WO2023197534A1

WO2023197534A1 - Locomotion apparatus for climbing robot, and flying-climbing robot thereof

Info

Publication number: WO2023197534A1
Application number: PCT/CN2022/121287
Authority: WO
Inventors: 徐丰羽; 田建东; 马凯威; 范保杰; 申景金
Original assignee: 南京邮电大学
Priority date: 2022-04-11
Filing date: 2022-09-26
Publication date: 2023-10-19

Abstract

The present application discloses a locomotion apparatus for a climbing robot, comprising a middle locomotion mechanism, two side locomotion mechanisms, and two pivoting mechanisms. The middle locomotion mechanism comprises a main frame and a first universal locomotion mechanism. The first universal locomotion mechanism is provided with a first universal wheel located on the inner side of the main frame. The two side locomotion mechanisms are arranged on two sides of the middle locomotion mechanism in an axially symmetric manner. Each side locomotion mechanism comprises a sub-frame, a driving locomotion mechanism, and a second universal locomotion mechanism. The two sub-frames are both hinged to the main frame, and can be pivoted with respect to the main frame under the driving of the corresponding pivoting mechanisms, and clamped. The driving locomotion mechanism and the second universal locomotion mechanism are both provided on the sub-frame, the driving locomotion mechanism is provided with a driving wheel located on the inner side of the sub-frame, and the second universal locomotion mechanism is provided with a second universal wheel located on the inner side of the sub-frame.

Description

Walking device for climbing robot and its flying climbing robot

Related applications

This application claims priority to the Chinese patent application with the application number 2022103772836 and the application name "A walking mechanism for climbing robots" submitted to the China Patent Office on April 11, 2022. It claims to be submitted on April 11, 2022. China Patent Office, application number 2022103753604, application title "A multi-degree-of-freedom flying-climbing robot that can compliantly fit with the surface of bridge cable towers" has priority, and the request was submitted on April 11, 2022 The Chinese Patent Office has the priority of the Chinese patent application with application number 2022103753816 and the application title is "A multi-degree-of-freedom flying and climbing robot that can compliantly fit with the curved surface of wind turbine blades", and the entire content of which is incorporated herein by reference. Applying.

Technical field

The present application relates to the field of climbing robots, and in particular to a walking device for a climbing robot and a flying climbing robot thereof.

Background technique

With the continuous and rapid development of large-scale construction projects, more and more large-scale buildings such as wind power stations and transportation construction have appeared. For example, long-span cable-stayed bridges and suspension bridges are increasingly appearing on large rivers. As the main component of the bridge, the PE (polyethylene) layer on the surface of the cables will harden and crack to varying degrees after being exposed to wind and sun, causing the internal steel wire bundles to be corroded. In severe cases, wire breakage and bridge collapse may even occur. On the other hand, due to wind vibration, rain vibration and other reasons, the steel wire bundle is more likely to be worn, and wire breakage may occur in serious cases.

However, as a key non-destructive testing technology for the operation and maintenance of cable-stayed bridges, traditional technology is still dominated by manual testing. It mainly uses a winch to drag the hanging basket through a fixed pulley, or uses a lift truck to carry workers. Perform inspection and maintenance on cables. This method is not only inefficient and costly, but also difficult to ensure the safety of inspection personnel. As a result, it is only suitable for small cable-stayed bridges and is incapable of inspecting large-span, high-amplitude, strong disturbance, and ultra-long cables.

Contents of the invention

Each exemplary embodiment of the present application provides a walking device for a climbing robot and a flying climbing robot thereof. The multi-degree-of-freedom climbing robot can quickly clamp the zipper to adapt to the conditions along the cable, along the slope and Walking on curved surfaces.

According to one aspect of the present application, a walking device for a climbing robot includes: a middle walking mechanism, two side walking mechanisms and two pivoting mechanisms;

Wherein, the intermediate traveling mechanism includes a main frame and a first universal traveling mechanism arranged on the main frame; the first universal traveling mechanism has a first universal wheel located inside the main frame;

The two side traveling mechanisms are symmetrically arranged on both sides of the intermediate traveling mechanism, and each side traveling mechanism includes a sub-frame, a driving traveling mechanism and a second universal traveling mechanism;

The two sub-frames are respectively hinged with the main frame and configured to achieve relative pivoting and clamping with the main frame under the driving of corresponding pivot mechanisms; and

The driving traveling mechanism and the second universal traveling mechanism are respectively arranged on the two sub-frames, wherein the driving traveling mechanism has a driving wheel located inside the sub-frame, and the second universal traveling mechanism The running gear has a second universal wheel located inside the subframe.

In one embodiment, the first universal traveling mechanism, the driving traveling mechanism and the second universal traveling mechanism all have spring damping suspension mechanisms; and each of the spring damping suspension mechanisms is installed correspondingly on each location. The first universal wheel, the second universal wheel or the driving wheel is installed on the main frame or the sub-frame, and the bottom end of each spring damping suspension mechanism is correspondingly installed.

In one embodiment, each of the spring damping suspension mechanisms includes a sliding guide rail, a fixed block, a fixed connecting plate, a movable connecting plate, a damper and a spring;

Wherein, the bottom of the sliding guide rail is correspondingly provided with the first universal wheel, the second universal wheel or the driving wheel;

The fixed block, the fixed connecting plate and the movable connecting plate are sleeved on the first universal wheel, the second universal wheel or the driving wheel in sequence from bottom to top. On the sliding guide rail; wherein, the fixed block and the fixed connecting plate can slide relative to the sliding guide rail, and the movable connecting plate is fixedly connected to the sliding guide rail;

The fixed block and the fixed connecting plate are fixedly connected to the main frame or the sub-frame correspondingly; and

The damper and the spring are arranged between the fixed connection plate and the movable connection plate.

