CN114715303A

CN114715303A - Pipe pole inspection robot with climbing and obstacle crossing functions

Info

Publication number: CN114715303A
Application number: CN202210489159.9A
Authority: CN
Inventors: 何涛; 何传欣; 李博; 罗刚; 张乔; 丁庆田; 郑浩
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2022-07-08
Anticipated expiration: 2042-05-06
Also published as: CN114715303B

Abstract

The invention discloses a pipe pole inspection robot with climbing and obstacle crossing functions, which belongs to the technical field of pipe pole inspection robots and comprises a mechanical arm, a tool box, a control box, a vision sensor, a driving clamping mechanism, a driven clamping mechanism, a climbing mechanism, a connecting steering mechanism and an auxiliary claw mechanism, wherein two clamping mechanisms are connected with the climbing mechanism through sliding plates fixed by screws, the two climbing mechanisms are connected with the connecting steering mechanism through push rods, pushing cylinders and four hinges, the auxiliary claw mechanism is arranged on the connecting steering mechanism through a revolute pair, the tool box is arranged on the climbing mechanism at the upper end through screw bolt connection, and the mechanical arm is connected with a base arranged on the tool box through the revolute pair. Compared with the prior art, the invention has the beneficial effects that the multi-walking mechanism is integrated, and specifically comprises walking, axial wheel driving and transverse wheel driving.

Description

Pipe pole inspection robot with climbing and obstacle crossing functions

Technical Field

The invention relates to the technical field of pipe pole inspection robots, in particular to a pipe pole inspection robot with climbing and obstacle crossing functions.

Background

With the technological progress, the inspection robot is widely applied to various industries, but the inspection and inspection of the periphery of a plurality of pipelines and rod-shaped equipment are difficult to cross obstacles and climb, and an effective inspection robot device is still lacked. For example, in the municipal field, with the development of electric power and traffic safety technology, the installation and maintenance of public traffic signal equipment are important to ensure traffic safety. However, most traffic signal facilities are erected on relatively tall utility poles, which are typically 4.5-15 meters high. Constructor need carry out relevant operation on the upper portion of wire pole, and traditional mode either operates through large-scale engineering vehicle, or needs electric power worker oneself to climb up to go to operate, still need upwards transport wire and cable equipment etc. moreover sometimes, and high altitude construction brings very big potential safety hazard for the operation personnel, and large-scale engineering vehicle then leads to maintaining the work hour road surface and is occupied. Pipe pole inspection robots that can now perform work are increasingly used. For example, application publication No. CN108909865A, the invention patent application entitled unmanned aerial vehicle pipe pole inspection robot discloses a robot capable of climbing a rod. The novel rotary wing type lifting box comprises an annular box body, wherein a channel for penetrating a rod piece is formed in the middle of the annular box body, friction wheels are arranged in the box body and used for holding the rod piece and rolling along the rod piece, four groups of rotary wing assemblies are arranged outside the box body, and the box body can be driven to ascend and descend integrally by virtue of the lifting force of the rotary wing assemblies. However, the pipe pole inspection robot can only move vertically and vertically during operation, cannot adjust the direction in the circumferential direction, and has great limitation during construction operation.

In addition, in the fields of pipeline facilities in coal mines and outer wall inspection of pipelines in the fields of petroleum, chemical engineering and gas transportation, inspection robot equipment with excellent obstacle crossing and climbing functions is also lacked, and the research and development of an inspection robot with excellent obstacle crossing performance is urgently needed.

Disclosure of Invention

The invention aims to provide a pipe pole inspection robot with climbing and obstacle crossing functions, which is used for solving the problems in the background technology.

The purpose of the invention can be realized by the following technical scheme:

a pipe pole inspection robot with climbing and obstacle crossing functions comprises a mechanical arm, a tool box, a control box, a vision sensor, a driving clamping mechanism, a driven clamping mechanism, a climbing mechanism, a connecting steering mechanism and an auxiliary claw mechanism, wherein the two clamping mechanisms are connected with the climbing mechanism through a sliding plate fixed by screws, the two climbing mechanisms are connected with the connecting steering mechanism through push rods, push cylinders and four hinges, the auxiliary claw mechanism is installed on the connecting steering mechanism through a revolute pair, the tool box is installed on the upper end climbing mechanism through screw bolt connection, the mechanical arm is connected with a base arranged on the tool box through a revolute pair, the vision sensor is connected onto the control box through the revolute pair, the control box is installed on the lower end climbing mechanism through screw bolt connection, and an optical axis supporting seat installed on the clamping mechanism is fixed and installed on the clamping mechanism through screw bolt connection effect The mechanism is provided with a guide rail, so that the driving clamping mechanism and the driven clamping mechanism are connected with the two climbing mechanisms into a whole.

Preferably: one end of the upper connecting rod and one end of the lower connecting rod are hinged to the upper lead screw nut and the lower lead screw nut, the other end of the upper connecting rod and the lower connecting rod are hinged to the claws, the upper connecting rod and the lower connecting rod can rotate around two hinged points, the upper lead screw nut and the lower lead screw nut move upwards to drive the upper connecting rod and the lower connecting rod to rotate at the hinged points, the upper claws and the lower claws are driven to slide left and right along the cylindrical surfaces of the guide rails at the upper guide rail and the lower guide rail, namely, the upper motor III rotates to drive the upper claws and the lower claws to clamp or loosen the target clamping cylindrical surfaces, the axial driving parts are installed on the front sides of the upper claws and the lower claws, and meanwhile, the axial driving parts can be recovered into the upper claws and the lower claws.

Preferably: the machine body support is provided with a positioning hole for fixing the guide rail, meanwhile, the clamping mechanism and the climbing mechanism are connected through a sliding plate, the top end of the push rod is fixed on the sliding plate through a screw and is connected with a pushing cylinder through a sliding pair, the pushing cylinder is fixed on the machine body support, and when the push rod performs telescopic motion in the pushing cylinder, the clamping mechanism connected with the sliding plate and a rear end baffle are mutually supported to form relative motion.

Preferably, the following components: two upper and lower pushing cylinders and a push rod connected by the pushing cylinders are fixed on a connecting piece formed by the upper swinging connecting piece and the lower swinging connecting piece through revolute pairs, meanwhile, the upper swinging connecting piece and the lower swinging connecting piece are respectively provided with two revolute pairs to be connected with a rear end baffle plate on the climbing mechanism, when the pushing cylinders and the push rod work, the connected climbing mechanism is relatively bent, and the design realizes the turning function of the robot.

Preferably: a motor V on the auxiliary claw mechanism is connected and fixed on the mounting seat II through a screw bolt and drives the auxiliary claws connected through a transmission shaft to rotate so as to finish clamping and loosening actions, and the two auxiliary claws move in a mutually meshed mode through gears and are connected with the mounting seat II through a revolute pair; the transverse driving part is similar to the axial driving part in the driving clamping mechanism in structure and matching mode, except that the direction of the rotating wheel is changed from the axial direction to the transverse direction, so that the purpose of preventing the robot from sliding and radially deviating in the climbing process is achieved.

Preferably: when the upper and lower claws are in contact with the clamping surface, the upper and lower claws are in a complete clamping state, and the claws completely clamp the target contact surface, so that the clamping force is high; in addition, along with the increase of the power of the screw motor, when the axial driving part and the transverse driving part are exposed to be in contact with the clamping surface, the axial driving part and the transverse driving part are in a stable clamping state, the axial wheel and the transverse wheel can drive the structure to move up and down along the axis of the clamping surface simultaneously, and the transverse driving part can prevent the robot from sliding and radially deviating in the climbing process.

Preferably: the clamping mechanism of the robot is matched with the screw rod for transmission, and the tightness degree of clamping can be controlled by controlling a tool of the screw rod motor, so that different working conditions can be adapted.

Preferably: the structure of robot is the longitudinal symmetry design, and this kind of design can make the motion stability of robot higher, and the suitability of part is better, has made things convenient for ground personnel to control, when the robot breaks down, also can add convenient maintenance.

Preferably: the robot is provided with the handle and the rolling wheels on the tool box and the control box respectively, so that a worker can move the robot more conveniently.

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

1. the multi-walking mechanism integration specifically comprises walking, axial wheel driving and transverse wheel driving. Under normal conditions, the walking mechanism is used for walking, and axial wheel drive and transverse wheel drive are used as auxiliary drives, so that the robot can walk axially and circumferentially; the axial wheel driving can assist the robot in accurate adjustment of the axial position, and the axial wheel driving is more stable than the stepping walking driving when the robot moves horizontally; lateral wheel drive may assist in the precise adjustment of the pose of the robot at a circumferential position.

2. The steering cylinder has good curve passing performance, the upper end climbing mechanism is driven by the steering cylinder to change the angle, and compared with the traditional driving mode that the motor directly drives the rotary joint, the driving is more reliable, and the service life of the rotary joint is prolonged.

3. The wheel type walking adopts a combined mode of 'axial wheel driving + transverse wheel driving + universal wheel following', and the axial wheel driving and the transverse wheel driving share one set of following universal wheel, so that the structure of a wheel type system is simplified, and the interference of axial movement and transverse movement is avoided.

4. The conversion between clamping and driving is realized by controlling the opening and the clamping force of the driving clamping mechanism. When the clamping force of the driving clamping mechanism is moderate, the axial wheel is in contact with the attachment surface to generate driving force, when the clamping force reaches a threshold value, the spring is compressed, the upper claw and the axial wheel are in contact with the attachment surface at the same time, at the moment, the axial wheel loses the driving function, and the clamping mechanism clamps. Similarly, the clamping force of the auxiliary claw can be controlled to conveniently realize the switching between the clamping of the auxiliary claw and the driving of the transverse wheel.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts;

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic view of a drive clamping mechanism of the present invention;

FIG. 3 is a schematic view of the drive clamping mechanism of the present invention;

FIG. 4 is a schematic view of the axial driving portion of the present invention;

FIG. 5 is a partial structural view of the axial driving portion of the present invention;

FIG. 6 is a schematic view of the upper gripper of the present invention;

FIG. 7 is a schematic view of the follower fixture of the present invention;

FIG. 8 is a schematic drive diagram of the driven clamping mechanism of the present invention;

FIG. 9 is a schematic view of the universal wheel mechanism of the present invention;

FIG. 10 is a schematic view of a climbing mechanism of the present invention;

FIG. 11 is a schematic structural view of the connecting steering mechanism of the present invention;

FIG. 12 is a schematic structural view of an auxiliary pawl mechanism of the present invention;

FIG. 13 is a schematic view of the auxiliary jaw structure of the present invention;

FIG. 14 is a schematic view of the auxiliary pawl of the present invention engaged with a lateral driving portion;

FIG. 15 is a schematic view of the climbing process movement of the present invention;

FIG. 16 is a schematic view of the turning motion of the present invention;

FIG. 17 is a schematic diagram of the movement of the obstacle crossing process of the present invention;

fig. 18 is a schematic diagram ii of the movement of the obstacle crossing process of the present invention.

The reference numbers in the figures illustrate:

1. a mechanical arm; 2. a tool box; 3. a control box; 4. a vision sensor; 5. driving the clamping mechanism; 6. a driven clamping mechanism; 7. a climbing mechanism; 8. connecting a steering mechanism; 9. an auxiliary jaw mechanism; 501. a motor I; 502. an upper bracket; 503. a support seat I; 504. screwing a screw rod nut; 505. an upper connecting rod; 506. an upper slide block; 507. an upper guide rail; 508. an upper paw hand; 509. an axial driving part; 510. feeding a screw rod; 5081. a clamping surface I; 5082. a spring hole I; 5083. a guide hole I; 5084. an upper guide groove; 5085. sinking a tank I; 5086. a pin shaft; 5087. a mounting seat I; 5088. an upper slider hole; 5091. a motor IV; 5092. an axial wheel; 5093. an axial wheel housing; 5094. a spring I; 5095. buffering the clamping surface; 5096. a positioning pin I; 5097. a positioning hole I; 5098. a motor slot; 601. a motor III; 602. a lower bracket; 603. a support seat II; 604. a lower screw nut; 605. a lower connecting rod; 606. a lower slide block; 607. a lower guide rail; 608. a lower paw hand; 609. a universal wheel mechanism; 610. a lower screw rod; 6091. a universal wheel housing; 6092. a universal wheel; 6093. a spring III; 71. an upper end climbing mechanism; 72. a lower end climbing mechanism; 701. a fuselage cradle; 702. a sliding plate; 703. a guide rail; 704. a hinge joint I; 705. a pushing cylinder; 706. a push rod; 801. an upper swing link; 802. a lower swing link; 803. a steering cylinder; 804. a steering lever; 805. a fixed seat; 806. hinging II; 901. a motor II; 902. a motor V; 903. a mounting base II; 904. a bevel gear; 905. an auxiliary claw; 906. a lateral driving section; 9051. a clamping surface II; 9052. placing holes II; 9053. a guide hole II; 9054. a guide groove II; 9055. a gear; 9056. a positioning hole II; 9057. sinking a tank II; 9061. a transverse wheel; 9062. a spring II; 9063. and a positioning pin II.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A pipe pole inspection robot with climbing and obstacle crossing functions is disclosed, as shown in figures 1-18, the invention provides a technical scheme: a pipe pole inspection robot comprises a mechanical arm 1, a tool box 2, a control box 3, a vision sensor 4, a driving clamping mechanism 5, a driven clamping mechanism 6, a climbing mechanism 7, a connecting steering mechanism 8, an auxiliary claw mechanism 9, a driving clamping mechanism 5, a front axial driving part 509 of the driving clamping mechanism 5 and a front axial driving part 509 of the driving clamping mechanism 5, wherein the driving clamping mechanism 5 can be driven along the axial direction of a cylindrical pole; the front universal wheel mechanism 609 of the driven clamping mechanism 6 can move along the radial direction or the axial direction of the cylindrical rod under the action of external force; the auxiliary claw mechanism 9 can automatically clamp the target cylindrical rod to assist the structure to act; the climbing mechanism 7 drives the structure to creep upwards, turn, slide along the rod and rotate by means of the combined action of the connecting steering mechanism 8.

