Machine capable of moving on inclined plane and use method therefor

Patent metadata

Field	Value
Publication number	US-12420877-B2
Application number	US-202117448676-A
Country	US
Kind code	B2
Filing date	Sep 23, 2021
Priority date	Sep 23, 2020
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

The present disclosure relates to a machine capable of moving on an inclined plane, including a first split body, a second split body and functional components, where the functional components include a moving mechanism, a flexible connecting device and operating tools, the operating tools are installed on the first split body and/or the second split body, and configured to perform operations, the flexible connecting device connects the first split body to the second split body, and adjusts a distance between the first split body and the second split body, the moving mechanism is installed on the first split body and/or the second split body and configured to drive the first split body and/or the second split body to move on the inclined plane, the first split body contains a suspension mechanism, and the suspension mechanism is configured to connect or disconnect the inclined plane.

First claim

The invention claimed is:

1. A machine capable of moving on an inclined plane, comprising a first split body, a second split body and functional components, wherein the functional components comprise a moving mechanism, a flexible connecting device and operating tools, the operating tools are installed on the first split body and/or the second split body, and configured to perform operations, the flexible connecting device connects the first split body to the second split body, and adjusts a distance between the first split body and the second split body, the moving mechanism is installed on the first split body and/or the second split body and configured to drive the first split body and/or the second split body to move on the inclined plane, the first split body contains a suspension mechanism, and the suspension mechanism is configured to connect or disconnect the inclined plane,
wherein the functional components further comprise a surface attachment device, the surface attachment device installed on the first split body and/or the second split body and configured to be attached to the inclined plane.

2. The machine capable of moving on an inclined plane according to claim 1 , further comprising a split connection mechanism installed on the first split body and/or the second split body and configured to connect and disconnect the first split body and the second split body.

3. The machine capable of moving on an inclined plane according to claim 1 , wherein the flexible connecting device comprises a rope and a rope driving mechanism, and the rope driving mechanism changes the distance between the first split body and the second split body and tensions or relaxes the rope.

4. The machine capable of moving on an inclined plane according to claim 3 , wherein the rope driving mechanism comprises a rope winding mechanism, and the rope winding mechanism changes the length of the rope between the first split body and the second split body by winding the rope, and tensions or relaxes the rope.

5. The machine capable of moving on an inclined plane according to claim 3 , wherein the rope driving mechanism comprises a rope climbing mechanism, and the rope climbing mechanism is arranged on the second split body and drives the second split body to move along the rope.

6. The machine capable of moving on an inclined plane according to claim 1 , wherein the operating tools are one or more of a camera, a drilling machine, a soft dust scraping strip, and a rotating hair brush.

7. A multi-robot system, comprising a machine capable of moving on an inclined plane, comprising a first split body, a second split body and functional components, wherein the functional components comprise a moving mechanism, a flexible connecting device and operating tools, the operating tools are installed on the first split body and/or the second split body, and configured to perform operations, the flexible connecting device connects the first split body to the second split body, and adjusts a distance between the first split body and the second split body, the moving mechanism is installed on the first split body and/or the second split body and configured to drive the first split body and/or the second split body to move on the inclined plane, the first split body contains a suspension mechanism, and the suspension mechanism is configured to connect or disconnect the inclined plane, and further comprising a carrying machine, wherein the carrying machine comprises a mobile machine body and a machine docking mechanism, the mobile machine body is capable of moving in space, the machine docking mechanism is installed on the mobile machine body, and the machine capable of moving on an inclined plane and the carrying machine are capable of being combined or separated by the machine docking mechanism.

8. The multi-robot system according to claim 7 , wherein the mobile machine body is a flying machine that flies in the air, or a vehicle body that moves on the ground, or a hull that floats in water.

9. The multi-robot system according to claim 7 , wherein the machine docking mechanism comprises a bridge plate and a bridge plate adjustment mechanism, the bridge plate is installed on the bridge plate adjustment mechanism, and the bridge plate adjustment mechanism is installed on the mobile machine body; the bridge plate adjustment mechanism adjusts a position and posture of the bridge plate, and the machine capable of moving on an inclined plane moves from the inclined plane to the bridge plate and is combined with the carrying machine, or the machine capable of moving on an inclined plane moves from the bridge plate to the inclined plane and is separated from the carrying machine.

10. A use method for the multi-robot system according to claim 7 , comprising the following steps:
step v-1: combining a machine capable of moving on an inclined plane with a carrying machine through a machine docking mechanism, and using the carrying machine to convey the machine capable of moving on an inclined plane to the inclined plane for operation;
step v-2: separating the machine capable of moving on an inclined plane from the carrying machine through the machine docking mechanism, and moving the machine capable of moving on an inclined plane on the inclined plane;
step v-3: connecting a suspension mechanism of a first split body to the inclined plane after the first split body moves to one designated position of the inclined plane;
step v-4: adjusting a distance between the first split body and a second split body through a flexible connecting device, enabling the second split body and the functional components installed on the second split body to move on the inclined plane, and meanwhile, enabling operating tools to perform operations;
step v-5: after this round of operations is completed, starting part or all of a surface attachment device and a moving mechanism, separating the suspension mechanism of the first split body from the inclined plane, and moving the machine capable of moving on an inclined plane on the inclined plane; and
step v-6: repeating steps v-3 to v-5 to implement the next round of operations at different positions of the inclined plane, or combining the machine capable of moving on an inclined plane with the carrying machine through the machine docking mechanism, using the carrying machine to convey the machine capable of moving on an inclined plane to another inclined plane, repeating steps v-2 to v-5, and implementing the next round of operations on the another inclined plane until the operations on all inclined planes are completed.

Assignees

• Univ Zhejiang
• Hangzhou Fuya Science And Tech Co Ltd

Inventors

• Li Xin
• Zhao Jianghong
• Qin Jie

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

• H02S40/10

  Cleaning arrangements · CPC title

• Y02E10/50

  Photovoltaic [PV] energy · CPC title

• B66F17/00

  Safety devices, e.g. for limiting or indicating lifting force · CPC title

• B66D3/00 Primary

  Portable or mobile lifting or hauling appliances · CPC title