A Variable-diameter Adaptive Obstacle-Climbing Robot

Abstract

The invention discloses a variable-route self-adaption obstacle crossing climbing robot which comprises a robot body, holding mechanisms and climbing mechanisms. The robot body comprises a first single set robot body and a second single set robot body. The first singe set robot body and the second single set robot body are each provided with two parallel arc-shaped guide grooves. Each single set robot body is provided with two holding mechanisms which are oppositely arranged and are each coaxially matched with one guide groove and driven by gears and racks. The climbing mechanisms are arranged on the holding mechanisms. The two sets of robot bodies are arranged, the two holding mechanisms on each robot body set are combined with the corresponding climbing mechanisms, and the robot can cross obstacles with the height of + / -200 mm under the common action of multiple sets of flexible joints and springs. By means of the crawler-type climbing mechanisms, the climbing robot climbs rod parts fast, meanwhile, the holding mechanisms work independently, the obstacles can be crossed fast, high adaptability is achieved, the speed is high, the loading capacity is very high, and middle complex control steps are omitted.

Description

technical field [0001] The invention relates to the technical field of climbing robots for power facilities, and more specifically, to a variable-diameter self-adaptive obstacle-climbing robot. Background technique [0002] The climbing of the robot needs to overcome the effect of gravity and reliably attach to the climbing surface and move autonomously to complete the operation under specific conditions. The pole-climbing robot is a kind of climbing robot, which mainly attaches to the surface of the pole body to automatically crawl and complete related operations. According to different driving methods, pole-climbing robots are mainly divided into electric-driven pole-climbing robots, hydraulic-driven pole-climbing robots, and pneumatic-driven pole-climbing robots; according to different climbing methods, pole-climbing robots can be divided into creeping (inchworm) Pole-climbing robots, rolling-type pole-climbing robots and flip-type pole-climbing robots, etc.; according t...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem that the existing pole-climbing robot cannot complete the climbing in the operating environment such as large variable diameter, obstacles, and load, and to provide a variable-diameter self-adaptive obstacle-climbing robot, which can not only complete climbing It can also complete tasks such as climbing and running on conical reducing rods, stepped reducing rods and cylindrical rods with different diameters.

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