In one embodiment, the driving traveling mechanism further includes a driving wheel driving device for driving the driving wheel to rotate. The driving wheel driving device is installed on the movable connecting plate. The driving wheel driving device includes a driving wheel. A motor and a synchronous belt, the drive motor is installed on the movable connecting plate, and the drive motor is configured to drive the rotation of the driving wheel through the synchronous belt.

In one embodiment, the number of the dampers and the springs of each spring damping suspension mechanism is two, and they are symmetrically spaced apart in the circumferential direction of the sliding guide rail and located on the fixed between the connecting plate and the movable connecting plate.

In one embodiment, the main frame includes a load mounting plate, a main arc-shaped rod and a main connecting rod; wherein the number of the main arc-shaped rods is two and they are arranged in parallel; the main connecting rod is used to The two main arc-shaped rods are connected; and the load mounting plate is sleeved on the main connecting rod and is configured to install a load.

In one embodiment, each of the auxiliary frames includes a auxiliary arc-shaped rod and a auxiliary connecting rod; wherein the number of the auxiliary arc-shaped rods is two and is arranged in parallel; and the auxiliary connecting rod is used for Connect the two auxiliary arc-shaped rods.

In one embodiment, each of the pivot mechanisms includes a pivot drive shaft and a pivot drive device;

Wherein, the two main arc-shaped rods in the main frame and the two auxiliary arc-shaped rods in the sub-frames on both sides are respectively hinged through one of the pivot driving shafts; and

The pivot drive device is configured to drive rotation of the pivot drive shaft.

In one embodiment, the pivot drive device includes a pivot drive motor and a pivot timing belt, wherein the pivot drive motor is mounted on the load mounting plate, and the pivot drive motor is configured to The rotation of the pivot drive shaft is driven by the pivot timing belt.

In one embodiment, the running gear is configured so that, depending on the degree of pivoting of the two side running gears relative to the middle running gear, the running gear can be clamped to the surface of a rod for climbing, or Ability to walk on flat or curved surfaces.

According to another aspect of the present application, a multi-degree-of-freedom flying climbing robot includes the aforementioned walking device for climbing robots, and also includes a flying device. The flying device includes a connecting base, a plurality of rotors, and a plurality of support frames. and support frame rotation drive device;

Wherein, the connecting seat includes a flying link, and the connecting seat is connected to the load mounting plate at the center of the top surface of the load mounting plate of the walking device through the flying link;

The number of the plurality of rotors is at least three, and they are evenly and symmetrically arranged in the circumferential direction of the connecting base;

Each of the plurality of rotors is connected to the connecting base through a corresponding one of the plurality of supporting frames, wherein one end of each supporting frame is rotatably connected to the connecting base respectively, and the supporting frame The other end of the frame has an arc-shaped groove, a corresponding rotor is rotatably installed in the arc-shaped groove, the rotation axis of the corresponding rotor is perpendicular to the length direction of the support frame; and the support frame is rotated and driven The device is configured to drive each of the plurality of support frames to rotate around their respective rotation axes.

In one embodiment, the support frame rotation driving device is configured to drive the plurality of support frames to rotate synchronously around their respective rotation axes.

In one embodiment, the support frame rotation driving device includes a driving bevel gear and a driven bevel gear;

The driving bevel gear is mounted on the top of the connecting seat and is configured to actively rotate about the longitudinal axis of the flight link; and

The number of the driven bevel gears is equal to the number of the supporting frames. One driven bevel gear is coaxially installed on each supporting frame, and each driven bevel gear is connected to the The driving bevel gears mesh.

In one embodiment, each of the rotors includes a rotor frame and a plurality of rotor blades; the plurality of rotor blades are installed in the rotor frame and configured to rotate actively or passively; and The rotor frame is rotatably installed in the arc-shaped groove, and the rotation axis of the rotor frame is perpendicular to the length direction of the support frame.

According to another aspect of the present application, a multi-degree-of-freedom flying and climbing robot includes the aforementioned walking device for climbing robots, and further includes a flying device and a balancing rotor;

Wherein, the flying device includes a connecting rod, a rotating bracket and 2n flying rotors, where n is a natural number greater than or equal to 2; the bottom end of the connecting rod is fixedly installed on the load mounting plate of the walking device. The center of the top surface, and the middle or top of the connecting rod is provided with a sleeve perpendicular to the connecting rod;

The rotating bracket includes a rotating rod and n rotor mounting rods. The middle part of the rotating rod is rotatably inserted into the sleeve and can rotate actively or passively. The n rotor mounting rods are relative to The connecting rods are arranged axially symmetrically on the rotating rods on both sides of the sleeve;

The 2n flying rotors are arranged on the rotor mounting rod axially symmetrically with respect to the connecting rod, and each of the flying rotors can rotate actively or passively; and

The balance rotor includes a plurality of balance rotor blades, a balance rotor bracket and a Y-shaped connecting rod. The multiple balance rotor blades are arranged in the balance rotor bracket and can actively rotate; the bottom end of the Y-shaped connecting rod Connected to the sleeve or the top end of the connecting rod, the top end of the Y-shaped connecting rod has an arc-shaped groove; the balance rotor bracket is rotatably installed on the arc-shaped groove of the Y-shaped connecting rod. on the groove, and the rotation axis of the balance rotor bracket is perpendicular to the connecting rod.

