bracket 44, and each set of swing brackets 41 is provided with two sets of magnetic adsorption units 21, as shown in fig. 10. Specifically, the first swing bracket 43 and the base 14 and the first swing bracket 43 and the second swing bracket 44 are connected by a hinge 42, the hinge 42 of the present embodiment can replace the pressing component 6 to press down the first swing bracket 43 and the second swing bracket 44, and the hinge 42 of the present embodiment can adopt a torsion spring hinge. In addition, the transmission shaft 26 of the magnetic adsorption unit 21 on the first swing bracket 43 passes through the main body of the magnetic adsorption unit 21, both ends of the transmission shaft 26 extend outward, one end is connected with the output shaft 333 through the universal joint 34, the other end is connected with the transmission shaft 26 of the magnetic adsorption unit 21 on the second swing bracket 44 through the universal joint 34, the first swing bracket 43 and the second swing bracket 44 are connected through the hinge 42, the rotation center of the universal joint 34 and the rotation axis of the hinge 42 are located on the same straight line, so as to ensure that each shaft can be smoothly transmitted through the universal joint 34 no matter the first swing bracket 43 and the second swing bracket 44 are transferred to any angle in the design stroke. In this embodiment, the quantity of magnetic adsorption face increases, and climbing robot can adsorb firmly on being climbed the thing surface. It should be noted that the number of the swing assemblies 4 and the magnetic adsorption units 21 in the present embodiment can be adaptively increased or decreased according to the characteristics of the object to be climbed.

In another embodiment, the pressing assembly 6 includes a third motor 64 and a link mechanism, the link mechanism is driven by controlling the third motor 64 to drive the swinging bracket 41 and the magnetic adsorption unit 21 to rotate, and an included angle between the swinging bracket 41 is actively adjusted to be adapted to the curvature of the column surface to be climbed, so as to achieve adsorption and adhesion of the plane, the outer column surface and the inner column surface, as shown in fig. 11(a), 11(b) and 11(c), respectively. Specifically, the output end of the third motor 64 is connected with the lead screw 65, and the third motor 64 drives the fourth connecting rod 66 to move up and down through the lead screw 65, so that the swing bracket 41 is pushed to swing around the hinge 42 through the fifth connecting rod 67, so as to adapt to the cylindrical surfaces to be climbed with different curvatures.

In another embodiment, the pressing component 6 is a hydraulic cylinder, and the swing component 4 and the magnetic adsorption unit 21 are driven to swing by the hydraulic cylinder.

In another embodiment, a rotary motor is additionally arranged between the trunk assembly 1 and the tail ends I and II, so that the tail ends I and II can rotate around the adsorption tail end fulcrum in a plane parallel to a surface to be climbed, the freedom degree of motion of the climbing robot is improved to three degrees of freedom, and the direction can be changed during climbing to widen the application range of the climbing robot.

In the detailed description of the embodiments, various technical features may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The single-degree-of-freedom cylindrical climbing robot is characterized by comprising a trunk assembly (1), a magnetic adsorption assembly (2) comprising a plurality of magnetic adsorption units (21), a terminal driving assembly (3) for changing the magnetic force of the magnetic adsorption assembly (2), and a swinging assembly (4) for changing included angles among a plurality of groups of magnetic adsorption units (21), wherein the trunk assembly (1) comprises a first motor (11) and two groups of first connecting rods (12), one ends of the two groups of first connecting rods (12) are respectively connected to two output ends of the first motor (11), the other ends of the two groups of first connecting rods (12) are hinged to a second connecting rod (13), and the second connecting rod (13) is connected with a base (14); the magnetic adsorption unit (21) comprises a magnetic core (22) which is magnetized in the radial direction and a plurality of groups of permanent magnets (23) which surround the periphery of the magnetic core (22), and the permanent magnets (23) are connected in a different-pole mode in sequence; the magnetic core is characterized in that the tail end driving component (3) is installed on the base (14), the magnetic core (22) is connected to an output shaft (333) of the tail end driving component (3) through a universal joint (34), and the swinging component (4) is connected between the magnetic adsorption component (2) and the base (14).

2. The single-degree-of-freedom cylindrical climbing robot according to claim 1, wherein a third connecting rod (15) is hinged between one set of first connecting rods (12) and one set of second connecting rods (13), and a third connecting rod (15) is hinged between the other set of first connecting rods (12) and the other set of second connecting rods (13).

3. The single-degree-of-freedom cylindrical climbing robot according to claim 1, characterized in that the end drive assembly (3) comprises a second motor (31) mounted to the base (14), an input shaft (32) connected to an output of the second motor (31), and a transmission assembly (33) for converting the rotation of the input shaft (32) about the axis into the axial rotation of the magnetic core (22), the transmission assembly (33) being connected between the input shaft (32) and the universal joint (34).

4. The single-degree-of-freedom cylindrical climbing robot according to claim 3, wherein the transmission assembly (33) comprises a worm (331), a worm wheel (332) and an output shaft (333), the worm (331) is arranged on the input shaft (32), the worm wheel (332) is arranged on the output shaft (333), the output shaft (333) is rotatably connected with the base (14), two ends of the output shaft (333) penetrate through the base (14) to be connected with the universal joint (34), and the worm (331) is meshed with the worm wheel (332).

5. The single-degree-of-freedom cylindrical climbing robot according to any one of claims 1 to 4, wherein the swinging assembly (4) comprises a swinging bracket (41) and a hinge (42), the swinging bracket (41) is connected with the base (14) through the hinge (42), and the magnetic adsorption assembly (2) is mounted on the swinging bracket (41).

6. The single-degree-of-freedom cylindrical climbing robot according to claim 5, wherein the swinging support (41) is connected with a pressing assembly (6), the pressing assembly (6) comprises a fixed support (61), a push rod (62) and a spring (63), the fixed support (61) is mounted on the base (14), the spring (63) is sleeved on the periphery of the push rod (62), and two ends of the push rod (62) are respectively hinged to the fixed support (61) and the swinging support (41).

7. The single-degree-of-freedom cylindrical climbing robot according to claim 5, wherein the magnetic adsorption unit (21) comprises a frame (24) and a yoke base (25), and the magnetic core (22), the permanent magnet assembly and the yoke base (25) are all fixed on the frame (24).

8. The single-degree-of-freedom cylindrical climbing robot according to claim 7, wherein the first group of permanent magnets (23) and the last group of permanent magnets (23) are of square structures and are fixed on a yoke base (25), the other groups of permanent magnets (23) are of fan-shaped structures, and the sections of the permanent magnet assemblies are of U-shaped structures.

9. The single-degree-of-freedom cylindrical climbing robot according to claim 7, characterized in that the end of the magnetic core (22) is provided with a hole slot, one end of the transmission shaft (26) is connected with the hole slot, and the other end of the transmission shaft (26) is connected with the universal joint (34).

10. The single-degree-of-freedom cylindrical climbing robot according to claim 7, wherein the magnetic adsorption unit (21) is semi-cylindrical and the bottom surface of the magnetic adsorption unit (21) is an adsorption surface, the swing bracket (41) is provided with an opening matched with the shape of the adsorption surface, and the bottom surface of the swing bracket (41) is provided with friction rubber (27).

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