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Pneumatic climbing robot with flexible joints

A technology of flexible joints and robots, which is applied in the field of climbing robots, can solve problems such as the difficulty of changing the diameter of tree trunks, difficulty of avoiding obstacles, etc., and achieve the effects of flexibility and continuity, coherent climbing movements, and small size

Pending Publication Date: 2020-04-24
GUANGDONG MECHANICAL & ELECTRICAL COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Rigid structures are mainly used. Such a rigid structure can complete climbing on a flat tree trunk surface, but it is difficult to adapt to changes in the diameter of the trunk, and it is difficult to avoid obstacles and turn.

Method used

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  • Pneumatic climbing robot with flexible joints
  • Pneumatic climbing robot with flexible joints
  • Pneumatic climbing robot with flexible joints

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Embodiment Construction

[0029] The present invention will be further described in detail in conjunction with the accompanying drawings and specific embodiments.

[0030] In order to facilitate a unified review of the various reference signs in the drawings of the specification, the unified description of the reference signs appearing in the drawings of the specification is as follows:

[0031] 1 is the flexible spine mechanism, 2 is the rubber tube, 3 is the spring, 4 is the vertebral block, 5 is the elastic ring, 6 is the driving component, 7 is the spinal pneumatic muscle, 8 is the spinal cable, 9 is the first box, 10 is the second box body, 11 is the soft claw, 12 is the through hole, 13 is the drive box, 14 is the first stepped shaft, 15 is the first shaft section, 16 is the second shaft section, 17 is the first shaft section 18 is the second stepped shaft, 19 is the nut, 20 is the third shaft section, 21 is the fourth shaft section, 22 is the shoulder on the third shaft section, 23 is the end fa...

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Abstract

The invention relates to a pneumatic climbing robot with flexible joints. The pneumatic climbing robot comprises a flexible spine mechanism, a spine driving mechanism and an embracing mechanism. The flexible spine mechanism comprises a rubber tube, a spring arranged on the rubber tube in a sleeving mode, vertebral segment blocks and elastic rings sleeving the spring; the spine driving mechanism comprises a driving assembly; the driving assembly comprises a spine pneumatic muscle and a spine inhaul cable fixedly connected with the spine pneumatic muscle; the embracing mechanism comprises a first box body, a second box body and a soft embracing claw; the first box body and the second box body are oppositely fixed to the two ends of the rubber pipe correspondingly; multiple vertebral segmentblocks and multiple elastic rings alternately sleeve the spring; through holes are formed in the vertebral segment blocks; one end of the spine pneumatic muscle is fixed to the first box body; the other end of the spine pneumatic muscle is fixedly connected with one end of the spine inhaul cable; and the other end of the spine inhaul cable penetrates through the through holes of all the vertebralsegment blocks and then is connected with the second box body. The pneumatic climbing robot can climb trees and poles, which belongs to the technical field of climbing machines.

Description

technical field [0001] The invention relates to a climbing robot, in particular to a pneumatic climbing robot with flexible joints. Background technique [0002] As technology advances, more and more dangerous jobs are being replaced by robots. In order to replace workers climbing to the high altitude of trees to complete dangerous operations such as pruning and fruit picking, engineers and technicians have developed and designed many tree-climbing robots. What mainly adopt is all rigid structure, and such rigid structure can finish climbing on flat tree trunk surface, but it is difficult to realize the adaptation to the change of trunk diameter, and it is difficult to avoid obstacles and turn. Therefore, it is necessary to design a pneumatic tree-climbing robot with flexible bionic joints, which is simple in structure, easy to realize the tree-climbing function, can adapt to the change of trunk diameter, and realize certain obstacle avoidance and turning functions. Conte...

Claims

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Application Information

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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 包世萍钟敏欢鲍仲辅曾德江翟小兵桂建保
Owner GUANGDONG MECHANICAL & ELECTRICAL COLLEGE