In one embodiment, the balance rotor bracket can actively rotate.

In one embodiment, the number of the rotor mounting rods is two, and they are arranged axially symmetrically at both ends of the rotating rod, so that the rotating bracket is H-shaped.

In one embodiment, the number of the flying rotors is four, and the four flying rotors are arranged in pairs and axially symmetrically on the ends of the two rotor mounting rods.

In one embodiment, the number of the rotor mounting rods is two, and the rotary rods are symmetrically arranged in the middle of both sides of the sleeve; and the number of the flying rotors is six, and the Six flying rotors are arranged in pairs on the ends of the two rotor mounting rods and the end of the rotating rod respectively axially symmetrically.

In one embodiment, the number of the rotor mounting rods is four, which are axially symmetrically arranged on the rotating rods on both sides of the sleeve; and the number of the flying rotors is eight, and the eight The flying rotors are arranged in pairs and axially symmetrically on the ends of the four rotor mounting rods.

The inventor found that the application of a safe, stable and efficient robot system can solve the industry needs for automatic inspection of wind turbine blades in large buildings, wind power stations and large transportation facilities. For example, in the detection of bridge cables, automatic detection has become an urgent industry need to be solved. Since modern long-span cable-stayed bridges are usually built over large rivers, lakes and seas, ultra-long flexible cables are easily affected by disturbances such as wind loads and produce different forms of vibration. During the climbing process of the climbing robot, since the climbing robot and the cable vibrate together, there are deficiencies in the following aspects that need to be improved.

The climbing robot and the cable mainly rely on rolling friction to achieve climbing. However, when the climbing robot vibrates with the cable, the rolling friction between the climbing robot and the cable will change, causing slipping or jamming, which reduces the climbing stability.

In addition, since the climbing robot carries high-precision cable detection equipment, when the climbing robot vibrates with the cable, if the vibration amplitude is large, it will seriously affect the detection accuracy of the cable detection equipment. Especially when the two resonate, the cable detection equipment may even be damaged.

In addition, the application scenarios in the wind power field also have similarities. In the field of wind power, not only the rods or blades of the wind power station (such as the cables of the cable-stayed bridge) need to be inspected, but also the curved surfaces (such as the cable tower piers of the cable-stayed bridge) need to be inspected.

Through the walking mechanism and its flying climbing robot provided by each exemplary embodiment of the present application, by providing a middle walking mechanism and side walking mechanisms arranged on both sides of the middle walking mechanism, the two side walking mechanisms can be pivoted relative to the middle walking mechanism. The rotating pivot mechanism allows the traveling mechanism to adjust the curvature of the traveling surface, thereby adapting to walking along inclined planes and curved surfaces, which is convenient for rods of wind power stations, cable tower piers, columns of large buildings, etc. with curved outer surfaces. Components can be inspected, and the work of walking along rods such as cables can also be realized.

In addition, through the pivot mechanism of the present application, it is also possible to quickly clamp rods such as cables and improve the clamping efficiency.

Description of the drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. Each illustrative embodiment of the present application and its description are used to explain the present application and are not intended to limit the present application.

Figure 1 shows an isometric view of a walking device according to an embodiment of the present application.

Figure 2 shows an isometric view of the walking device from another perspective according to an embodiment of the present application.

Figure 3 shows an isometric view of an intermediate running mechanism according to an embodiment of the present application.

Figure 4 shows an isometric view of a side running mechanism according to an embodiment of the present application.

Figure 5 shows an isometric view of the first universal traveling mechanism according to an embodiment of the present application.

Figure 6 shows an isometric view of the driving traveling mechanism according to an embodiment of the present application.

Figure 7 shows an isometric view of a spring damping suspension mechanism according to an embodiment of the present application.

Figure 8 shows an isometric view of the spring damping suspension mechanism from another perspective according to an embodiment of the present application.

Figure 9 shows a side view of the spring damping suspension mechanism in a natural state according to an embodiment of the present application.

FIG. 10 shows a side view of the spring-damped suspension mechanism shown in FIG. 9 in a compressed state.

Figure 11 shows a schematic diagram of a walking device walking on a pipe according to an embodiment of the present application.

FIG. 12 shows a top view of the walking device in the embodiment shown in FIG. 11 when walking on the pipe.

Figure 13 shows a schematic diagram of the walking device walking on an incline or a flat surface according to an embodiment of the present application.

Figure 14 shows an isometric view of a multi-degree-of-freedom flying-climbing robot that can compliantly fit on the surface of a bridge cable tower according to an embodiment of the present application.

Figure 15 shows an isometric view from another perspective of the multi-degree-of-freedom flying and climbing robot according to an embodiment of the present application.

Figure 16 shows an isometric view of a flying device according to an embodiment of the present application.

Figure 17 shows an isometric view from another perspective of the flying device according to an embodiment of the present application.

Figure 18 shows a schematic diagram of a multi-degree-of-freedom flying climbing robot walking on a pipe according to an embodiment of the present application.

Figure 19 shows a side view of a multi-degree-of-freedom flying climbing robot walking on a pipe according to an embodiment of the present application.

Figure 20 shows a schematic diagram of a multi-degree-of-freedom flying and climbing robot walking on an incline or a plane according to an embodiment of the present application.

Figure 21 shows an isometric view of a multi-degree-of-freedom flying-climbing robot that can compliantly fit with the curved surface of wind power station poles according to another embodiment of the present application.

Figure 22 shows an isometric view from another perspective of the multi-degree-of-freedom flying and climbing robot according to an embodiment of the present application.

