Search

CN-121990072-A - Coaxial leg foot type climbing robot

CN121990072ACN 121990072 ACN121990072 ACN 121990072ACN-121990072-A

Abstract

The invention relates to the technical field of robots, in particular to a coaxial leg type climbing robot which comprises a base and two groups of travelling mechanisms respectively positioned at two ends of the base, wherein a front leg mechanism and a rear leg mechanism comprise thigh driving mechanisms, thigh assemblies, shank driving mechanisms and shank assemblies, and the four groups of thigh driving mechanisms are coaxially arranged on the base. The invention designs the length of the thigh component, the length of the shank component, the motor reduction ratio of the thigh driving mechanism, the motor reduction ratio of the shank driving mechanism, the initial offset angle of the axis of the sucking disc component and the axis of the shank connecting rod and the diameter of the sucking disc component on the basis of meeting the curve surface adaptability index, the speed index, the energy consumption index, the ankle joint gesture adaptability index and the adsorption safety margin index, so that the robot can realize larger curve surface coverage rate, faster speed and lower energy consumption on the basis of stably attaching to a complex curve surface or space geometry structure and continuously crawling.

Inventors

  • ZHU HAIFEI
  • Yu Rixi
  • BU YONGZHONG
  • MO JINGYI
  • ZHOU XUEFENG

Assignees

  • 广东工业大学

Dates

Publication Date
20260508
Application Date
20260129

Claims (10)

