A robot that crosses obstacles

Abstract

The invention relates to an obstacle-crossing robot, which belongs to the technical field of automation equipment. It is characterized in that it includes a plurality of clasping mechanisms arranged at intervals, a push-pull mechanism for pushing the clasping mechanism to move is provided between every two adjacent clasping mechanisms, and one or more disconnecting parts are provided on the clasping mechanism , the disconnected parts of the holding mechanism are connected by magnets (12) to form a disconnected ring, and the inside of the holding mechanism is provided with a holding power module for holding or loosening columns or ropes, and every two adjacent holding The tightening power module of the mechanism alternately tightens or loosens the column or the rope. The obstacle-crossing robot can easily carry different equipment and heavy equipment, and can also stay at any position on the column or rope to facilitate the work of carrying equipment. The disconnected part is connected by the suction of the distance adjustment mechanism, and the broken The opening part is set to be disconnected, which can not only cross obstacles on the column or rope, but also ensure that the power module is tightly hugged to the column or rope.

Description

technical field [0001] The invention relates to an obstacle-crossing robot, 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 tract through the inflation and exhaust o...

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

[0004] Existing pole-climbing robots can only adapt to the climbing action of poles or ropes with obstacles, but in the actual working environment, there are often obstacles on the poles or ropes, and the existing pole-climbing robots cannot realize the pole climbing action with obstacles. pole climbing

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