Figure 23 shows a partial structural diagram of a balance rotor according to an embodiment of the present application.

Figure 24 shows a schematic diagram of a multi-degree-of-freedom flying and climbing robot walking on an incline or a plane according to an embodiment of the present application.

Figure 25 shows a schematic diagram of a multi-degree-of-freedom flying climbing robot walking on a pipe according to an embodiment of the present application.

Reference signs:

10. Intermediate traveling mechanism;

11. Main frame; 111. Load mounting plate; 112. Main arc rod; 113. Main connecting rod;

12. The first universal traveling mechanism;

122. Spring damping suspension mechanism; 122a. Sliding guide rail; 122b. Fixed block; 122c. Fixed connecting plate; 122d. Movable connecting plate; 122e. Damper; 122f. Spring;

20. Side traveling mechanism;

21. Auxiliary frame; 211. Auxiliary arc rod; 212. Auxiliary connecting rod;

22. Drive traveling mechanism;

221. Driving wheel; 221a. Driving wheel support frame; 221b. Driving wheel axle;

222. Drive wheel drive device; 222a. Drive motor; 222b. Timing belt;

23. The second universal traveling mechanism;

30. Pivot mechanism;

31. Pivot drive device; 311. Pivot drive motor; 312. Pivot timing belt;

32. Drive shaft;

40. Flying device;

41. Connecting seat; 411. Flight connecting rod;

42. Rotor; 421. Rotor frame; 422. Rotor blades;

43. Support frame;

44. Support frame rotation driving device; 441. Driving bevel gear; 442. Driven bevel gear;

50. Balanced rotor;

51. Balanced rotor bracket;

52.Y-shaped connecting rod;

53. Balance rotor blades;

61. Connecting rod; 611. Sleeve;

62. Rotating bracket; 621. Rotating rod; 622. Rotor mounting rod;

63. Flying rotor.

Detailed ways

The present application will be described in further detail below in conjunction with the accompanying drawings and specific preferred embodiments.

In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "left side", "right side", "upper part", "lower part", etc. are based on the orientation or positional relationship shown in the drawings, and are only In order to facilitate the description of this application and simplify the description, no indication or implication is made that the device or element referred to must have a particular orientation, or be constructed and operate in a particular orientation.

The terms “first” and “second” in this application do not indicate the importance or order of the elements, but are only used to distinguish the elements for the purpose of clarity, and therefore should not be understood as limitations on the elements. The specific dimensions used in each embodiment of the present application are only for illustrating the technical solutions and do not limit the scope of protection of the present application.

Unless the context defines otherwise, the directional term "inside" in this application refers to the side of the running gear facing the curved surface to which it is clamped. Similarly, the directional term "outside" in this application refers to the side of the running gear facing away from the curved surface to which it is clamped.

In one embodiment, as shown in FIGS. 1 and 2 , a walking device for a climbing robot includes a middle walking mechanism 10 , two side walking mechanisms 20 and two pivot mechanisms 30 .

As shown in FIG. 3 , the intermediate traveling mechanism 10 mainly includes a main frame 11 and two first universal traveling mechanisms 12 provided on both sides of the main frame 11 .

The main frame 11 may include a load mounting plate 111 , a main arc rod 112 and a main link 113 .

The number of main arc-shaped rods 112 can be two, and they are arranged parallel and side by side. The main arc-shaped rod 112 is arc-shaped. Alternatively, the main arc-shaped rod 112 may also be a straight rod. Alternatively, the number of main arc-shaped rods 112 may also be three or more.

The number of main connecting rods 113 may be two, and the two main connecting rods 113 are used to connect the two main arc-shaped rods 112 . The two main connecting rods 113 are arranged parallel to each other and between the two main arc-shaped rods 112, thereby forming an H-shaped structure.

The load mounting plate 111 is sleeved on the main link 113 and is used to install functional loads.

As shown in Figures 1 to 5, the first universal traveling mechanism 12 is disposed on the main arc-shaped rod 112, and the first universal traveling mechanism 12 has a first universal wheel 121 located inside the main frame 11 and a spring damper. Suspension structure 122.

A spring-damped suspension mechanism 122 may be mounted on the main arcuate rod 112 . As shown in Figures 7 and 8, the spring damping suspension mechanism 122 may include a sliding guide rail 122a, a fixed block 122b, a fixed connecting plate 122c, a movable connecting plate 122d, a damper 122e and a spring 122f.

In the embodiment shown in FIGS. 7 and 8 , the above-mentioned universal wheel is provided at the bottom of the sliding guide rail 122a. The fixed block 122b, fixed connecting plate 122c and movable connecting plate 112d are set on the sliding guide rail 122a located above the universal wheel 121 or the driving wheel 221 from bottom to top according to the orientation in the drawing. It can be understood that "from bottom to top" here refers to the direction from the inside of the walking device to the outside of the walking device.

In addition, the fixed block 122b and the fixed connecting plate 122c are configured to be slidable relative to the sliding guide rail 122a, and the movable connecting plate 122d is fixedly connected to the sliding guide rail 122a. The fixed block 122b and the fixed connection plate 122c are both fixedly connected to the main frame 11. The damper 122e and the spring 122f are arranged between the fixed connection plate 122c and the movable connection plate 122d. The number of dampers 122e and springs 122f may each be two, and they may be symmetrically spaced apart from each other in the circumferential direction of the sliding guide rail 122a between the fixed connection plate 122c and the movable connection plate 122d.