  1. 1. The utility model provides a coaxial leg foot formula climbing robot which characterized in that, including base (100) and two sets of running gear (200) that are located respectively in base (100) both ends, two sets of running gear (200) all include front leg mechanism and back leg mechanism of relative setting, front leg mechanism and back leg mechanism include thigh actuating mechanism (210), thigh subassembly (220), shank actuating mechanism (230) and shank subassembly (240), four sets of thigh actuating mechanism (210) are coaxial to be established on base (100), thigh subassembly (220) are connected with the output of thigh actuating mechanism (210), shank actuating mechanism (230) are established on thigh subassembly (220), shank subassembly (240) are connected with the output of shank actuating mechanism (230); The lower leg assembly (240) comprises a lower leg connecting rod (241), a sucker assembly (242) and an elastic assembly (243), one end of the lower leg connecting rod (241) is connected with the output end of the lower leg driving mechanism (230), the sucker assembly (242) is in ball hinge joint with the other end of the lower leg connecting rod (241), and two ends of the elastic assembly (243) are respectively connected with the lower leg connecting rod (241) and the sucker assembly (242); Obtaining the length of the thigh assembly (220) according to the curved surface adaptability index, the speed index, the energy consumption index, the ankle joint posture adaptability index and the adsorption safety margin index Length of the calf assembly (240) The thigh drive mechanism (210) has a motor reduction ratio The motor reduction ratio of the lower leg driving mechanism (230) An initial offset angle of the axis of the suction cup assembly (242) and the axis of the shank link (241) And the diameter of the suction cup assembly (242) 。
  2. 2. The coaxial legged climbing robot according to claim 1, characterized in that the length of the thigh assembly (220) Length of the calf assembly (240) The thigh drive mechanism (210) has a motor reduction ratio The motor reduction ratio of the lower leg driving mechanism (230) An initial offset angle of the axis of the suction cup assembly (242) and the axis of the shank link (241) And the diameter of the chuck assembly (242) satisfies the following constraint: in the formula, The function of the object is represented by a function of the object, Representing a curved surface; Representing a curved surface adaptability index; A surface adaptation weight representing a surface adaptation index; Representing a speed index; a speed weight representing a speed indicator; representing an energy consumption index; energy consumption weights representing energy consumption indexes of the robot; Indicating ankle joint posture adaptability index; Ankle pose weights representing ankle pose adaptability indicators; representing an adsorption safety margin index; representing the adsorbed safety margin weight.
  3. 3. The co-axial legged climbing robot according to claim 1, characterized in that the curved surface suitability index is calculated from a robot's blade coverage and a stabilizable arc length index of a single leg workspace, the curved surface suitability index being related to the length of the thigh assembly (220) Length of the calf assembly (240) An initial offset angle of the axis of the suction cup assembly (242) and the axis of the shank link (241) 。
  4. 4. The coaxial legged climbing robot according to claim 3, wherein the curved surface adaptability index specifically uses the following formula: in the formula, Dispersing the curved surface into N airfoil sections, and taking the equal arc length at the equal height of each section The points are used as central position points of the robot; Represent the first The first airfoil section A plurality of points; representing the blade coverage of the robot, Representation taking the first The points are taken as curvature weights of central position points of the robot, and the curvature of the curved surface is linearly and positively correlated with the curvature weights; Represent the first Stable arc length index of single leg working space on each airfoil section The sections of the wing profiles share A stable falling point is arranged on the upper surface of the upper body, Represent the first The landing weights of the landing points; Represent the first A curved arc length distance between the foot drop points and the thigh drive mechanism (210); Represent the first The actual offset angle of the axis of the suction cup assembly (242) from the axis of the lower leg link (241) at each foot drop point.
  5. 5. The coaxial legged climbing robot according to claim 1, wherein the ankle joint posture adaptability index is calculated according to a ratio of the number of optimal landing points, which are landing points at which an initial offset angle of the axis of the suction cup assembly (242) and the axis of the shank link (241) is zero, to the number of stable landing points, which are landing points at which the suction cup assembly (242) can stably adsorb, the ankle joint posture adaptability index being related to a length of the thigh assembly (220) And the length of the calf assembly (240) 。
  6. 6. The coaxial legged climbing robot according to claim 5, wherein the ankle pose adaptability index specifically uses the following formula: in the formula, Indicating ankle joint posture adaptability index; representing the number of stable foothold points; representing the number of optimal foothold points; the stable foothold satisfies the following constraints: in the formula, Is shown in the first The included angle between the normal vector of the end surface of the sucker component (242) and the normal vector of the curved surface when the foothold is stabilized; representing the maximum angle at which the suction cup assembly (242) is allowed to swing; Representing an included angle between an end surface normal vector of the sucker assembly (242) and a curved surface normal vector in a natural state; Is shown in the first The representation of the end surface normal vector of the sucker assembly (242) in the world coordinate system at the stable foothold; representing the representation of the surface normal vector of the curved surface in a world coordinate system; Is shown in the first A representation of the normal vector of the end surface of the chuck assembly (242) in the base coordinate system at the stable landing point, Obtained by a sensor; Represent the first A rotational translation vector of the stable footfall point; The optimal foothold satisfies the following constraints: in the formula, Is shown in the first The included angle between the normal vector of the end surface of the sucker component (242) and the normal vector of the curved surface when the optimal foothold is set; Is shown in the first Representing the end surface normal vector of the sucker assembly (242) in a world coordinate system when the sucker assembly is at the optimal foot falling point; Is shown in the first Representation of the normal vector of the chuck assembly (242) end surface at the optimum landing point in the base coordinate system, Obtained by a sensor; Represent the first And the rotation translation vector of the optimal foot falling point.
  7. 7. The coaxial legged climbing robot according to claim 1, characterized in that the suction safety margin index is calculated from a maximum normal suction force that the suction cup assembly (242) can provide and a normal support force required for the suction cup assembly (242) to stabilize suction, the suction safety margin being related to the length of the thigh assembly (220) Length of the calf assembly (240) And the diameter of the suction cup assembly (242) 。
  8. 8. The coaxial legged climbing robot according to claim 7, wherein the adsorption safety margin index specifically uses the following formula: in the formula, Representing an adsorption safety margin index; representing a preset safety margin threshold; Represent the first An adsorption safety margin of each stable landing point; Is shown in the first -A maximum normal suction force that can be provided by the suction cup assembly (242) at a stable landing point; Is shown in the first The suction cup assembly (242) at each stable landing point is required to stably absorb a normal supporting force; Is shown in the first The effective coefficient at the stable foothold, ; Representing the pressure differential between the interior and exterior of the suction cup assembly (242); The safety factor is indicated by the fact that, ; Is shown in the first A pull-off component of the contact force at the stable landing point in the normal direction; Is shown in the first The friction cone at each stable landing point is constrained.
  9. 9. The co-axial legged climbing robot according to any of the claims 1 to 8, wherein the speed index is calculated from the distance of a single swing, the time of suction and release of the suction cup assembly (242) and the time of single leg swing.
  10. 10. The co-axial leg climbing robot of any one of claims 1 to 8, wherein the energy consumption index is calculated from the amount of torque required by the robot to crawl at each point of the curved surface.

