Telescopic robot capable of adapting to variable cross sections

Abstract

The invention relates to a telescopic robot capable of adapting to variable cross sections and belongs to the technical field of automation equipment. The telescopic robot is characterized by comprising multiple clasping mechanisms arranged at intervals, and a push-pull mechanism for pushing the corresponding clasping mechanism to move is arranged between every two adjacent clasping mechanisms; one or more disconnecting parts are arranged on the clasping mechanisms; the disconnecting parts of the clasping mechanisms are connected through spacing adjusting mechanisms to form a closed ring; clasping power modules for clasping or releasing columns or ropes are arranged on the inner sides of the clasping mechanisms; and the clasping power module of every two adjacent clasping mechanisms alternately clasp or release the columns or the ropes. The telescopic robot capable of adapting to variable cross sections can conveniently carry different equipment and heavy equipment, can also stably stay at any position of the columns or ropes, facilitates the work of carrying equipment by the telescopic robot, can also adapt to the rod climbing action of the columns or ropes with different cross section shapes and is wide in adaptation range and convenient to adjust.

Description

technical field [0001] The utility model relates to a robot capable of stretching and adapting to a variable section, which 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...

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

Moreover, the above two robots can only adapt to crawling in pipes with consistent thickness. When encountering pipes with uneven thickness, they cannot work normally due to their structural limitations.

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