As shown in fig. 1, the vision sensor 4 is fixed under the control box 3, and the vision sensor 4 can rotate at the fixed position and swing up and down on the body thereof. The vision sensor 4 has a three-dimensional working domain in which the vision sensor 4 can detect the structural motion status and fault evaluation and feedback.

As shown in fig. 2-3, the driving clamping mechanism 5 is composed of a motor i 501, an upper bracket 502, a support base i 503, an upper screw nut 504, an upper connecting rod 505, an upper sliding block 506, an upper guide rail 507, an upper claw hand 508, an axial driving part 509, and an upper screw 510. The upper guide rail 507 and the upper claw 508 are fixed on the sliding plate 702 through a supporting seat I503, the upper sliding block 506 is fixed on an installation hole of the upper claw 508 through a screw, and in the moving process of the upper claw 508, the upper sliding block 506 moves on the upper guide rail 507 through a cylindrical hole on the inner surface of the upper sliding block to play a role in supporting and sliding. The motor I501 is fixed by the upper bracket 502, and the motor I501 moves to drive the upper screw 510 to rotate, so that the upper screw nut 504 moves axially along the upper screw 510. One end of the upper connecting rod 505 is hinged to the upper screw rod nut 504, the other end is hinged to the upper claw 508, and the upper connecting rod 505 can rotate around two hinged points. The upper screw rod nut 504 moves upwards to drive the upper connecting rod 505 to rotate at the hinged point, so as to drive the upper claw 508 to slide left and right along the cylindrical surface of the guide rail on the upper guide rail 507, namely the motor I501 rotates to drive the upper claw 508 to clamp or loosen the target clamping cylindrical surface. An axial driving portion 509 is installed on the front side of the upper gripper 508, and the axial wheel 5092 is driven to stabilize the clamping state when the axial driving portion 509 comes into contact with the target clamping surface.

As shown in fig. 2-6, the upper claw 508 structurally comprises a clamping surface i 5081, a spring hole i 5082, a guide hole i 5083, an upper guide groove 5084, a sink groove i 5085, a pin 5086, a mounting seat i 5087 and an upper sliding block hole 5088, and the axial driving part 509 structurally comprises a motor iv 5091, an axial wheel 5092, an axial wheel housing 5093, a spring i 5094, a buffer clamping surface 5095, a positioning pin i 5096, a positioning hole i 5097 and a motor groove 5098. The clamping surface I5081 acts on a target clamping surface, the spring hole I5082 is used for placing the spring I5094, the guide hole I5083 is coaxially matched with the positioning pin I5096, the axial driving part 509 can slide along the upper guide groove 5084, and the pin 5086 is hinged with the upper connecting rod 505. The axial wheel outer shell 5093 slides along a guide hole I5083 arranged on the upper claw 508 through a positioning pin I5096, and a spring I5094 is arranged around the positioning pin I5096; motor iv 5091 is fixed to motor groove 5098 on axial wheel housing 5093. With the increase of the power of the motor I501, the spring I5094 is compressed, at this time, if the rotating torque at the upper screw 510 is continuously increased, the clamping force at the upper claw 508 is also increased, the spring I5094 is compressed, the axial driving part 509 is retracted into the upper claw 508, the upper claw 508 is completely contacted with the target clamping surface, at this time, the clamping state is completely clamped, and the sunken groove I5085 is arranged so that the axial driving part 509 can be retracted into the upper claw 508 when the complete clamping state is reached.

As shown in fig. 7-8, the driven clamping mechanism 6 is composed of a motor iii 601, a lower bracket 602, a support base ii 603, a lower screw nut 604, a lower connecting rod 605, a lower slider 606, a lower guide rail 607, a lower claw 608, a universal wheel mechanism 609, and a lower screw 610, wherein the lower guide rail 607 and the lower claw 608 are fixed on the sliding plate 702 through the support base ii 603, and the support base ii 603 is fixed below the mounting hole of the sliding plate 702 through a screw. The lower sliding block 606 is fixed on the mounting hole of the lower claw 608 through a screw, and during the movement of the claw 608, the lower sliding block 606 moves under the lower guide rail 607 through the cylindrical hole on the inner surface thereof, so as to play a role of supporting and sliding. The motor III 601 is fixed by the lower support seat II 603, and the motor III 601 moves to drive the lower lead screw 610 to rotate, so that the lower lead screw nut 604 moves axially along the lower lead screw 610. One end of the lower connecting rod 605 is hinged with the lower lead screw nut 604, the other end is hinged with the lower claw 608, and the lower connecting rod 605 can rotate around two hinged points. The lower lead screw nut 604 moves downwards to drive the lower connecting rod 605 to rotate at the hinge point, so as to drive the lower claw 608 to slide left and right along the cylindrical surface of the guide rail on the lower guide rail 607, that is, the motor iii 601 rotates to drive the lower claw 608 to clamp or loosen the target clamping cylindrical surface.

