Diagonal-bracing type clamping mechanism and climbing robot suitable for rod-shaped object

Abstract

The invention discloses a diagonal-bracing type clamping mechanism and a climbing robot suitable for a rod-shaped object, and belongs to the field of robots. The diagonal-bracing type clamping mechanism comprises an annular body which can be opened or closed, wherein a plurality of clamping units are uniformly distributed on the annular body in the circumferential direction; each clamping unit comprises a lifter screw rod, a lifter body and a driving motor; each lifter body is fixedly arranged on a baffle plate of the annular body; each lifter screw rod is arranged on the lifter body in a penetrating manner, and one end of each lifter screw rod penetrates through the baffle plate to extend to the rod-shaped climbing object; each driving motor is used for driving the corresponding lifter screw rod to horizontally move; a curved surface pressing plate is arranged at one end of each lifter screw rod; a rubber pad is arranged on one side of each curved surface pressing plate; a pressure sensor is arranged between each curved surface pressing plate and the corresponding rubber pad; each curved surface pressing plate comprises an upper plate surface, a lower plate surface and a concave surface; one end, close to the rod-shaped climbing object, of each lifter screw rod is hinged to the corresponding upper plate surface; and a diagonal-bracing rod of which the length is adjustable is hinged between the other end of the lifter screw rod and the lower plate surface. The diagonal-bracing type clamping mechanism disclosed by the invention is high in clamping force, can climb the oblique rod-shaped object, and is high in climbing efficiency.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a diagonal brace type clamping mechanism and a climbing robot suitable for pole-shaped objects. Background technique [0002] At present, robots have been used in various aspects such as military, medical, aerospace, scientific research, entertainment and home services, and are gradually extending to new technical fields. Among them, climbing robots are widely used in high-risk operations such as non-destructive testing of standing trees and high-voltage transmission line testing instead of humans, which not only reduces the labor intensity of workers, but also avoids the danger of falling from high altitudes. [0003] Climbing robots often use mechanical arms to grab rods or suction cups to absorb walls to achieve climbing. For rod-shaped objects, climbing robots will also use the method of clinging and peristalsis to achieve pole climbing. However, the above-mentioned climbing ...

AI Technical Summary

Problems solved by technology

However, the above-mentioned climbing robots are more restricted in the process of climbing rod-shaped objects. For example, the sucker-adsorbed wall-mounted robot is only suitable for climbing smooth flat objects; the robotic arm grabbing robot is only suitable for carrying small and light equipment. Climbing rod-shaped objects do not have the capacity to carry heavy objects; the crawling robot shakes and vibrates greatly during the climbing process, and the climbing efficiency is low

It can be seen that the above-mentioned climbing grip is not suitable for rod-shaped object climbing robots, and there is currently no clamping mechanism that can be exclusively applied to rod-shaped object climbing robots

Images