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Cross-wall climbing robot with reconfigurable flexible connection and its control method

A technology of flexible connection and control method, applied in the field of robotics, can solve the problems of time-consuming and labor-intensive sensor nodes, delaying production, etc., and achieve the effect of high degree of freedom and good flexibility

Active Publication Date: 2022-07-08
CHINA UNIV OF MINING & TECH
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  • Summary
  • 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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  • Cross-wall climbing robot with reconfigurable flexible connection and its control method
  • Cross-wall climbing robot with reconfigurable flexible connection and its control method
  • Cross-wall climbing robot with reconfigurable flexible connection and its control method

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Embodiment Construction

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The relative arrangement of components and steps, expressions and numerical values ​​set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for the convenience of descriptio...

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Abstract

The invention discloses a reconfigurable flexible connection cross-wall climbing robot and a control method thereof. The cross-wall climbing robot includes a robot body, and the robot body includes a casing, a climbing drive mechanism, a climbing and walking mechanism Wheel and reconstruction mechanism; wherein: the climbing drive mechanism is built in the casing, and the power output end is connected to the climbing crawler wheel outside the casing; the reconstruction mechanism includes a reconstruction drive motor , a flexible connector, a butt male and a butt female; the reconstructed drive motor is built into the housing, one end of the flexible connector is connected to the power output end of the reconstructed drive motor, and the other end is located outside the housing and is connected to the suspension The butt male head is connected to the front of the casing in the traveling direction; the butt female head is arranged at the rear end of the casing. It can be seen from this that the present invention adopts the reconfiguration mechanism to realize the transformation of the configuration to adapt to different environments, has a high degree of freedom, good flexibility, and can autonomously achieve climbing and cross-wall movement, and reach places that are not easy for ordinary robots to reach, so that the Especially suitable for truss structures.

Description

technical field [0001] The invention relates to the technical field of robots, and specifically designs a reconfigurable flexible connection spanning wall climbing robot. Background technique [0002] In daily life, we often see truss structures, such as steel-framed terminal buildings, railway bridges, and building scaffolding. The truss will be damaged under the influence of load, environment and various unexpected external factors, reducing the bearing capacity of the structure and the ability to resist natural disasters, so regular inspection and maintenance work is required. At present, inspections are mostly done manually. The harsh environment of the truss brings certain dangers to the inspection of workers. The complex structure and the limitations of workers' perception lead to incomplete and incomplete inspection, which will bring certain hidden dangers to safety. At the same time, the meticulous and frequent regular maintenance not only can not completely detect...

Claims

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Application Information

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Patent Type & Authority Patents(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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