As shown in fig. 9, the universal wheel mechanism 609 is composed of a universal wheel housing 6091, a universal wheel 6092 and a spring iii 6093, the universal wheel mechanism 609 and the lower gripper 608 are engaged in the same manner as the axial driving part 509 and the upper gripper 508, the universal wheel mechanism 609 is installed on the front side of the lower gripper 608, the universal wheel mechanism 609 can be retracted into the lower gripper 908, and the universal wheel 6092 can move in the axial direction and the radial direction. The universal wheel housing 6091 is connected with the lower gripper 608 through a spring III 6093, the lower gripper 608 is in a complete clamping state when contacting with a target clamping surface, and the universal wheel mechanism 609 is in a stable clamping state when contacting with the clamping surface, and meanwhile the universal wheel mechanism 609 can drive the device to move up and down more stably along the axis of the clamping surface.

As shown in fig. 10, the mechanism includes an upper end climbing mechanism 71 and a lower end climbing mechanism 72, wherein the upper end climbing mechanism 71 and the lower end climbing mechanism 72 are formed in the same manner, the upper end climbing mechanism 71 is formed by a body support 701, a sliding plate 702, a guide rail 703, a hinge i 704, a pushing cylinder 705 and a push rod 706, two ends of the guide rail 703 are mounted on the body support 701, the pushing cylinder 705 is fixed under the body support 701 by screw bolts, the push rod 706 can slide in a connecting hole of a rod body, simultaneously, the top end of the push rod 706 is fixed with the sliding plate 702 by screws, and when sliding, the sliding plate 702 is pushed to slide along the guide rail 703, so that the driving clamping mechanism 5 connected with the sliding plate 702 moves. The driven gripping mechanism 6 is connected to the lower end climbing mechanism 72 through a slide plate 702 provided thereon.

As shown in fig. 11, the connecting steering mechanism 8 is composed of an upper swing connector 801, a lower swing connector 802, a steering cylinder 803, a steering rod 804, a fixed seat 805, and a hinge ii 806, wherein: a revolute pair exists between the upper swing connecting piece 801 and the lower swing connecting piece 802 and can rotate relatively, a hinge joint exists between the upper end climbing mechanism 71 and the upper swing connecting piece 801, a hinge joint exists between the lower end climbing mechanism 72 and the lower swing connecting piece 802, a hinge joint II 806 exists between the steering cylinder 803 and the body supports 701 of the upper end climbing mechanism 71 and the lower end climbing mechanism 72, the steering rod 804 slides in a cylinder body connecting hole of the steering cylinder 803, and the upper end climbing mechanism 71 and the lower end climbing mechanism 72 are driven to rotate around the hinge joint, so that the device turns, and the turning of the robot is achieved. The fixing seat 805 is used for placing the robot arm 1, and prevents the robot arm 1 from rotating during the dragging process.

As shown in fig. 12 to 14, the auxiliary claw mechanism 9 is composed of a motor ii 901, a motor v 902, a mounting seat ii 903, a bevel gear 904, an auxiliary claw 905 and a transverse driving part 906, the auxiliary claw 905 is composed of a clamping surface ii 9051, a placing hole ii 9052, a guide hole ii 9053, a guide groove ii 9054, a gear 9055, a positioning hole ii 9056 and a sinking groove ii 9057, the transverse driving part 906 is composed of a transverse wheel 9061, a spring ii 9062 and a positioning pin ii 9063, the motor ii 901 is fixed to the connecting steering mechanism 8 to drive the auxiliary claw mechanism 9 to rotate, and the mounting seat ii 903 is enabled to swing relative to the connecting steering mechanism 8. The motor V902 drives a bevel gear 904 connected with a transmission shaft to drive an auxiliary claw 905 to rotate so as to finish clamping and loosening actions, and the auxiliary claw 905 is connected with the mounting seat II 903 through a revolute pair. The transverse driving portion 906 is similar in structure and matching manner to the axial driving portion 509 in the driving clamping mechanism 5, and the positioning pin II 9063 and the positioning pin I5096 function in the same manner. In contrast, the rotating wheels are changed from axial wheels 5092 to transverse wheels 9061 in order to prevent the robot from slipping and shifting radially during climbing. The clamping surface II 9051 acts on the target clamping surface, the placing hole II 9052 is used for placing the spring II 9062, the guide hole II 9053 is coaxially matched with the positioning pin II 9063, and the spring II 9062 is arranged around the positioning pin II 9063. The transverse driving part 906 can slide along the guide groove II 9054, when the transverse driving part 906 reaches a stable clamping state due to the arrangement of the sinking groove II 9057, the transverse driving part 906 can be recovered into the guide groove II 9054 formed in the auxiliary claw 905, the auxiliary claw 905 positioning hole II 9056 is connected with the mounting seat II 903 through a rotating pair, and clamping or loosening actions are completed under the matching of the gear 9055.