The universal wheel 121 is installed at the bottom end of the spring damping suspension mechanism 122 . The number of the first universal wheels 121 of the walking device may be two. The two first universal wheels 121 can be installed at the inner middle portions of the two main arc-shaped rods 112 respectively. It can be understood that each universal wheel 121 in this application can achieve 360° rotation.

Due to the cooperation between the first universal wheel 121 and the spring damping suspension mechanism 12, the first universal traveling mechanism 12 can buffer the vibration caused by the collision between the traveling device and the contact surface, and can also assist the traveling device to maintain stability during traveling, improving Detection accuracy overcomes problems caused by rough, convex or uneven contact surfaces.

As shown in Figures 9 and 10, when the universal wheel 121 touches the contact surface, the force will be transmitted along the direction of the universal wheel 121, the sliding guide rail 122a and the movable connecting plate 122d. At this time, the sliding guide rail 122a drives the movable connecting plate 122d to slide relative to the fixed block 122b, so that the distance between the fixed connecting plate 122c and the movable connecting plate 122d becomes larger, so that the two springs 122f provided between them are pulled. The corresponding length is extended, and the vibration generated during this period is reduced by the damper 122e. Overall, this arrangement can reduce related vibration problems caused by the walking device during travel.

As shown in FIGS. 1 , 2 and 4 , the main arc-shaped rod 112 can also play a role in connecting the two side running mechanisms 20 .

Two side traveling mechanisms 20 are symmetrically arranged on both sides of the middle traveling mechanism 10 . Each side traveling mechanism 20 includes a sub-frame 21 , a driving traveling mechanism 22 and a second universal traveling mechanism 23 .

Both sub-frames 21 are hinged with the main frame 11 and can pivot and clamp relative to the main frame 11 under the drive of the corresponding pivot mechanism 30 .

Each sub-frame 21 includes a sub-arc rod 211 and a sub-link 212 . The number of auxiliary arc-shaped rods 211 may be two, and they are arranged parallel to each other. The auxiliary connecting rod 212 is used to connect two auxiliary arc-shaped rods 211. Each sub-frame 21 is provided with a driving traveling mechanism 22 and a second universal traveling mechanism 23 .

As shown in Figures 1, 2 and 6, the driving traveling mechanism 22 has a driving wheel 221 located inside the subframe 21, a spring damping suspension mechanism 122 and a driving wheel driving device 222.

The driving wheel 221 may be installed inside the outer end of the auxiliary arc-shaped rod 212 located at the top (ie, the side facing the traveling direction of the walking device) in the auxiliary frame 21 . Each driving wheel 221 includes a driving wheel support frame 221a and a driving wheel axle 221b.

The structure of the spring damping suspension mechanism 122 that drives the traveling mechanism 23 is the same as above, except that the fixed block 122b and the fixed connecting plate 122c are both fixedly connected to the auxiliary arc-shaped rod 212 at the top of the subframe 21, and the driving wheel 221 is installed on the sliding The bottom of guide rail 122a.

The driving wheel driving device 222 is installed on the movable connecting plate 122d and is used to drive the rotation of the driving wheel 221.

The driving wheel drive device 222 may include a drive motor 222a and a timing belt 222b. The driving motor 222a is installed on the corresponding movable connection plate 122d. The driving motor 222a drives the rotation of the driving wheel 221 through the synchronous belt 222b.

The second universal traveling mechanism 23 includes a second universal wheel 121 and a spring damping suspension mechanism 122 .

The second universal wheel 121 in the second universal traveling mechanism 23 is installed inside the outer end of the auxiliary arc-shaped rod 212 located at the bottom of the corresponding auxiliary frame 21 . The structure of the spring damping suspension mechanism 122 of the second universal traveling mechanism 23 is the same as above, except that the fixed block 122b and the fixed connecting plate 122c are both fixedly connected to the auxiliary arc-shaped rod 212 at the bottom of the subframe 21, and the second universal traveling mechanism 23 is The universal wheel 121 in the traveling mechanism 23 is installed at the bottom of the sliding guide rail 122a.

As shown in FIGS. 1 and 2 , each pivot mechanism includes a pivot drive shaft 32 and a pivot drive device 31 .

The two main arc-shaped rods 112 in the main frame 11 and the two auxiliary arc-shaped rods 211 in the sub-frames 21 on both sides are hingedly connected through a pivot driving shaft 32 respectively. The pivot driving device 31 is mainly used to drive the rotation of the pivot driving shaft 32 .

The pivot driving device 32 may include a pivot drive motor 311 and a pivot timing belt 312 . The pivot drive motor 311 may be installed on the load mounting plate 111 , and the pivot drive motor 311 may drive the rotation of the pivot drive shaft 32 through the pivot synchronous belt 312 . Alternatively, the pivot driving device 32 may also be a gear transmission or other driving mechanism known in the prior art.

As shown in Figures 11, 12 and 13, the intermediate walking mechanism 10 is located in the central part of the entire walking device and can perform a "clamping" operation through the pivot mechanisms 30 on both sides. The pivot mechanisms 30 on both sides are used to drive the two side running mechanisms 20 to "open and close". When the two side walking mechanisms 20 are opened, they can be used for walking on flat (or inclined plane) or curved surfaces. When the two side running mechanisms 20 are pivoted and closed by the pivot mechanism 30, they can adapt to the curved surface of the rod or pipe and "clamp", so that they can be stably mounted on the pipe or rod (for example, a cable-stayed bridge). on the cable) for walking.

