CN221251503U

CN221251503U - AMR autonomous rope climbing high-altitude robot

Info

Publication number: CN221251503U
Application number: CN202322971386.8U
Authority: CN
Inventors: 向东
Original assignee: Wuhan Zhongzhihang Unmanned Aerial Vehicle Technology Service Co ltd
Current assignee: Wuhan Zhongzhihang Unmanned Aerial Vehicle Technology Service Co ltd
Priority date: 2023-11-03
Filing date: 2023-11-03
Publication date: 2024-07-02
Anticipated expiration: 2033-11-03

Abstract

The utility model discloses an AMR autonomous rope climbing high-altitude robot, which comprises a robot main body, wherein a control module and a portable power supply are arranged in the robot main body, the control module is electrically connected with the portable power supply, a robot body mechanical leg is arranged on the robot main body, the robot body mechanical leg is connected with the control module, an electromagnetic chuck is arranged at one end of the robot body mechanical leg, a mechanical arm cabin door is arranged at the other end of the robot body mechanical leg, a sensor is arranged on the electromagnetic chuck, the sensor is in signal connection with the control module, the electromagnetic chuck is used for generating adsorption force after being electrified and adsorbing a metal surface, the control module can control the mechanical arm cabin door to open or close, the control module can control the robot body mechanical leg to stretch or shorten, the electromagnetic chuck moves along with the robot body mechanical leg, a front cabin cover capable of being opened or closed is arranged at the top of the robot main body, the front cabin cover is connected with the control module, and a multifunctional camera is embedded in the front cabin cover.

Description

AMR autonomous rope climbing high-altitude robot

Technical Field

The utility model belongs to the technical field of bridge engineering robots, and particularly relates to an AMR autonomous rope climbing high-altitude robot.

Background

At present, numerous bridges in China are especially important in maintenance work of the bridges, corrosion prevention of railway bridges is an important maintenance work, the most advanced artificial intelligence technology and algorithm can accurately finish the task, the AMR autonomous rope climbing high-altitude robot is one of research hotspots of the current robot technology, the AMR autonomous rope climbing high-altitude robot has wide application in high-altitude and dangerous operation, such as detection of coating thickness and adsorption force of high-altitude steel structures, cleaning, rust removal, paint spraying and the like of high-altitude external structures, the working efficiency can be greatly improved on the premise of ensuring the safety, and the AMR autonomous rope climbing high-altitude robot has more and more application prospects in other industries at present, so that the AMR autonomous rope climbing high-altitude robot in various forms is required.

The traditional high-altitude operation is basically performed manually, a large amount of manpower is required, the efficiency is low, and the personal safety of operators is not guaranteed.

Therefore, the AMR autonomous rope climbing high-altitude robot provided by the utility model can improve the working efficiency of high-altitude operation.

Disclosure of utility model

In view of the above-mentioned problems with the background art, the present utility model has as its object: aims to provide an AMR autonomous rope climbing high-altitude robot.

In order to achieve the technical purpose, the utility model adopts the following technical scheme:

AMR independently climbs rope high altitude robot, including the robot main part, the robot main part embeds control module and portable power supply, control module with portable power supply electricity is connected, be equipped with fuselage mechanical leg in the robot main part, fuselage mechanical leg is connected with control module, fuselage mechanical leg one end is equipped with electromagnet, and the other end is equipped with the robotic arm hatch door, be equipped with the sensor on the electromagnet, the sensor with control module signal connection, electromagnet is used for producing adsorption force after the circular telegram, adsorbs the metal surface, control module can control robotic arm hatch door is opened or is closed, control module can control fuselage mechanical leg extension or shorten, electromagnet follows fuselage mechanical leg removes, the robot main part top is equipped with the front deck lid that can open or close, the front hatch cover is connected with the control module, the multifunctional camera is embedded on the front hatch cover and is connected with the control module, the bottom of the robot main body is provided with a rear hatch cover which can be opened or closed, the rear hatch cover is connected with the control module, the bottom of the rear hatch cover is provided with a rear camera which is connected with the control module, the robot further comprises a rope and a rope lifter, the rope penetrates through the robot main body and is fixed on one side of the robot main body, the rope lifter is internally provided with a lifting driving motor and a lifting synchronous belt, the lifting driving motor is in transmission connection with the lifting synchronous belt, the rope lifter is used for driving the robot main body to ascend or descend, the rope lifter is connected with the control module, the robot main body is further provided with a multifunctional mechanical arm, the multifunctional mechanical arm is connected with the control module and comprises a mechanical big arm, a mechanical small arm, a mechanical big arm driving motor, a mechanical small arm driving motor, a mechanical palm driving motor and a mechanical gripper, wherein the mechanical big arm driving motor is arranged on the robot main body, one end of the mechanical big arm is in transmission connection with the mechanical big arm driving motor, the other end of the mechanical big arm is in transmission connection with the mechanical small arm driving motor, one end of the mechanical small arm is in transmission connection with the mechanical small arm driving motor, the other end of the mechanical small arm is in transmission connection with the mechanical palm driving motor, the mechanical palm driving motor is in transmission connection with the mechanical gripper, and the mechanical palm driving motor is used for driving the mechanical gripper to carry out grabbing operation.