Description

Coaxial leg foot type climbing robot Technical Field The invention relates to the technical field of robots, in particular to a coaxial leg-foot type climbing robot. Background The blades are used as key components for converting wind energy into mechanical energy of the wind turbine, and the health condition of the blades is directly related to the power generation efficiency and the equipment safety. The offshore wind turbine blade runs in high-salt, high-humidity and complex climatic environments, and is easy to fatigue, corrode and damage, so that periodic inspection and repair are required. At present, manual sling operation is mainly adopted, the efficiency is low, the risk is high, and the unmanned aerial vehicle inspection improves the efficiency, but only visual inspection can be realized, and contact type nondestructive inspection and repair cannot be performed. Therefore, the development of an intelligent robot system with the capability of crawling the surface of a blade and capable of carrying detection and maintenance equipment has become a key technical break for wind power operation and maintenance. However, the blade surface is usually a complex curved surface, and it is difficult for a conventional intelligent robot system to stably attach and continuously crawl on a large-curvature three-dimensional curved surface of a wind power blade. Not only in the wind power field, there are many other industrial and infrastructure scenarios where there is also a need for detection and operation of complex curved surfaces or spatial geometries. For example, high-rise curtain walls, bridge arches, ship hulls, storage tank inner walls, tunnels and the interiors of various industrial equipment, which are often large in curvature, narrow in space and have inner or outer corner structures, conventional equipment is difficult to cover, and operation has great limitation. Disclosure of Invention The invention aims to overcome the defect that a conventional intelligent robot is difficult to stably attach and continuously crawl on a complex curved surface or space geometric structure in the prior art, and provides a coaxial leg-foot type climbing robot which can stably attach and continuously crawl on the complex curved surface or space geometric structure. In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a coaxial leg foot formula climbing robot, including the base and be located respectively two sets of running gear at base both ends, two sets of running gear all include the front leg mechanism and the back leg mechanism of relative setting, front leg mechanism and back leg mechanism include thigh actuating mechanism, thigh subassembly, shank actuating mechanism and shank subassembly, four sets of thigh actuating mechanism are coaxial to be established on the base, thigh subassembly with thigh actuating mechanism's output is connected, shank actuating mechanism establishes on the thigh subassembly, shank subassembly with shank actuating mechanism's output is connected; the lower leg assembly comprises a lower leg connecting rod, a sucker assembly and an elastic assembly, one end of the lower leg connecting rod is connected with the output end of the lower leg driving mechanism, the sucker assembly is in ball hinge joint with the other end of the lower leg connecting rod, and two ends of the elastic assembly are respectively connected with the lower leg connecting rod and the sucker assembly; obtaining the length of the thigh component according to the curved surface adaptability index, the speed index, the energy consumption index, the ankle joint posture adaptability index and the adsorption safety margin index Length of the calf assemblyThe thigh driving mechanism motor reduction ratioMotor reduction ratio of the lower leg driving mechanismInitial offset angle of the suction cup assembly axis and the shank link axisDiameter of the suction cup assembly。 According to the coaxial leg-foot type climbing robot, four groups of thigh driving mechanisms are coaxially arranged on the base, namely, the distance between the front leg mechanism and the rear leg mechanism at the installation position on the base in the advancing direction of the robot is zero, so that the thigh driving mechanisms are close to the working surface, and the working space of a single leg of the robot can cover the convex surface with larger curvature and the trailing edge of a blade with smaller angle. Meanwhile, the length of the thigh component, the length of the calf component, the motor reduction ratio of the thigh driving mechanism, the motor reduction ratio of the calf driving mechanism, the initial offset angle of the axis of the sucker component and the axis of the calf connecting rod and the diameter of the sucker component are designed on the basis of meeting the curve surface adaptability index, the speed index, the energy consumption index, the ankle join