As mentioned above, in the field of wind power, not only the poles of wind power stations (such as cables of cable-stayed bridges) need to be inspected, but also curved surfaces (such as cable towers and piers of bridges) need to be inspected. However, the inventor found that the existing cable detection robot can only detect the cables of cable-stayed bridges and cannot detect curved surfaces with different curvatures such as cable towers and bridge piers.

Therefore, each exemplary embodiment of the present application also discloses a multi-degree-of-freedom flying-climbing robot that can compliantly fit with the surface of a bridge cable tower, for example, and realize movement with 6 degrees of freedom. It can not only detect cables and other rods, but also detect curved surfaces with different curvatures such as cable towers and bridge piers.

In the embodiment shown in FIG. 14 and FIG. 15 , a multi-degree-of-freedom flying and climbing robot is provided, which in addition to the walking device according to the embodiments of the present application, also includes a flying device 40 .

As shown in FIGS. 16 and 17 , the flying device 40 includes a connecting base 41 , a rotor 42 , a support frame 43 and a support frame rotation driving device 44 .

The connecting base 41 is installed at the center of the top surface of the load mounting plate 111 of the walking device through the flying link 411.

The number of rotors 42 may be at least three, which are evenly and symmetrically arranged in the circumferential direction of the connecting base 41 . Each rotor 42 may include a rotor frame 421 and a plurality of rotor blades 422 . The plurality of rotor blades 422 are respectively installed in the rotor frame 421 and can rotate actively or passively.

The support brackets 43 can be respectively disposed on the connecting base 41 in three different directions. One end of the support frame 43 is rotatably connected to the connecting seat 41, and the other end of the support frame 43 has a Y-shaped arc groove. A plurality of rotors 42 are rotatably installed in the arc-shaped slot. The rotation axes of the rotor 42 are perpendicular to the length direction of the support frame 43 . Each rotor 42 is connected to the connecting base 43 through a support frame 43 .

The support frame rotation driving device 44 can drive all the above-mentioned support frames 43 to rotate around their respective rotation axes. Optionally, the support frame rotation driving device 44 can drive all the support frames 43 to rotate synchronously.

The support frame rotation driving device 44 may include a driving bevel gear 441 and a driven bevel gear 442 .

The driving bevel gear 441 can be installed on the top of the connecting seat 41 and can actively rotate around the extension axis where the flight link 411 is located. The number of driven bevel gears 442 is equal to the number of supporting frames 43, and a driven bevel gear 442 is coaxially installed on each supporting frame 43. Each driven bevel gear 442 can be connected to the driving bevel gear 441. Engage, thereby driving the support frame 43 to rotate. Alternatively, the support frame driving device 44 can also achieve the above-mentioned synchronous rotation through a combination of a motor and a plurality of synchronous belts.

As shown in Figure 18, Figure 19 and Figure 20, the flying climbing robot provided by this application can "land" on the surface of a bridge pier or a cable tower through the flying device 40, or fly close to it, based on the movement of six degrees of freedom in space. The cable is then clamped on the cable through the walking device, and then the walking and inspection work is carried out.

According to another aspect of this application, wind power blades are one of the core components of wind turbines, and their performance directly affects the work and efficiency of the wind power generation system. Wind turbine blades will have certain defects during production, transportation and use. The current traditional blade inspection methods can be divided into two types: one is for large defects on the outer surface, which are observed with a telescope; the other is defects that exist inside the blade, which are manually rapped using ropes and judged based on experience.

The inventor found that the above-mentioned traditional detection method has the following shortcomings.

1) The detection efficiency is low and the work intensity is high.

2) Working at high altitudes requires high inspection costs.

3) The detection time is long and the shutdown loss is large.

4) The degree of fit between the inspection robot and the curved surface of the wind turbine blades is not high, and the detection accuracy is low; in addition, it is difficult to simultaneously inspect the poles of wind turbines (such as the cables of cable-stayed bridges, etc.).

Therefore, another aspect of the present application provides a multi-degree-of-freedom flying-climbing robot that can compliantly fit on the curved surface of wind turbine blades. The flying-climbing robot can detect cables and other rods at different angles, and can also inspect wind turbine blades. Detect curved surfaces or inclined planes with different curvatures or slopes.

In the embodiment shown in FIG. 21 and FIG. 22 , the multi-degree-of-freedom flying and climbing robot includes the walking device of each of the foregoing exemplary embodiments, and also includes a flying device 40 and a balancing rotor 50 .

The flying device 40 includes a connecting rod 61, a rotating bracket 62 and 2n flying rotors 63; where n is a natural number greater than or equal to 2.

In this embodiment, the bottom end of the connecting rod 61 is fixedly installed at the top center of the load mounting plate 111 of the walking device. A sleeve 611 perpendicular to the connecting rod 61 is provided in the middle or top of the connecting rod 61 .

The rotation bracket 62 may include a rotation rod 621 and a rotor mounting rod 622.

The middle part of the rotating rod 621 is rotatably inserted into the sleeve 611 and can rotate actively or passively, so that the walking device can adapt to different angles of cables and inclined planes.

In the following, in each exemplary embodiment, the number of flying rotors 63 and the arrangement of the rotor mounting rods 622 will be described in detail.

In one embodiment, the number of rotor mounting rods 622 may be two, and they are arranged axially symmetrically at both ends of the rotating rod 621 so that the rotating bracket 62 is H-shaped.

In this embodiment, the number of flying rotors 63 may be four, and the four flying rotors 63 are axially symmetrically arranged at the ends of the two rotor mounting rods 622 . Each flying rotor 63 can rotate actively or passively.

