Biomimetic tower climbing robot and tower climbing method thereof

Patent metadata

Field	Value
Publication number	US-12091111-B1
Application number	US-202218700723-A
Country	US
Kind code	B1
Filing date	Aug 9, 2022
Priority date	Nov 18, 2021
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A biomimetic tower climbing robot and a tower climbing method thereof are provided. The robot mainly includes a main control body module and clamping and moving mechanism modules; two ends of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track.

First claim

What is claimed is:

1. A biomimetic tower climbing robot, characterized in that the biomimetic tower climbing robot mainly comprises a main control body module and clamping and moving mechanism modules,
an upper end and a lower end of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track;
the main control body module comprises a shell, a main motor, a driving gear, a driven gear, a rotating shaft, a telescopic screw, screw sockets, and clamping plate seats; an output shaft of the main motor passes through the driving gear, the driven gear meshes up and down with the driving gear, the driven gear is fixed to a middle part of the rotating shaft, and the rotating shaft is a hollow shaft; the telescopic screw comprises a large diameter screw and a small diameter screw that are sleeved, and outer walls of the large diameter screw and the small diameter screw are provided with an axial through groove respectively; the large diameter screw and the small diameter screw are connected to a screw socket respectively, and threads of the two screw sockets are in opposite turning directions; inner ends of the two screw sockets are connected to two ends of the rotating shaft respectively, outer ends of the two screw sockets are connected to the clamping plate seats respectively, and clamping plates inserted into the axial through grooves of the large diameter screw and the small diameter screw are arranged on the two clamping plate seats respectively; a shell sealed on four sides is arranged between the two clamping plate seats, and a power supply is fixed on the shell;
the clamping and moving mechanism module comprises a servo, a gear pair, a traction swing rod, a cam compaction block, a clamping and moving seat, a compaction wheel, and side positioning wheels; the servo is mounted on a side of the clamping and moving seat in a width direction, a driving gear of the gear pair is fixed to an output shaft of the servo, an axle of a driven gear of the gear pair passes vertically through a middle part of the clamping and moving seat in the width direction, and a passing segment is a flat axle segment; the cam compaction block and the traction swing rod are connected to the flat axle segment, the cam compaction block is embedded in a notch on the traction swing rod, and an outer wall of a hinged segment of the traction swing rod is in an arc shape provided with cylindrical teeth; the compaction wheel is mounted at an outer end of the middle part of the clamping and moving seat in the width direction, and the side positioning wheels are symmetrically connected to two sides of the clamping and moving seat in the width direction;
the driving gear of the gear pair meshes with a rack perpendicular to the axle of the driven gear, the rack is embedded on a servo mounting side of the clamping and moving seat, a positioning plate is arranged on an upper side of the rack, and a guide groove plate for moving of the positioning plate is fixed to a top surface, corresponding to a rack embedding groove, of the clamping and moving seat; and
a position sensor is fixed to two ends of a travel groove corresponding to the positioning plate on the clamping and moving seat respectively.

2. The biomimetic tower climbing robot according to claim 1 , characterized in that a guide rod is connected between the two clamping plate seats.

3. The biomimetic tower climbing robot according to claim 1 , characterized in that an electromagnetic lock is fixed to an arm of a corresponding traction swing rod on the clamping and moving seat.

4. The biomimetic tower climbing robot according to claim 1 , characterized in that a tail end of the arm of the traction swing rod of the clamping and moving mechanism module connected to the upper end of the main control body module is hinged with a wire hanging pulley.

5. The biomimetic tower climbing robot according to claim 1 , characterized in that the two ends of the main control body module are connected to the elastic universal joints through the large diameter screw and the small diameter screw respectively, and the clamping moving mechanism modules are connected to the elastic universal joints through the clamping and moving seats.

6. The biomimetic tower climbing robot according to claim 5 , characterized in that the main control body module further comprises positioning square pin rods and position sensors, one position sensor is mounted on same sides of the two clamping plate seats respectively, elastic universal joint connection ends of the two clamping and moving seats are connected to one positioning square pin rod on same sides of the position sensors respectively, the other ends of the positioning square pin rods pass through the clamping plate seats, and three magnets are fixed on upper part, middle part and lower part of the positioning square pin rod.

Assignees

• State Grid Hunan Electric Power Co
• State Grid Hunan Extra High Voltage Trans Company
• State Grid Corp China

Inventors

• Zhang Jian
• Zou Dehua
• Mao Dun
• Jiang Zhipeng
• He Zhiqiang
• Gong Zhengxiong
• Duan Qiping
• Luo Bangwei
• Xiao Shuwen
• Xiang Yun
• Li Bocheng
• He Jie
• Mo Chonggen

Classifications

• B62D57/028

  having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) · CPC title

• B62D57/036

  screw type, e.g. Archimedian screw {(amphibious vehicles comprising screw-type ground-engaging means B60F3/0023)} · CPC title

• 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