Obstacle-crossing mechanism of rod piece climbing robot

Abstract

The invention discloses an obstacle-crossing mechanism of a rod piece climbing robot. The obstacle-crossing mechanism comprises a machine body, surrounding mechanisms and climbing mechanisms. The machine body is provided with two arc-shaped guide grooves formed in parallel, the number of the surrounding mechanisms is two, the two surrounding mechanisms are reversely arranged and the two surrounding mechanisms each are coaxially matched with one guide groove, and the climbing mechanisms are arranged on the surrounding mechanisms. The obstacle-crossing mechanism is simple and compact in structure and low in production cost. Through the combination of the two groups of surrounding mechanisms and the climbing mechanisms, obstacle crossing can be performed on obstacles at a height of + / -200 mm under the joint effects of multiple groups of flexible joints and springs; and through the track type climbing mechanisms, the climbing robot can climb on a rod piece quickly. Since the two groups of surrounding mechanisms work respectively, obstacle crossing can be performed quickly, the adaptability is high, the speed is very quick, obstacles can be crossed quickly, and intermediate complex control steps are reduced.

Description

technical field [0001] The invention relates to the technical field of power transmission system climbing, and more specifically, relates to an obstacle-climbing mechanism for a rod climbing robot. Background technique [0002] At present, steel pipe parts connected by flanges play an increasingly important role in the power transmission system, which makes the climbing robot must have the function of overcoming obstacles when it is overhauled. Obstacle-crossing robots generally use stepping leg mechanisms, wheel-type mechanisms, and crawler-type mechanisms to complete obstacle-breaking movements, while climbing robots mainly use inchworm-type, clamping-type or flip-type mechanisms to complete obstacle-breaking movements. In the existing pole-climbing robots, the obstacle-climbing mechanism is still based on the inchworm-like gait mechanism, but this also greatly reduces the adaptability of the robot to the diameter of the pole. The clamp-type fixing mechanism can only adapt...

AI Technical Summary

Problems solved by technology

In the existing pole-climbing robots, the obstacle-climbing mechanism is still based on the inchworm-like gait mechanism, but this also greatly reduces the adaptability of the robot to the diameter of the pole. The clamp-type fixing mechanism can only adapt to a small range of diameter poles. The clamping is fixed. When the diameter of the rod changes greatly, the opening size of the robot's jaws is difficult to adapt to the change in diameter. It can only be done by replacing the fixture.

At the same time, the vibration of the robot is unavoidable when climbing over obstacles, but the inchworm-type mechanism further reduces the stability of the fuselage due to the gait-like forward movement, so their versatility and applicability are relatively poor, and they can only be suitable for climbing rods of a certain size. climbing and jumping

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