In another embodiment, the number of the rotor mounting rods 622 may be two, and they are axially symmetrically arranged in the middle of the rotating rod 621 on both sides of the sleeve 611 .

In this embodiment, the number of flying rotors 63 may be six, and the six flying rotors 63 are axially symmetrically arranged at the ends of the two rotor mounting rods 622 and the end of the rotating rod 621 .

In yet another embodiment, the number of rotor mounting rods 622 may be four, and they are axially symmetrically arranged on the rotating rods on both sides of the sleeve 611 .

In this embodiment, there may be eight flying rotors 63 , and the eight flying rotors 63 are axially symmetrically arranged at the ends of the four rotor mounting rods 63 .

As shown in FIG. 23 , the balance rotor 50 includes a balance rotor blade 53 , a balance rotor bracket 51 and a Y-shaped connecting rod 52 .

The balance rotor blades 53 are arranged in the balance rotor bracket 51 and can actively rotate.

The bottom end of the Y-shaped connecting rod 52 is connected to the top of the sleeve 611 or the connecting rod 61. The top of the Y-shaped connecting rod 52 has an arc groove. The arc groove of the Y-shaped connecting rod 52 is rotatably installed with a balance rotor bracket. 51.

The rotation axis of the balance rotor bracket 51 is perpendicular to the connecting rod 61, and the balance rotor bracket 51 can actively rotate, thereby driving the rotation bracket 62 to rotate, thereby balancing the gravity of the walking device. When the walking device fits on a curved surface, the active rotation of the balance rotor bracket 51 can also provide the walking device with a pressure directed toward the curved surface or an inclined plane, making the walking device more stable when walking.

As shown in Figures 24 and 25, this application can "land" on curved surfaces (cable towers, bridge piers, blades of wind turbines), and can also fly close to rod-shaped components (stay cables, poles of wind turbines), and then clamp Tighten and perform a walking test.

Each exemplary embodiment of the present application has been described in detail above. However, the present application is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present application, various equivalent transformations can be made to the technical solution of the present application. These Equivalent transformations all fall within the protection scope of this application.

Claims

A walking device for a climbing robot, including: a middle walking mechanism, two side walking mechanisms and two pivoting mechanisms;

Wherein, the intermediate traveling mechanism includes a main frame and a first universal traveling mechanism arranged on the main frame; the first universal traveling mechanism has a first universal wheel located inside the main frame;

The two side traveling mechanisms are symmetrically arranged on both sides of the intermediate traveling mechanism, and each side traveling mechanism includes a sub-frame, a driving traveling mechanism and a second universal traveling mechanism;

The two sub-frames are respectively hinged with the main frame and configured to achieve relative pivoting and clamping with the main frame under the driving of corresponding pivot mechanisms; and

The driving traveling mechanism and the second universal traveling mechanism are respectively arranged on the two sub-frames, wherein the driving traveling mechanism has a driving wheel located inside the sub-frame, and the second universal traveling mechanism The running gear has a second universal wheel located inside the subframe.
The traveling device of claim 1, wherein the first universal traveling mechanism, the driving traveling mechanism and the second universal traveling mechanism each have a spring damping suspension mechanism; and each of the spring damping suspension The mechanism is correspondingly installed on the main frame or the sub-frame, and the bottom end of each spring damping suspension mechanism is correspondingly installed with the first universal wheel, the second universal wheel or the Driving wheel.
The walking device according to claim 2, wherein each of the spring damping suspension mechanisms includes a sliding guide rail, a fixed block, a fixed connecting plate, a movable connecting plate, a damper and a spring;

Wherein, the bottom of the sliding guide rail is correspondingly provided with the first universal wheel, the second universal wheel or the driving wheel;

The fixed block, the fixed connecting plate and the movable connecting plate are sleeved on the first universal wheel, the second universal wheel or the driving wheel in sequence from bottom to top. On the sliding guide rail; wherein, the fixed block and the fixed connecting plate can slide relative to the sliding guide rail, and the movable connecting plate is fixedly connected to the sliding guide rail;

The fixed block and the fixed connecting plate are fixedly connected to the main frame or the sub-frame correspondingly; and

The damper and the spring are arranged between the fixed connection plate and the movable connection plate.
The walking device according to claim 3, wherein the driving walking mechanism further includes a driving wheel driving device for driving the driving wheel to rotate, the driving wheel driving device is installed on the movable connecting plate, and the driving wheel driving device is installed on the movable connecting plate. The drive wheel driving device includes a drive motor and a synchronous belt, the drive motor is installed on the movable connecting plate, and the drive motor is configured to drive the rotation of the drive wheel through the synchronous belt.
The walking device according to claim 3, wherein the number of the dampers and the springs of each spring damping suspension mechanism is two, and they are symmetrically arranged at intervals in the circumferential direction of the sliding guide rail. , and is located between the fixed connection plate and the movable connection plate.
The walking device according to claim 1, wherein the main frame includes a load mounting plate, a main arc-shaped rod and a main connecting rod; wherein the number of the main arc-shaped rods is two and they are arranged in parallel; The main connecting rod is used to connect the two main arc-shaped rods; and the load mounting plate is sleeved on the main connecting rod and is configured to install a load.
The walking device according to claim 6, wherein each of the auxiliary frames includes a auxiliary arc-shaped rod and a auxiliary connecting rod; wherein the number of the auxiliary arc-shaped rods is two and is arranged in parallel; and the The auxiliary connecting rod is used to connect the two auxiliary arc-shaped rods.
The walking device of claim 6, wherein each of the pivot mechanisms includes a pivot drive shaft and a pivot drive device;

