Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection
A crawler robot, a degree of freedom technology, applied in crawler vehicles, battery/battery traction, instruments, etc., can solve problems such as poor obstacle crossing performance, high equipment manufacturing and maintenance costs, increased self-weight, etc., to improve service life, extend Service life, avoid the effect of tow cables
Pending Publication Date: 2020-06-02
ZHEJIANG UNIV +2
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Problems solved by technology
If you need to increase the adsorption force, you need to increase the size of the strong magnetic blocks on all crawlers, which will double the weight of the equipment, but the overall effect of improving the load performance of the equipment is not obvious, and the strong magnetic blocks are easy to break after long-term work Cracks, poor obstacle-crossing performance make equipment manufacturing and maintenance costs higher, and are prone to failures that affect normal operation and maintenance operations
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[0028] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.
[0029] like Figure 1-Figure 5 A magnetic climbing four-degree-of-freedom crawler robot for power grid tower detection is shown, including a front travel mechanism 1 and a rear travel mechanism. A fisheye camera 14 is installed on the front travel mechanism, and vibration measurement equipment can also be installed , so as to be able to realize the vibration measurement of the iron tower. The joint mechanism 6 provided between the two travel mechanisms, the joint mechanism includes two two-degree-of-freedom adjustment mechanisms connected in series vertically to each other, the two-degree-of-freedom adjustment mechanism includes a rotary structur...
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The invention relates to a magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection. The magnetic climbing four-degree-of-freedom tracked robot comprises front and rear sections of advancing mechanisms, and a joint mechanism arranged between the two sections of advancing mechanisms; the joint mechanism comprises two two-degree-of-freedom adjusting mechanisms whichare connected in series and perpendicular to each other; the two swing structures at the inner ends of the two two-degree-of-freedom adjusting mechanisms are perpendicularly connected in series; theadvancing mechanisms are crawler-type traveling mechanisms and comprise electromagnets arranged in the advancing mechanisms and crawlers arranged outside the advancing mechanisms, a plurality of crawler plate strong magnetic blocks are uniformly arranged on the inner surfaces of the crawlers, and the currents of the electromagnets can be adjusted to change the adsorption magnetic force of the strong crawler plate magnetic blocks. High obstacle crossing capacity of the robot for obstacles such as weld joints and round pipes can be achieved, and the operation quality and efficiency are improved.
Description
technical field [0001] The invention relates to a magnetic climbing four-degree-of-freedom crawler robot used for grid iron tower detection. Background technique [0002] The current field of climbing robots mainly adopts permanent magnet adsorption robots, which generally replace manual maintenance operations on steel structures such as towers, ship surfaces, and tanks. Permanent magnet adsorption climbing robots are mainly driven by crawlers and crawlers and The combination of strong magnetic blocks produces magnetic adsorption technology. The main factors that determine the performance of the permanent magnet adsorption climbing robot on vertical surfaces are the size of the magnetic adsorption force and whether it can be equipped with obstacles such as welds and round pipes. Obstacle surmountability. [0003] At present, magnetic adsorption is mainly achieved by adding strong magnetic blocks on the surface of the track, and obstacle surmounting is performed through the ...
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IPC IPC(8): B62D55/065B62D55/265B60L50/60G01H17/00
CPCB62D55/065B62D55/265B60L50/60G01H17/00Y02T10/70
Inventor 张月宦荣华董雷黄志龙卞荣张伯禄
Owner ZHEJIANG UNIV