Two-leg climbing polling robot

Abstract

The invention discloses a two-leg climbing polling robot which is mainly formed by connecting a pair of movable mechanical arms through a hip rotational joint. Each movable mechanical arm comprises ahip platform, a Delta parallel mechanical arm and an electromagnetic foot made of an electromagnet and a tool box installed on the hip platform, wherein the Delta parallel mechanical arm is fixedly installed at the bottom of the hip platform, the electromagnetic foot is installed on a movable platform of the Delta parallel mechanical arm, one side of the hip platform extends out to form a connecting arm, the connecting arms extending out from the two movable mechanical arms are connected through the hip rotational joint, the two movable mechanical arms can be driven by the hip rotational jointto rotate relatively, and the Delta parallel mechanical arms drive the electromagnetic feet to freely move in motion spaces of the electromagnetic feet. The two-leg climbing polling robot achieves climbing walking on a structure made of various ferromagnetic bodies, all-dimensional movement can be achieved, the climbing speed is high, the obstacle climbing ability is high, the bearing capacity ishigh, the application scope is wide, risks can be greatly reduced, and the working efficiency and economical benefits are improved.

Description

technical field [0001] The present invention relates to the technical field of robots, relates to a patrol robot, and more specifically relates to a biped climbing patrol robot. Background technique [0002] At present, the scope of application of robots continues to expand, and they play an increasingly important role in the fields of military, manufacturing, aerospace, nuclear energy, education, medical care, and home services. In many industries, there is a need for high-altitude operations, such as the detection, maintenance and cleaning of wind power towers; the maintenance of power towers; the maintenance of communication towers; the painting, detection and maintenance of ships; the maintenance of truss bridges and so on. These high-altitude operations are highly dangerous. If robots can be used instead of manual labor to carry out these high-altitude operations, the risks will be greatly reduced, the operating efficiency will be improved, and the economic benefits wil...

AI Technical Summary

Problems solved by technology

First of all, there is always a magnetic adsorption force between the permanent magnet on the robot and the wind power tower. When the robot moves, it needs to constantly overcome this magnetic adsorption force, resulting in increased power consumption.

At the same time, the greater power consumption and higher cost caused by the track drive

And the robot can only move along the vertical direction of the wind power tower or within a small range of left and right deviations from the vertical direction, and the wind power tower is in the shape of a circular table, so the robot's operating efficiency is low

[0004] The application number is 201510989345.9, and the patent titled "A Iron Tower Climbing Robot" adopts a robot with a series structure, which has the characteristics of high flexibility, but its movement speed and load capacity are not high, which limits Its scope of application

[0005] The application number is 200410016429.6, and the patent titled "Magnetic Wheel Adsorption Wall Climbing Robot" uses a magnetic wheel to attach the robot to the surface of the object to be climbed. It has the advantage of fast climbing speed, but the magnetic wheel is used. The robot's ability to overcome obstacles is not high, and the adsorption area of ​​the magnetic wheel is small, so that the utilization rate of the magnetic adsorption force is not high, resulting in a low load capacity of the robot

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