Further limited, the number of fuselage mechanical leg with robotic arm hatch door is four, four robotic arm hatch door all sets up in corresponding fuselage mechanical leg bottom, and such structural design, fuselage mechanical leg cooperation electromagnetic chuck of a plurality of numbers can promote the adsorption site of climbing rope robot to promote its adsorption affinity.

Further limited, the quantity of electromagnetic chuck is four, four electromagnetic chuck all correspond set up in fuselage mechanical leg tip. By means of the structural design, the four electromagnetic chucks are arranged, so that the mechanical legs of the robot body can be fixed at different positions, and the robot is wholly stable.

Further limited, the mechanical arm is internally provided with a telescopic device, the telescopic device consists of a hydraulic machine and a hydraulic cylinder, and the hydraulic machine is in transmission connection with the hydraulic cylinder. By means of the structural design, the coverage range of the mechanical arm can be increased by the telescopic device arranged in the mechanical arm, so that the working range of the multifunctional mechanical arm is improved, and the telescopic device is reduced to the shortest state when the multifunctional mechanical arm is not needed, so that the movement of the robot is not affected.

Further limited, the electromagnetic chuck can generate 350kg-500kg of adsorption force after being electrified, so that the electromagnetic chuck is electrified only when an object is required to be adsorbed, a soft iron sheet at the bottom of the electromagnetic chuck can be immediately and tightly attached to the metal surface, and strong adsorption force is generated.

Further limited, be equipped with five arc claws and five micro-motor on the machinery tongs, five the arc claw is respectively by corresponding micro-motor individual control, and such structural design compares with adopting a micro-motor overall control, and a plurality of micro-motor individual control can more nimble carry out engineering operation.

Further defined, the rope lifter is divided into two states, one being an operating state and one being a releasing state. With the structural design, the two states represent different actions to be performed by the robot, and operators can easily distinguish the actions by naked eyes.

Further limited, when the rope lifter is in a working state, the rope lifter is started, the mechanical legs of the machine body are fully retracted into the robot main body, the mechanical arm cabin door is closed, the rope lifter is started, the rope lifter drives the robot to do spiral ascending motion along the rope, at the moment, the mechanical legs of the machine body are retracted into the robot main body and the mechanical arm cabin door is closed, collision between the mechanical legs of the machine body and a bridge in the spiral ascending motion can be avoided, and damage to the robot is caused.

Further limited, when the rope lifter is in a loosening state, the mechanical legs of the machine body extend out, the electromagnetic chuck adsorbs the metal surface, the mechanical arm cabin door is opened, and after the electromagnetic chuck adsorbs the metal surface, the rope lifter is in the loosening state, the rope lifter stops working, and then the multifunctional mechanical arm starts to operate.

The utility model has the beneficial effects that:

1. Economy: in the prior art, the high-altitude operation is basically carried out by manpower, the manual operation efficiency is low, a large amount of manpower and material resources are needed, the personal safety of operators cannot be guaranteed, and the AMR autonomous rope climbing high-altitude robot has high automation degree and high working efficiency.

2. Safety: the safety of the overhead operation is the weight of production and construction in China all the time, and the AMR autonomous rope climbing overhead robot adopts machinery to replace manual work, directly reduces the duty ratio of the manual overhead operation, and obviously improves the safety.

3. The maneuvering efficiency is high: compared with the traditional method, the AMR autonomous rope climbing high-altitude robot has the advantages that the time occupied by rope winding is short, and the maneuvering efficiency is obviously improved.

4. The AMR autonomous rope climbing high-altitude robot of the scheme has strong adaptability to the environment, can still work normally under the more extreme environment, and has strong practicability.

