Pneumatic soft pole-climbing robot

Abstract

The invention discloses a pneumatic soft pole-climbing robot. The pneumatic soft pole-climbing robot comprises a soft robot body, an electromagnetic clamping device, a driving control system and remote control equipment. The soft robot body is in an annular shape with an opening; and the section of the soft robot body is circular. A central accommodating cavity and a plurality of sealed air cavities are formed in the soft robot body. Three material layers with gradually increased rigidity are arranged on the soft robot body; and the three material layers are a deformation layer, a middle layer and a restriction layer. The electromagnetic clamping device comprises an electromagnet A and an electromagnet B which are arranged on two open end surfaces. The driving control system is arranged in the central accommodating cavity; and the driving control system comprises an inflation control valve, an air pump, a micro controller and a portable power supply. The portable power supply is used for supplying power to the electromagnet A and the electromagnet B; and the remote control equipment is in wireless connection with the micro controller. As the pneumatic soft pole-climbing robot is built by using a soft material, the pneumatic soft pole-climbing robot has very high adaptive capacity of the robot to environment, can be applied to climbing within or outside pole-shaped tubes, and can climb pipes which are bent to a certain extent.

Description

technical field [0001] The invention relates to a pole-climbing robot, in particular to a pneumatic software pole-climbing robot. Background technique [0002] Today's high-pole buildings such as utility poles, street lamps or cables have been in the unprotected air for many years, and are corroded and polluted from various aspects. It is very troublesome to detect and maintain these tall pole buildings manually, and the expected effect may not be achieved. Therefore, the pole-climbing robot that can replace manpower has been widely researched and applied. [0003] However, traditional pole-climbing robots are based on rigid kinematic pairs of hard or rigid materials. For example, the industrial robot developed by Shanghai Jiaotong University for cable inspection and maintenance, although its load capacity is very strong, it can well complete bridge cable Its detection, painting, maintenance and other functions, its technical solution is published in the Chinese utility mo...

AI Technical Summary

Problems solved by technology

[0005] 1. Low flexibility, low adaptability to unknown environments, and cannot change size and size arbitrarily. When applying in a specific environment, prior environmental information such as the shape and size of obstacles needs to be provided

In addition, most of them are clamped by a cam mechanism. Due to the inflexibility of the cam mechanism, a crawler can only crawl rods with a specific diameter and equal diameter.

This has brought great constraints to practical applications. Frequent redesign and replacement of equipment have high design and maintenance costs.

[0006] 2. It can only achieve a single climb inside or outside the pipe, and must be redesigned and manufactured when it is in a different external environment, wasting a lot of manpower, material resources, and financial resources

The above-mentioned traditional rigid pole-climbing robot cannot realize the climbing of the bent pipe

[0008] 4. For patent 99252056.8, the climbing device of the cable inspection and maintenance robot has a large structure; the whole machine adopts cable power supply, and the length of the connecting cable must be greater than the length of the bridge cable that the robot climbs. The impact is more obvious

In addition, the robot does not have a related descending device. When an unexpected situation occurs during the operation, the robot is dragged and recovered from a height of tens or even hundreds of meters by using a steel wire rope connected to the robot.

[0009] 5. The traditional rigid pole-climbing robot has a large weight, and the clamping mechanism is a roller. In the case of an accidental failure and power failure, it will fall by itself under gravity. When it lands, the speed is often too high, which can easily cause the entire robot to be damaged.

[0010] 6. In the process of climbing, the crawling of variable-diameter rods can only be solved by relying on pneumatic creeping crawlers. The operation is relatively slow, and it is difficult to climb when the friction is too large.

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