Inchworm-imitating climbing robot suitable for truss structure

A truss structure and robot technology, which is applied in the field of bionic robots, can solve the problems of difficult replacement of ropes, low safety, and high project cost

Inactive Publication Date: 2018-08-10
ZHENGZHOU UNIV
View PDF6 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, there are problems with these detection methods. First, the project costs a lot, and it is not easy to replace when the rope is damaged or aging; secon

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Inchworm-imitating climbing robot suitable for truss structure
  • Inchworm-imitating climbing robot suitable for truss structure
  • Inchworm-imitating climbing robot suitable for truss structure

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0030] Example 1

[0031] Such as image 3 with Figure 4 As shown, an imitation inchworm climbing robot suitable for a truss structure includes a gripper module at both ends 1, a number of joint modules connected in series between two gripper modules 1, a processor, a dual Target image acquisition module, image processing module and path calculation module;

[0032] The several joint modules 2 include an I-type joint module 2-1 and a T-type joint module 2-2. Each joint module is driven by a steering gear, and two adjacent joint modules are fixedly connected. Among them, the I-type joint module It refers to the joint that can rotate along its own axis, which is mainly used to realize the twisting and rotation of the joint. The T-joint module refers to the joint whose rotation axis is perpendicular to its own axis, and is mainly used to realize the swing of the joint. The two joint modules are The conventional joints of the imitating inchworm climbing robot, its specific structure ...

Example Embodiment

[0039] Example 2

[0040] Such as Figure 5 with Image 6 As shown, the clamper module includes a module body 6, a clamping claw, a first rotating part 3, a second rotating part 4, and a third rotating part 5. The clamping claw includes three claw parts 7-1, 7-2 and 7-3, of which two claws 7-1 and 7-2 are hinged on one side of the module body 6, and the third claw 7-3 is hinged on the other side of the module body 6 and is located At the middle position of the other two claws 7-1 and 7-2, the three claws can be folded inward to form a clamping space. The three claws are driven to rotate by the same steering gear. The module body 6 horizontally rotates the rotating disc, the second rotating part 4 is installed on the rotating disc, the third rotating part 5 is installed on the second rotating part, and the rotating shafts of the three rotating parts are respectively two Two vertical, three rotating parts are driven by matching servos.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides an inchworm-imitating climbing robot suitable for a truss structure. The robot comprises clamping device modules at the two ends, a joint module, a processor, a binocular imageacquisition module, an image processing module and a route calculation module. The joint module comprises an I-shaped joint module and a T-shaped joint module. Two cameras of a binocular stereoscopicvision module are installed on the two clamping device modules, and the binocular image acquisition module is used for acquiring environment image information and space coordinate information of eachpoint in an image; the image processing module is used for processing the image acquired by the binocular image acquisition module and separating an obstacle image in the image; and the route calculation module plans and screens multiple route distances between the robot and an obstacle according to the separated obstacle image. The inchworm-imitating climbing robot suitable for the truss structure has the beneficial effects of being scientific in design, capable of achieving automatic advancing and high in environment adaptive capacity and has obstacle crossing capacity.

Description

technical field [0001] The invention relates to a bionic robot, in particular to an inchworm-like climbing robot suitable for a truss structure. Background technique [0002] The tower is a high-rise steel structure (indeterminate product). The designer can design the tower structure according to the different engineering conditions. Therefore, the tower structure has a wide range of uses and is often used in truss bridges, cable bridges, and power towers. Frames, etc., especially the first two are the most. [0003] According to data from the Ministry of Transport of the People's Republic of my country, the total number of permanent highway bridges in China has reached 765,456, including 180,000 pylon bridges. The period of high incidence of safety accidents such as bridge collapses. Seriously, 30% of bridges are sick, and 15% of them are identified as (about 100,000) dangerous bridges. The safe passage of bridges has been seriously threatened, and the safety of people's ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B62D57/024G01C21/34
CPCB62D57/024G01C21/3446
Inventor 曹仰杰段鹏松张博杨知锦江晓冲冯雅琦
Owner ZHENGZHOU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap