A hybrid biped climbing robot

Abstract

The invention discloses a series-parallel double-foot climbing robot. The series-parallel double-foot climbing robot comprises two walking legs and a connecting part which is used for connecting the two walking legs, the walking legs comprise hybrid mechanical arms and electromagnetic foot parts arranged at the bottom of the hybrid mechanical arms, wherein the cross-linked mechanical arms are a double-coupled-tower mechanical arm, and is used for controlling the electromagnetic foot parts to move in the travel area space, the electromagnetic foot parts are used for adsorbing a to-be-walking surface, the double-coupled-tower mechanical arm comprises an upper platform, a middle platform, a lower platform, three driving arms and three driving motors, the middle of the driving arms is installed on the middle platform through a rotating pair, the two ends of the driving arm are hinged to the upper platform and the lower platform respectively through the driving arms, the three driving armsare distributed in a triangular mode on the middle platform, and each driving arm is driven to rotate through a corresponding driving motor. The series-parallel double-foot climbing robot can climb onthe same plane and can climb on the other surface and is high in adaptability to terrains, the climbing speed is high, the obstacle crossing capability is high, the bearing capacity is high, and theapplication range is wide.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a climbing robot, in particular to a mixed-connected biped climbing robot, which can carry overhaul and maintain equipment. 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 inspection, maintenance and cleaning of wind power towers; the inspection and repair of power towers; the maintenance of communication towers; the painting, inspection and maintenance of ships; the inspection and repair of truss bridges, etc. These high-altitude operations are highly dangerous and inefficient. If robots can be used instead of manual labor to perform these high-altitude operations, risks will be greatly reduced, opera...

AI Technical Summary

Problems solved by technology

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

At the same time, the greater power required by the track drive and the more expensive cost

And the robot can only move upwards vertically along the wind power tower or within a small range of deviation from the vertical upward direction left and right, and the wind power tower is in the shape of a circular platform, so the operating efficiency is low

[0004] The application number is 201510989345.9, and the patent titled "a kind of iron tower climbing robot" adopts a robot in the form of series structure, which has the characteristics of high flexibility, but its movement speed and load capacity are not high, which limits its Application range

[0005] In the patent with the application number 200410016429.6 and the name "magnetic wheel adsorption wall climbing robot", the robot is adsorbed on the surface of the object to be climbed by means of a magnetic wheel, which has the advantage of fast climbing speed, but the use of a magnetic wheel makes the robot 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 force is not high, resulting in a decrease in the load capacity of the robot

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