Drawings

The utility model can be further illustrated by means of non-limiting examples given in the accompanying drawings;

FIG. 1 is a schematic diagram of an embodiment of an AMR autonomous rope climbing aerial robot of the present utility model;

The main reference numerals are as follows: electromagnetic chuck 1, mechanical arm driving motor 2, multifunctional camera 3, mechanical arm 4, mechanical gripper 5, mechanical palm driving motor 6, rope lifter 7, rear camera 8, fuselage mechanical leg 9, mechanical arm cabin door 10, rear cabin cover 11, front cabin cover 12, mechanical arm 13, rope 14.

Detailed Description

In order that those skilled in the art will better understand the present utility model, the following technical scheme of the present utility model will be further described with reference to the accompanying drawings and examples.

As shown in figure 1, the AMR autonomous rope climbing high-altitude robot comprises a robot main body, wherein a control module and a portable power supply are arranged in the robot main body, the control module is electrically connected with the portable power supply, a machine body mechanical leg 9 is arranged on the robot main body, the machine body mechanical leg 9 is connected with the control module, an electromagnetic chuck 1 is arranged at one end of the machine body mechanical leg 9, a mechanical arm cabin door 10 is arranged at the other end of the machine body mechanical leg, a sensor is arranged on the electromagnetic chuck 1, the sensor is in signal connection with the control module, the electromagnetic chuck 1 is used for generating adsorption force after being electrified and adsorbing the metal surface, the control module can control the mechanical arm cabin door 10 to be opened or closed, the control module can control the machine body mechanical leg 9 to be extended or shortened, the electromagnetic chuck 1 moves along with the machine body mechanical leg 9, a front cabin cover 12 which can be opened or closed is arranged at the top of the robot main body, the front cabin cover 12 is connected with the control module, the multifunctional camera 3 is embedded in the front hatch 12, the multifunctional camera 3 is connected with a control module, the bottom of the robot main body is provided with a rear hatch 11 which can be opened or closed, the rear hatch 11 is connected with the control module, the bottom of the rear hatch 11 is provided with a rear camera 8, the rear camera 8 is connected with the control module, the multifunctional camera further comprises a rope 14 and a rope lifter 7, the rope 14 penetrates through the robot main body and is fixed on one side of the robot main body, a lifting driving motor and a lifting synchronous belt are arranged in the rope lifter 7, the lifting driving motor is in transmission connection with the lifting synchronous belt, the rope lifter 7 is used for driving the robot main body to ascend or descend, the rope lifter 7 is connected with the control module, the robot main body is also provided with a multifunctional mechanical arm, the multifunctional mechanical arm is connected with the control module, and the multifunctional mechanical arm comprises a mechanical big arm 13, a mechanical small arm 4, a mechanical big arm driving motor, mechanical arm driving motor 2, mechanical palm driving motor 6 and mechanical tongs 5, mechanical big arm driving motor sets up in the robot main part, and mechanical big arm 13 one end is connected with mechanical big arm driving motor transmission, and the other end is connected with mechanical arm driving motor 2 transmission, and mechanical arm 4 one end is connected with mechanical arm driving motor 2 transmission, and the other end is connected with mechanical palm driving motor 6, and mechanical palm driving motor 6 is connected with mechanical tongs 5 transmission, and mechanical palm driving motor 6 is used for driving mechanical tongs 5 to snatch the operation.

The working process of the embodiment is as follows:

After the robot is started, when the robot runs upwards, the robot can move upwards in a spiral mode along a rope 14 under the action of a rope lifter 7, a mechanical arm cabin door 10 is closed when moving upwards, all four machine body mechanical legs 9 are contained in the robot body, the four electromagnetic chucks 1 and the machine body mechanical legs 9 are fixed at different positions so that the robot is wholly stable, when the rope lifter 7 is in a loosening state, the rope lifter 7 stops working, at the moment, the multifunctional mechanical arm stretches out, meanwhile, a telescopic device arranged in the mechanical arm 4 is started, the whole length of the multifunctional mechanical arm is increased, the working range of the multifunctional mechanical arm is enlarged, and finally a mechanical palm driving motor 6 drives a mechanical gripper 5 to start working; the mechanical gripper 5 can be used for polishing the corrosion surface of the bridge steel structure or spraying paint or repairing paint on the bridge surface by arranging a polishing mechanism or a paint spraying mechanism on the mechanical gripper 5, and bolts on the bridge can be repaired.

The AMR autonomous rope climbing high-altitude robot provided by the utility model firstly utilizes an unmanned aerial vehicle to plan a conventional flight task through an AMR autonomous moving technology, obtains a bridge low-resolution visible light photo, outputs a point cloud LAS and a three-dimensional model through drawing software, plans a short-distance inspection route according to the point cloud LAS and the three-dimensional model output by the low-resolution photo, acquires data of the whole bridge again through the unmanned aerial vehicle, selects a defect image by reading image position and posture information of acquired data, marks the image defect position, outputs a bridge defect marking report, and displays the flat distance and the vertical distance of the defect position and a reference origin so as to guide an maintainer to accurately position the defect position.

The AMR autonomous rope climbing high-altitude robot adopts rope technology, performs three-dimensional movement through a transverse crossing system and a vertical system which are arranged in a control module, builds a three-dimensional coordinate system through the rope technology, performs visual operation on the rope climbing robot by utilizing a manual remote control operation mode, and is provided with a sensor, a multifunctional camera 3 and a rear camera 8, and comprises a plurality of adsorption devices, so that the rope climbing robot reaches a preset position through the rope system and then performs the next engineering operation.

Preferably, the number of the mechanical legs 9 of the machine body and the mechanical arm cabin doors 10 is four, and the four mechanical arm cabin doors 10 are arranged at the bottoms of the corresponding mechanical legs 9 of the machine body, so that the mechanical legs 9 of the machine body with a plurality of numbers are matched with the electromagnetic chuck 1, and the adsorption points of the rope climbing robot can be lifted, so that the adsorption force of the rope climbing robot is improved. In practice, other numbers of fuselage robot legs 9 and robot arm doors 10 may be specifically contemplated as appropriate.

Preferably, the number of the electromagnetic chucks 1 is four, and the four electromagnetic chucks 1 are correspondingly arranged at the end parts of the mechanical legs 9 of the machine body. By means of the structural design, the four electromagnetic chucks 1 are arranged, so that the mechanical legs 9 of the robot body can be fixed at different positions, and the robot is wholly stable.

Preferably, the mechanical arm 4 is internally provided with a telescopic device, the telescopic device consists of a hydraulic machine and a hydraulic cylinder, and the hydraulic machine is in transmission connection with the hydraulic cylinder. By means of the structural design, the coverage range of the mechanical arm can be increased by the aid of the telescopic device arranged in the mechanical arm 4, so that the working range of the multifunctional mechanical arm is improved, and the telescopic device is reduced to the shortest state when the multifunctional mechanical arm is not needed, so that the movement of the robot is not affected. In practice, the substitution of hydraulic machines and cylinders by electrical or pneumatic systems is also specifically contemplated according to the specific circumstances.

Preferably, the electromagnetic chuck 1 can generate an adsorption force of 350kg-500kg after being electrified, and by adopting the structural design, when an object needs to be adsorbed by the electromagnetic chuck 1, the electromagnetic chuck 1 is electrified, a soft iron sheet at the bottom of the electromagnetic chuck 1 can be immediately and tightly attached to the metal surface, and a strong adsorption force is generated, so that the electromagnetic chuck can be quickly and stably fixed on the metal surface without loosening, and when the object needs to be released, the electromagnetic chuck 1 is powered off, a magnetic field disappears, and the adsorption force also disappears, thereby realizing smooth release of the object.

Preferably, be equipped with five arc claws and five micro-motors on the mechanical tongs 5, five arc claws are respectively by the micro-motor individual control who corresponds, and such structural design compares with adopting a micro-motor overall control, and a plurality of micro-motors individual control can more nimble carry out engineering operation. In practice, other numbers of arcuate claws are specifically contemplated as the case may be.

Preferably, the rope lifter 7 is divided into two states, one is an operating state and one is a releasing state. With the structural design, the two states represent different actions to be performed by the robot, and operators can easily distinguish the actions by naked eyes.

Preferably, when the rope lifter 7 is in a working state, the rope lifter 7 is started, the mechanical legs 9 of the machine body are fully retracted into the robot main body, the mechanical arm cabin door 10 is closed, and by the aid of the structural design, the rope lifter 7 is started, the rope lifter 7 drives the robot to do spiral ascending motion along the rope, at the moment, the mechanical legs 9 of the machine body are retracted into the robot main body and the mechanical arm cabin door 10 is closed, collision between the mechanical legs 9 of the machine body and a bridge in the spiral ascending motion can be avoided, and damage to the robot is caused.

