Walking type climbing pole robot

Abstract

The invention relates to a walking type climbing pole robot, and in particular relates to a robot which takes a single motor as power and has a pure mechanical structure, mainly being applied to climbing on cylinder and cylinder-like towers, is capable of realizing man carrying and hoisting and carrying out mounting and maintenance operations on cylinder and cylinder-like tower buildings and engineering equipment by utilizing the extensible carrying platform of the robot and belonging to the fields of robots and engineering machinery design. The walking type climbing pole robot disclosed by the invention takes friction self locking as a fundamental principle, and ascending, descending and power transmission of the robot are realized by virtue of positive and negative rotation of a motor and coordination of a crank-slider mechanism and a gear transmission mechanism; and friction self locking between the robot and a climbed object and extended rounding movement of a climbing arm are realized by virtue of coordination of a cam mechanism and a rocker-slider mechanism. The pure mechanical structure is adopted by the walking type climbing pole robot disclosed by the invention, thus the robot is high in working stability, fast in climbing speed and strong in working condition adaptability, convenient to dismount and convenient for transition.

Description

technical field [0001] The invention relates to a walking pole-climbing robot mainly used for climbing cylinders and cylindrical-like towers, belonging to the field of robot and engineering machinery design. Background technique [0002] There are many kinds of existing pole climbing robots, which mainly rely on complex electromechanical control to realize the robot's moving and climbing. They have double clamping mechanisms. Half or more of the time in the pole climbing process is often spent on pulling the lower clamping mechanism. To prepare for the next step of climbing, it is conceivable that the climbing speed is very slow. This type of robot is generally used in laboratory teaching or rarely used in construction, mining and other fields that do not require climbing speed; there are also double roller clamps Holding, rolling and climbing robots, this type is only suitable for climbing thinner and equal-diameter rods, and it is powerless for large cylindrical towers or ...

AI Technical Summary

Problems solved by technology

[0002] There are many kinds of existing pole climbing robots, which mainly rely on complex electromechanical control to realize the robot's moving and climbing. They have double clamping mechanisms. Half or more of the time in the pole climbing process is often spent on pulling the lower clamping mechanism. To prepare for the next step of climbing, it is conceivable that the climbing speed is very slow. This type of robot is generally used in laboratory teaching or rarely used in construction, mining and other fields that do not require climbing speed; there are also double roller clamps Holding, rolling and climbing robots, this type is only suitable for climbing thinner and equal-diameter rods, and it is powerless for large cylindrical towers or tall towers with a certain taper; Boston Dynamics of the United States has developed a robot that can climb wooden poles or rough The bionic robot with spiked claws on the wall has extremely limited stability and load capacity, and is mainly used in military investigation and disaster rescue.

[0003] For purely mechanical pole-climbing robots, existing data show that no one has set foot in it.

Images