Wherein, the two main arc-shaped rods in the main frame and the two auxiliary arc-shaped rods in the sub-frames on both sides are respectively hinged through one of the pivot driving shafts; and

The pivot drive device is configured to drive rotation of the pivot drive shaft.
The walking device of claim 8, wherein the pivot drive device includes a pivot drive motor and a pivot timing belt, wherein the pivot drive motor is mounted on the load mounting plate, and the pivot drive The rotation drive motor is configured to drive rotation of the pivot drive shaft via the pivot timing belt.
The running gear of claim 1 , wherein the running gear is configured to be clampable on a rod depending on the degree of pivoting of the two side running gears relative to the intermediate running gear. Ability to climb on surfaces, or to walk on flat or curved surfaces.
A multi-degree-of-freedom flying climbing robot including a walking device for a climbing robot according to claim 6, further comprising a flying device, the flying device includes a connecting base, a plurality of rotors, a plurality of support frames and a support frame Rotary drive;

Wherein, the connecting seat includes a flying link, and the connecting seat is connected to the load mounting plate at the center of the top surface of the load mounting plate of the walking device through the flying link;

The number of the plurality of rotors is at least three, and they are evenly and symmetrically arranged in the circumferential direction of the connecting base;

Each of the plurality of rotors is connected to the connecting base through a corresponding one of the plurality of supporting frames, wherein one end of each supporting frame is rotatably connected to the connecting base respectively, and the supporting frame The other end of the frame has an arc-shaped groove, a corresponding rotor is rotatably installed in the arc-shaped groove, the rotation axis of the corresponding rotor is perpendicular to the length direction of the support frame; and the support frame is rotated and driven The device is configured to drive each of the plurality of support frames to rotate around their respective rotation axes.
The multi-degree-of-freedom flying and climbing robot according to claim 11, wherein,

The support frame rotation driving device is configured to drive the plurality of support frames to rotate synchronously around their respective rotation axes.
The multi-degree-of-freedom flying and climbing robot according to claim 12, wherein,

The supporting frame rotation driving device includes a driving bevel gear and a driven bevel gear;

The driving bevel gear is mounted on the top of the connecting seat and is configured to actively rotate about the longitudinal axis of the flight link; and

The number of the driven bevel gears is equal to the number of the supporting frames. One driven bevel gear is coaxially installed on each supporting frame, and each driven bevel gear is connected to the The driving bevel gear meshes.
The multi-degree-of-freedom flying climbing robot according to claim 11, wherein each rotor includes a rotor frame and a plurality of rotor blades; the plurality of rotor blades are installed in the rotor frame and configured to It can rotate actively or passively; and the rotor frame is rotatably installed in the arc-shaped groove, and the rotation axis of the rotor frame is perpendicular to the length direction of the support frame.
A multi-degree-of-freedom flying and climbing robot including a walking device for a climbing robot according to claim 6, further comprising a flying device and a balancing rotor;

Wherein, the flying device includes a connecting rod, a rotating bracket and 2n flying rotors, where n is a natural number greater than or equal to 2; the bottom end of the connecting rod is fixedly installed on the load mounting plate of the walking device. The center of the top surface, and the middle or top of the connecting rod is provided with a sleeve perpendicular to the connecting rod;

The rotating bracket includes a rotating rod and n rotor mounting rods. The middle part of the rotating rod is rotatably inserted into the sleeve and can rotate actively or passively. The n rotor mounting rods are relative to The connecting rods are arranged axially symmetrically on the rotating rods on both sides of the sleeve;

The 2n flying rotors are arranged on the rotor mounting rod axially symmetrically with respect to the connecting rod, and each of the flying rotors can rotate actively or passively; and

The balance rotor includes a plurality of balance rotor blades, a balance rotor bracket and a Y-shaped connecting rod. The multiple balance rotor blades are arranged in the balance rotor bracket and can actively rotate; the bottom end of the Y-shaped connecting rod Connected to the sleeve or the top end of the connecting rod, the top end of the Y-shaped connecting rod has an arc-shaped groove; the balance rotor bracket is rotatably installed on the arc-shaped groove of the Y-shaped connecting rod. on the groove, and the rotation axis of the balance rotor bracket is perpendicular to the connecting rod.
The multi-degree-of-freedom flying and climbing robot according to claim 15, wherein the balance rotor bracket can actively rotate.
The multi-degree-of-freedom flying and climbing robot according to claim 15, wherein the number of the rotor mounting rods is two, and they are respectively arranged axially symmetrically at both ends of the rotating rod, so that the rotating bracket is H-shaped.
The multi-degree-of-freedom flying and climbing robot according to claim 17, wherein the number of the flying rotors is four, and the four flying rotors are arranged axially symmetrically in pairs at the ends of the two rotor mounting rods. Ministry.
The multi-degree-of-freedom flying climbing robot according to claim 15, wherein the number of the rotor mounting rods is two, and the rotary rods are symmetrically arranged in the middle of both sides of the sleeve; and The number of flying rotors is six, and the six flying rotors are arranged axially symmetrically in pairs on the ends of the two rotor mounting rods and the end of the rotating rod.
The multi-degree-of-freedom flying and climbing robot according to claim 15, wherein the number of the rotor mounting rods is four, which are respectively arranged axially symmetrically on the rotating rods on both sides of the sleeve; and the flying The number of rotors is eight, and the eight flying rotors are arranged axially symmetrically in pairs on the ends of the four rotor mounting rods.