Climbing machine and moving method therefor

Patent metadata

Field	Value
Publication number	US-11878751-B2
Application number	US-202117156433-A
Country	US
Kind code	B2
Filing date	Jan 22, 2021
Priority date	Feb 18, 2020
Publication date	Jan 23, 2024
Grant date	Jan 23, 2024

Abstract

The present invention relates to a climbing machine and a moving method therefor. The climbing machine includes a machine body, a mechanical arm, and at least two ropes, each rope connects a suspension mechanism and the machine body; the suspension mechanism is connected to or disengaged from an object structure, the length of the rope between the suspension mechanism and the machine body is variable; through dragging or pulling of the rope, the machine body can move on the object structure; the mechanical arm connects a gripping mechanism and the machine body; the gripping mechanism can grip and move any suspension mechanism and disengage a gripped suspension mechanism. In the present invention, the machine body moves without interference, and can be pulled not only on a smooth surface but also on a hollow or bending surface, and features a simple structure, a wide application scope, and the like.

First claim

The invention claimed is:

1. A climbing machine, comprising a machine body, a mechanical arm, and at least two ropes, wherein one end of each rope is connected to a suspension mechanism, and the other end of the rope is connected to the machine body; the suspension mechanism is connected to or disengaged from an object structure, and the length of the rope between the suspension mechanism and the machine body is variable; through dragging or pulling of the rope, the suspension mechanism enables the machine body to move on the object structure; the mechanical arm has one lever arm revolute controlled by a motor and two or more degrees of freedom; a gripping mechanism is disposed at a front end of the mechanical arm, and a rear end of the mechanical arm is mounted on the machine body; the gripping mechanism has a spatial movement capability and/or an angle adjustment capability when driven by the mechanical arm, and is capable of gripping and moving any suspension mechanism and being disengaged from a gripped suspension mechanism,
wherein one or more damping mechanisms are disposed on the machine body, and the damping mechanism is capable of generating a damping force by using an air flow, and
wherein a shaking state detection apparatus is disposed on the machine body, and the shaking state detection apparatus is capable of detecting a shaking state of the machine body.

2. The climbing machine according to claim 1 , wherein the machine body comprises a reel mechanism, and the reel mechanism winds or releases the rope between the machine body and the suspension mechanism to change the length of the rope, so that the machine body is capable of moving on the object structure.

3. A climbing machine, comprising a machine body, a mechanical arm, and at least two ropes, wherein one end of each rope is connected to a suspension mechanism, and the other end of the rope is connected to the machine body;
the suspension mechanism is connected to or disengaged from an object structure, and the length of the rope between the suspension mechanism and the machine body is variable;
through dragging or pulling of the rope, the suspension mechanism enables the machine body to move on the object structure; the mechanical arm has one or more degrees of freedom; a gripping mechanism is disposed at a front end of the mechanical arm, and a rear end of the mechanical arm is mounted on the machine body; the gripping mechanism has a spatial movement capability and/or an angle adjustment capability when driven by the mechanical arm, and is capable of gripping and moving any suspension mechanism and being disengaged from a gripped suspension mechanism, wherein the suspension mechanism comprises a reel mechanism, and the reel mechanism winds or releases the rope between the suspension mechanism and the machine body to change the length of the rope, so that the machine body is capable of moving on the object structure.

4. The climbing machine according to claim 1 , wherein the gripping mechanism comprises a magnetic suction device, a magnetically sucked magnetic conductive surface is disposed on the suspension mechanism, and the magnetic suction device is capable of sucking or being disengaged from the suspension mechanism.

5. The climbing machine according to claim 1 , wherein the gripping mechanism comprises a mechanical claw, and the mechanical claw opens or closes to disengage or grip the suspension mechanism.

6. The climbing machine according to claim 1 , wherein the suspension mechanism comprises a hook, and the hook hooks or disengages the object structure, to implement connection or disengagement between the suspension mechanism and the object structure.

7. The climbing machine according to claim 1 , wherein the suspension mechanism comprises a sucker, and the sucker is used to suck or disengage the object structure, to implement suction or disengagement between the suspension mechanism and the object structure.

8. The climbing machine according to claim 1 , wherein the damping mechanism comprises a rotor apparatus, and the rotor apparatus uses a force generated by a rotor through rotation in the air to reduce shaking of the machine body in a suspended state.

9. The climbing machine according to claim 1 , wherein the damping mechanism comprises an air injection apparatus, and the air injection apparatus uses a reaction thrust of air injection to reduce shaking of the machine body in a suspended state.

10. The climbing machine according to claim 1 , wherein several wheels are disposed on the machine body.

11. A moving method for the climbing machine according to claim 1 , comprising the following steps:
step 1: moving, by the mechanical arm, the gripping mechanism to one of the suspension mechanisms, so that the gripping mechanism is connected to the suspension mechanism; increasing the length of the rope between the suspension mechanism and the machine body, so that the rope is in a loose state; placing, by the mechanical arm, the suspension mechanism in a proper position on the object structure, so that the suspension mechanism is connected to the object structure; and disengaging, by the gripping mechanism, the suspension mechanism, wherein placing the suspension mechanism further includes controlling positions and angles of the suspension mechanism by controlling a lever arm revolute of the mechanical arm via a motor;
step 2: repeating step 1 based on an actual requirement, so that other suspension mechanisms are placed in proper positions on the object structure and are connected to the object structure;
step 3: shortening the length of a rope between each suspension mechanism and the machine body, so that the rope pulls the machine body to move on the object structure;
step 4: repeating step 1, step 2, and step 3, so that the machine body is capable of moving on the object structures step 5: detecting, by the shaking state detection apparatus, a shaking frequency of the machine body; and
step 6: generating, by the damping mechanism disposed on the machine body, a damping force responsive to the shaking frequency of the machine body.

Assignees

• Univ Zhejiang
• Hangzhou Fuya Science And Tech Co Ltd

Inventors

• Li Xin

Classifications

• B62D57/024 Primary

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title