Preferably, when the rope lifter 7 is in a loosening state, the mechanical legs 9 of the machine body extend out, the electromagnetic chuck 1 adsorbs the metal surface, the mechanical arm cabin door 10 is opened, and after the electromagnetic chuck 1 adsorbs the metal surface, the rope lifter 7 is in a loosening state, the rope lifter 7 stops working, and then the multifunctional mechanical arm starts to work.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims of this utility model, which are within the skill of those skilled in the art, can be made without departing from the spirit and scope of the utility model disclosed herein.

Claims

AMR independently climbs rope high altitude robot, its characterized in that: the robot comprises a robot main body, a control module and a portable power supply are arranged in the robot main body, the control module is electrically connected with the portable power supply, a machine body mechanical leg (9) is arranged on the robot main body, the machine body mechanical leg (9) is connected with the control module, an electromagnetic chuck (1) is arranged at one end of the machine body mechanical leg (9), a mechanical arm cabin door (10) is arranged at the other end of the machine body mechanical leg, a sensor is arranged on the electromagnetic chuck (1), the sensor is in signal connection with the control module, the electromagnetic chuck (1) is used for generating adsorption force after being electrified and adsorbing a metal surface, the control module can control the mechanical arm cabin door (10) to be opened or closed, the control module can control the machine body mechanical leg (9) to be lengthened or shortened, the electromagnetic chuck (1) is connected with the machine body mechanical leg (9) in a following manner, a front cabin cover (12) capable of being opened or closed is arranged at the top of the robot main body, a multifunctional head (3) is embedded in the front cabin cover (12) and is connected with the control module, the multifunctional head (3) is connected with the control module, the rear cabin cover (11) is connected with the camera (11) in a rear-mounted manner, the camera is connected with the camera (11) in a rear-mounted manner, still include rope (14) and rope lift (7), rope (14) pass robot main part to be fixed in robot main part one side, rope lift (7) embeds there are lift driving motor and lift hold-in range, lift driving motor and lift hold-in range transmission are connected, rope lift (7) are used for the drive the robot main part rises or descends, rope lift (7) with control module connects, still be equipped with multi-functional arm in the robot main part, multi-functional arm with control module connects, multi-functional arm includes mechanical arm (13), mechanical arm (4), mechanical arm driving motor (2), mechanical palm driving motor (6) and mechanical tongs (5), mechanical arm driving motor set up in the robot main part, mechanical arm (13) one end with mechanical arm driving motor transmission is connected, the other end with mechanical arm driving motor (2) transmission is connected, mechanical arm (4) one end with mechanical arm (6) driving motor, mechanical arm (6) drive is connected with mechanical tongs (5), mechanical arm (6) drive palm (6) drive, mechanical tongs (5) drive palm (6) are connected.
2. The AMR autonomous rope climbing aerial robot of claim 1, wherein: the number of the mechanical legs (9) of the machine body and the mechanical arm cabin doors (10) is four, and the four mechanical arm cabin doors (10) are arranged at the bottoms of the corresponding mechanical legs (9) of the machine body.
3. The AMR autonomous rope climbing aerial robot of claim 2, wherein: the number of the electromagnetic chucks (1) is four, and the four electromagnetic chucks (1) are correspondingly arranged at the end parts of the mechanical legs (9) of the machine body.
4. The AMR autonomous rope climbing aerial robot of claim 1, wherein: the mechanical small arm (4) is internally provided with a telescopic device, the telescopic device consists of a hydraulic machine and a hydraulic cylinder, and the hydraulic machine is in transmission connection with the hydraulic cylinder.
5. The AMR autonomous rope climbing aerial robot of claim 1, wherein: the electromagnetic chuck (1) can generate an adsorption force of 350kg-500kg after being electrified.
6. The AMR autonomous rope climbing aerial robot of claim 1, wherein: five arc-shaped claws and five miniature motors are arranged on the mechanical gripper (5), and the five arc-shaped claws are respectively and independently controlled by the corresponding miniature motors.
7. The AMR autonomous rope climbing aerial robot of claim 1, wherein: the rope lifter (7) is divided into two states, one is a working state and the other is a releasing state.
8. The AMR autonomous rope climbing overhead robot of claim 7, wherein: when the rope lifter (7) is in a working state, the rope lifter (7) is started, all the mechanical legs (9) of the robot body are received in the robot body, and the mechanical arm cabin door (10) is closed.
9. The AMR autonomous rope climbing overhead robot of claim 7, wherein: when the rope lifter (7) is in a loosening state, the mechanical legs (9) of the machine body extend out, the electromagnetic chuck (1) adsorbs the metal surface, and the mechanical arm cabin door (10) is opened.