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A climbing robot

A robot and pole-climbing technology, which is applied in the field of pole-climbing robots, can solve the problems affecting the application of pole-climbing robots, affecting the flexibility of robots, and the weight of pole-climbing robots, etc., and achieves the effect of simple structure, stable climbing poles and small self-weight

Inactive Publication Date: 2019-06-21
SHANDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure of the power mechanism and transmission mechanism of the existing pole-climbing robot is complex, which leads to the weight of the pole-climbing robot. On the one hand, it affects the flexibility of the robot, causing the robot to only complete some simple actions. , resulting in fewer tools that the robot can carry, which affects the application of pole-climbing robots
[0003] The Chinese invention patent with the application number 201310005091.3 discloses a cable-free airbag robot system, which realizes the walking of the robot in the intestinal tract through the inflation and exhaust of the airbag and the elastic force of the shape memory alloy spring, but its principle can only be applied to pipelines. internal, and cannot be applied externally to the pipeline
The application number is 201610391745.4, which discloses an adaptive inner wall pipeline robot, which realizes passive walking from top to bottom relying on the robot's own gravity by changing the friction state between the airbag in the airbag walking mechanism and the inner wall of the pipeline, or by controlling the piston rod in the cylinder. Up and down, push the upper and lower airbag walking mechanism to carry out active walking, its upward and downward use different driving methods, its structure is complex, and it can only be used for walking in the pipeline

Method used

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Experimental program
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Effect test

Embodiment 1

[0041] Such as Figure 1~2 As shown: the holding mechanism includes a climbing assembly 1 , and in this embodiment, the climbing assembly 1 is circular, and the holding airbag 2 is arranged inside the climbing assembly 1 . The climbing assembly 1 is a circular ring surrounded by a plurality of installation frames 101. The installation frame 101 is a box or a groove with an opening facing the inside. In this embodiment, the installation frame 101 is a box with an opening facing the inside. The distance between the two adjacent sides of the frame 101 and the opening side gradually decreases from the outside to the inside, and the plurality of mounting frames 101 just encircle to form a circular ring. The lower parts of both sides adjacent to the opening side of the mounting frame 101 are provided with connecting parts 102, and every two adjacent mounting frames 101 are connected by the connecting parts 102, so that the climbing assembly 1 can be regarded as a flexible structure,...

Embodiment 2

[0057] Such as Figure 8 As shown: the difference between embodiment 2 and embodiment 1 is that the installation frame 101 of the pole-climbing robot is a box with an inner opening, and the climbing assembly 1 is a triangular ring surrounded by a plurality of installation frames 101, so that it can adapt to Rod climbing with triangular posts or ropes.

Embodiment 3

[0059] Such as Figure 9 As shown: the difference between Embodiment 3 and Embodiment 1 is that the climbing assembly 1 of the pole-climbing robot is a concave polygonal ring surrounded by a plurality of installation frames 101, so that it can adapt to a column or rope with a concave polygonal cross section. climbing action.

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Abstract

A pole-climbing robot belongs to the technical field of automation equipment. It is characterized in that it includes a plurality of clasping mechanisms arranged at intervals, and a push-pull mechanism for pushing the clasping mechanism to move is provided between every two adjacent clasping mechanisms. The holding airbags (2) of the columns or ropes are tightly held or loosened, and the holding airbags (2) of every two adjacent holding mechanisms hold tightly or loosen the columns or ropes alternately. The multiple gripping mechanisms of the pole climbing robot alternately grip the column or rope, and cooperate with the push-pull mechanism to realize the movement of each gripping mechanism along the axis of the column or rope. The pole climbing action is simple, the climbing pole is stable, and the structure is simple. , and the self-weight is small, which not only facilitates the pole-climbing action of the pole-climbing robot, but also facilitates the carrying of different equipment and heavy equipment. The rod robot can stay at any position on the pole or rope, and stay stable.

Description

technical field [0001] A pole-climbing robot belongs to the technical field of automation equipment. Background technique [0002] Rod-climbing robots are one of the current research hotspots in robotics. Rod-climbing robots are widely used in high-altitude and dangerous operations, and are increasingly promising in other industries. The structure of the power mechanism and transmission mechanism of the existing pole-climbing robot is complex, which leads to the weight of the pole-climbing robot. On the one hand, it affects the flexibility of the robot, causing the robot to only complete some simple actions. , resulting in fewer tools that the robot can carry, which affects the application of the pole-climbing robot. [0003] The Chinese invention patent with the application number 201310005091.3 discloses a cable-free airbag robot system, which realizes the walking of the robot in the intestinal tract through the inflation and exhaust of the airbag and the elastic force of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024B25J11/00
CPCB25J11/00B62D57/024
Inventor 马立修孙贤明申晋张彦斐宫金良高明亮刘剑邹国锋陈佳佳胡玉耀毛帅孙冬刘冲王祥祥
Owner SHANDONG UNIV OF TECH
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