The working principle is as follows:

the pipe pole inspection robot is mainly used for realizing the tasks of vertical and bending steering, and performing maintenance, fault evaluation and feedback on a part which has a fault or needs to be overhauled.

To further explain the working principle, the following description is made with reference to fig. 1, a schematic diagram of the auxiliary claw and the transverse driving part, fig. 14, a schematic diagram of the mechanism climbing movement, fig. 15, a schematic diagram of the device turning process, fig. 17, and fig. 18.

As shown in fig. 1, the pipe pole inspection robot is integrated with a multi-walking mechanism, and specifically comprises walking, axial wheel driving and transverse wheel driving. Under normal conditions, the robot can walk axially and circumferentially by using the stepping mechanism, and using the axial wheel drive and the transverse wheel drive as auxiliary drives. The wheel type walking adopts a combined mode of 'axial wheel driving + transverse wheel driving + universal wheel following', and the axial wheel driving and the transverse wheel driving share one set of following universal wheel, so that the structure of a wheel type system is simplified, and the interference of axial movement and transverse movement is avoided. The axial wheel driving can assist the robot in accurate adjustment of the axial position, and the axial wheel driving is more stable than the stepping walking driving when the robot moves horizontally; lateral wheel drive may assist in the precise adjustment of the pose of the robot at a circumferential position.

As shown in fig. 1 and 14, in selecting whether or not to perform wheel-type travel and whether or not to perform the device in relation to the attachment surface contact manner, taking the auxiliary pawl mechanism 9 as an example, the lateral driving portion 906 is connected to the auxiliary pawl 905 via a spring ii 9062, a positioning pin ii 9063 in the lateral driving portion 906 is coaxially fitted to a guide hole ii 9053, and the lateral driving portion 906 slides only on the guide groove ii 9054 in the auxiliary pawl 905. When the motor V902 rotates and drives the auxiliary claw 905 to rotate through the bevel gear 904, the auxiliary claw 905 further clamps the attachment surface compression spring II 9062 to drive the transverse driving part 906 to slide along the guide hole II 9053 and recover into the sinking groove II 9057, at the moment, the auxiliary claw 905 is in a complete clamping state with the attachment surface, and the driving capability is lost during wheel type walking. If the rotation amount of the motor V902 is proper, the auxiliary claws 905 are not contacted with the attachment surface, only the transverse driving part 906 is contacted with the attachment surface, and the wheel type walking has driving capability. Similarly, the driving capability of the driving clamping mechanism 5 and the driven clamping mechanism 6 can be changed by setting the rotation amount of the upper screw 510 and the lower screw 610.

As shown in fig. 15, the device can realize climbing action along the axial direction, and during the upward climbing process, the motion process of the device is as follows: the pipe pole inspection robot is firstly installed at the lower end of a lamp pole vertical to the ground, an upper screw rod 510 rotates to drive a clamping mechanism 5 to be loosened from an attachment surface through an upper screw nut 504 and an upper connecting rod 505, a push rod 706 in an upper end climbing mechanism 71 pushes a sliding plate 702 to move upwards, and the clamping mechanism 5 is driven to ascend to the upper end of a machine body bracket 701 in the upper end climbing mechanism 71; then the upper screw rod 510 rotates reversely to drive the driving clamping mechanism 5 to clamp the attachment surface, and the motor V902 drives the bevel gear 904 to drive the auxiliary claw mechanism 9 to release the attachment surface; then, the pushing cylinder 705 in the upper end climbing mechanism 71 and the lower end climbing mechanism 72 operates to drive the upper and lower push rods 706 to pull up and push down, respectively, and the climbing mechanism 7 and the connecting steering mechanism 8 are driven to move up integrally while the slide plate 702 is kept fixed; the auxiliary claw mechanism 9 is driven by the motor V902 to clamp the attachment surface again, and the lower screw 610 rotates to drive the driven clamping mechanism 6 to release the attachment surface through the lower screw nut 604 and the lower connecting rod 605; then the push rod 706 in the lower end climbing mechanism 72 pushes the sliding plate 702 to move upwards, and the driven clamping mechanism 6 rises to the upper end of the body bracket 701 in the lower end climbing mechanism 72; finally, the lower screw 610 rotates again to drive the driven clamping mechanism 6 to clamp the attachment surface, and the device completes a walking cycle.

