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Reconfigurable flexibly-connected cross-wall climbing robot and control method thereof

A flexible connection and robotics technology, applied in the field of robotics, can solve problems such as delays in production, time-consuming and labor-intensive sensor nodes, etc., and achieve the effect of high degree of freedom, good flexibility, and broad application prospects

Active Publication Date: 2020-04-17
CHINA UNIV OF MINING & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, manually deploying sensor nodes is time-consuming and laborious, and delays production.

Method used

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  • Reconfigurable flexibly-connected cross-wall climbing robot and control method thereof
  • Reconfigurable flexibly-connected cross-wall climbing robot and control method thereof
  • Reconfigurable flexibly-connected cross-wall climbing robot and control method thereof

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Embodiment Construction

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as any limitation of the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. The relative arrangements, expressions and numerical values ​​of components and steps set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the siz...

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Abstract

The invention discloses a reconfigurable flexibly-connected cross-wall climbing robot and a control method thereof. The cross-wall climbing robot comprises a robot body, wherein the robot body comprises a shell body, a climbing driving mechanism, climbing walking wheels and a reconfiguration mechanism; the climbing driving mechanism is arranged in the shell body, and a power output end of the climbing driving mechanism is connected with the climbing walking wheels arranged outside the shell body; the reconstruction mechanism comprises a reconstruction driving motor, a flexible connecting piece, a butt joint male head and a butt joint female head; the reconstruction driving motor is arranged in the shell body, one end of the flexible connecting piece is connected with a power output end ofthe reconstruction driving motor, and the other end of the flexible connecting piece is arranged outside the shell body and connected with the butt joint male head suspended in front of the advancingdirection of the shell body; and the butt joint female head is arranged at the rear end of the shell body. Therefore, transformation of configuration is achieved by means of the reconstruction mechanism so as to adapt to different environments, the cross-wall climbing robot has high freedom degree and good flexibility, can realize climbing and wall-crossing movement autonomously and can reach theplace where a common robot cannot reach easily, and the freedom degree is particularly suitable for a truss structure.

Description

technical field [0001] The invention relates to the technical field of robots, and specifically designs a reconfigurable flexible connection cross-wall climbing robot. Background technique [0002] In daily life, we often see truss structures, such as steel frame structure terminal buildings, railway bridges, building scaffolding, etc. Under the influence of load, environment and various sudden external factors, the truss will be damaged, which will reduce the bearing capacity of the structure and the ability to resist natural disasters. Therefore, regular inspection and maintenance work is required. At present, inspection work is mostly done manually. The harsh environment of the truss brings a certain degree of danger to the worker's inspection. The complex structure and the limitations of the worker's perception lead to incomplete and incomplete inspection, which will bring certain hidden dangers to safety. At the same time, detailed and frequent regular maintenance not...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B62D57/024
CPCB25J9/00B62D57/024B25J9/0009Y02D30/70
Inventor 唐超权周公博高侨汤洪伟舒鑫何贞志
Owner CHINA UNIV OF MINING & TECH
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