As shown in figures 15 and 16, the presence of an articulation I704 between the steering cylinder 803 and the upper and

lower climbing mechanisms

71 and 72, and an articulation II 806 between the steering rod 804 and the connecting steering mechanism 8, provides the possibility of over-bending of the apparatus. The steering movement of the device is generally consistent with walking, and the movement process is as follows: the pipe pole inspection robot is arranged on the target attachment surface, and the device stably clamps the attachment surface; at the moment, the upper screw rod 510 drives the driving clamping mechanism 5 to be released from the attachment surface, the steering cylinder 803 inwards recovers the steering rod 804, and the upper end climbing mechanism 71 is enabled to outwards turn around the hinged point of the connecting steering mechanism 8; then the push rod 706 pushes the driving clamping mechanism 5 to rise to the upper end of the upper end climbing mechanism 71, the upper screw 510 drives the driving clamping mechanism 5 to clamp the attachment surface again, and the motor V902 drives the auxiliary claw mechanism 9 to rotate and release the attachment surface; the pushing cylinder 705 in the upper end climbing mechanism 71 and the lower end climbing mechanism 72 is pushed to pull up and push down the push rod 706 respectively, and the climbing mechanism 7 and the connecting steering mechanism 8 are pushed to move upwards integrally; finally, the lower climbing device 72 is likewise turned outwards via the steering cylinder 803 and the steering rod 804, and the driven gripper device 6 is pushed upwards by the push rod 706. The whole device moves upwards along the rod shaft and bends, and the device is always clamped with the attachment surface in the process, so that the motion is stable.

As shown in fig. 17 and 18, the obstacle crossing process of the pipe pole inspection robot is as follows: firstly, the clamping mechanism 5 and the auxiliary claw mechanism 9 are driven to release an attachment surface; then the steering cylinder 803 recovers the steering rod 804, and the connecting steering mechanism 8 and the upper end climbing mechanism 71 are outwards inclined and away from the obstacle; the push rod 706 is driven to act next to the push cylinder 705, so that the machine body bracket 701 and the connecting steering mechanism 8 are driven to integrally move upwards, and the driving clamping mechanism 5 and the auxiliary claw mechanism 9 are driven to cross the obstacle; then the steering cylinder 803 drives the upper end climbing mechanism 71 and the connecting steering mechanism 8 to reversely swing back to be close to the attachment surface again; then the auxiliary claw mechanism 9 and the driving clamping mechanism 5 clamp the attachment surface again; finally, the pushing cylinder 705 drives the driven clamping mechanism 6 to cross the obstacle like the steering cylinder 803, and the whole process that the device crosses the obstacle is completed.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. A pipe pole inspection robot with climbing and obstacle crossing functions is characterized by comprising a driving clamping mechanism (5) and a driven clamping mechanism (6), wherein each of the driving clamping mechanism (5) and the driven clamping mechanism (6) is provided with a climbing mechanism (7), a connecting steering mechanism (8) is hinged between the two climbing mechanisms (7), the connecting steering mechanism (8) is provided with an auxiliary claw mechanism (9) through a revolute pair, the climbing mechanism (7) at one end of the driving clamping mechanism (5) is provided with a tool box (2) through screw bolt connection, the tool box (2) is rotatably connected with a mechanical arm (1), the climbing mechanism (7) at one end of the driven clamping mechanism (6) is provided with a fixedly connected control box (3), and the control box (3) is rotatably connected with a visual sensor (4), the driving clamping mechanism (5) comprises an upper claw hand (508), the upper claw hand (508) comprises a clamping surface I (5081), a sinking groove I (5085) is formed in the clamping surface I (5081), an upper guide groove (5084) is formed in the sinking groove I (5085), a spring hole I (5082) is formed between the upper guide groove (5084) and the sinking groove I (5085), a guide hole I (5083) is formed in the spring hole I (5082), a mounting seat I (5087) is formed in the upper claw hand (508), a pin shaft (5086) is formed in the mounting seat I (5087), a plurality of upper sliding block holes (5088) are further formed in the upper claw hand (508), two upper sliding blocks (506) are symmetrically arranged on the upper claw hand (508) through screws, two upper sliding blocks (5088) are arranged between the upper sliding blocks (5087) in a penetrating mode to form two upper guide rails (507), two sides of the upper claw hand (508) are hinged to form two upper connecting rods (50505) through the pin shaft (5086), an upper screw rod nut (504) is hinged between the two upper connecting rods (505), an upper screw rod (510) is matched on the upper screw rod nut (504), the upper screw rod (510) is provided with a motor I (501) through an upper support (502), the bottom end of the upper support (502) is provided with a support seat I (503), and an upper guide rail (507) and an upper claw hand (508) are fixed on a sliding plate (702) through the support seat I (503).

2. The pipe pole inspection robot with the climbing and obstacle crossing functions as claimed in claim 1, wherein the axial driving portion (509) comprises an axial wheel casing (5093), a buffering clamping surface (5095) is arranged on one side of the axial wheel casing (5093), a positioning hole I (5097) is formed in the buffering clamping surface (5095), a positioning pin I (5096) is arranged in the positioning hole I (5097), a spring I (5094) is arranged between the positioning pin I (5096) and the positioning hole I (5097), an axial wheel (5092) is arranged in the axial wheel casing (5093), a motor groove (5098) is formed in the axial wheel casing (5093), and a motor IV (5091) is arranged in the motor groove (5098).

3. The pipe pole inspection robot with the climbing and obstacle crossing functions as claimed in claim 1, wherein the driven clamping mechanism (6) comprises a lower claw (608), two lower sliding blocks (606) are symmetrically arranged on a mounting hole of the lower claw (608) through a screw, two lower guide rails (607) penetrate between the two lower sliding blocks (606), two ends of the lower claw (608) are respectively hinged with a lower connecting rod (605), a lower lead screw nut (604) is hinged between the two lower connecting rods (605), a lower lead screw (610) is matched on the lower lead screw nut (604), a motor III (601) is arranged on the lower lead screw (610) through a lower bracket (602), a supporting seat II (603) is arranged on the lower bracket (602), the motor III (601) is fixed on a sliding plate (702) through the supporting seat II (603), and a universal wheel mechanism (609) is arranged on the front side of the lower claw (608), the universal wheel mechanism (609) is the same as the axial driving part (509) and the upper claw hand (508) in matching mode between the universal wheel mechanism (609) and the lower claw hand (608), the universal wheel mechanism (609) comprises a universal wheel housing (6091), a universal wheel (6092) is arranged in the universal wheel housing (6091), a spring III (6093) is further arranged on the universal wheel housing (6091), and the universal wheel housing (6091) is connected with the lower claw hand (608) through the spring III (6093).

4. The pipe pole inspection robot with the climbing and obstacle crossing functions as claimed in claim 1, wherein the connecting steering mechanism (8) comprises an upper swing connecting piece (801) and a lower swing connecting piece (802), the connecting steering mechanism (8) is rotatably connected with the upper swing connecting piece (801) and the lower swing connecting piece (802), the upper swing connecting piece (801) is hinged with an upper end climbing mechanism (71), and the lower swing connecting piece (802) is hinged with a lower end climbing mechanism (72).

5. The pipe pole inspection robot with the climbing and obstacle crossing functions according to claim 1, wherein the climbing mechanism (7) comprises an upper end climbing mechanism (71) and a lower end climbing mechanism (72), the upper end climbing mechanism (71) and the lower end climbing mechanism (72) are composed of the same manner, the upper end climbing mechanism (71) is matched with the lower end climbing mechanism (72), the upper end climbing mechanism (71) comprises a machine body bracket (701), a sliding plate (702), a guide rail (703), a hinge I (704), a pushing cylinder (705) and a push rod (706), two ends of the guide rail (703) are installed on the machine body bracket (701), the sliding plate (702) is arranged on the guide rail (703) in a sliding manner, the sliding plate (702) is fixed to the top end of the push rod (706) through screws, the pushing cylinder (705) is arranged at the bottom end of the push rod (706), and the pushing cylinder (705) is fixed below the machine body bracket (701) through screw bolts, still be equipped with articulated I (704) on fuselage support (701), be equipped with on articulated I (704) and turn to jar (803), turn to and be equipped with steering column (804) on jar (803), steering column (804) are through articulated II (806) and be connected steering mechanism (8) swing joint, it is equipped with fixing base (805) to be close to articulated II (806) department on steering mechanism (8) to connect.

6. The pipe pole inspection robot with the climbing and obstacle crossing functions as claimed in claim 1, wherein the auxiliary claw mechanism (9) comprises an auxiliary claw (905), the auxiliary claw (905) comprises a clamping surface II (9051), a sinking groove II (9057) is formed in the clamping surface II (9051), a guide groove II (9054) is formed in the sinking groove II (9057), a guide hole II (9053) is formed between the guide groove II (9054) and the sinking groove II (9057), a placing hole II (9052) is formed in the guide hole II (9053), gears (9055) are further symmetrically arranged on the auxiliary claw (905), a positioning hole II (9056) is further formed below the gears (9055) on the auxiliary claw (905), a transverse driving portion (906) is matched on the auxiliary claw (905), and the transverse driving portion (906) consists of a transverse wheel (9061), a spring II (9062) and a positioning pin (63), the transverse driving part (906) is similar to the axial driving part (509) in the driving clamping mechanism (5) in structure and matching way, the positioning pin II (9063) has the same function as the positioning pin I (5096), except that, the axial wheel (5092) is changed into a transverse wheel (9061), the placing hole II (9052) is used for placing a spring II (9062), the guide hole II (9053) is coaxially matched with the positioning pin II (9063), the spring II (9062) is arranged around the positioning pin II (9063), a mounting seat II (903) is arranged between the gear (9055) and the positioning hole II (9056), a motor V (902) is arranged on the mounting seat II (903), the output end of the motor V (902) is connected with one end of a bevel gear (904) which is meshed with the output end of the motor V (902), the other end of the bevel gear (904) is connected with a gear (9055), and the auxiliary claw (905) is movably connected with the mounting seat II (903) through a positioning hole II (9056).