Complex space obstacle crossing robot

Abstract

The invention discloses a complex space obstacle crossing robot. The complex space obstacle crossing robot comprises a machine body extending in the horizontal direction and at least three sets of long-foot advancing mechanisms symmetrically arranged on the two sides of the machine body in the length direction; the long-foot advancing mechanisms are arranged in the length direction of the machinebody at intervals; each long-foot advancing mechanism comprises a first leg, a second leg, a first angle adjusting mechanism and a second angle adjusting mechanism; the head end of the first leg is rotatably connected with the machine body, and the tail end of the first leg is rotatably connected with the head end of the second leg; a driving motor and wheels driven by the driving motor are arranged at the tail end of the second leg; the angle between the first leg and the machine body is adjusted through the first angle adjusting mechanism; and the angle between the first leg and the second leg is adjusted through the second angle adjusting mechanism. Compared with the prior art, the complex space obstacle crossing robot has the advantages of light weight and high obstacle crossing performance.

Description

technical field [0001] The invention relates to the technical field of inspection robot, in particular to a complex space obstacle crossing robot. Background technology [0002] The air compartment is a narrow and long closed structure on both sides of the ship, about 40m long. It is usually separated into independent small compartments of about 2m long by steel plates. The two adjacent small compartments are connected through a narrow door hole in the middle of the steel plates. The size of the door hole is about 50cmx35cm, and the distance from the compartment is about 40cm. [0003] The air cabin of import and export small ships is a place with high incidence of smuggling. It has the characteristics of concealment, narrow space, high ambient temperature, non circulating air and no light. It is very dangerous for personnel to climb in and check. Therefore, it is very necessary to design a robot that can flexibly enter and exit the air cabin. At present, the motion configuration...

AI Technical Summary

Problems solved by technology

At present, the motion configurations of robots on the market include wheel type, crawler type, rolling type, foot type, wheel foot type, snake shape, and arm type, but none of them can meet the requirements of high obstacle, small size, and light weight.

Wheeled, tracked, and rolling types cannot meet the requirements of the air cabin door opening in terms of obstacle clearance height and their own size ratio

The foot type and wheel foot type cannot improve their own center of gravity while reducing their size and move forward through the door opening

Because the bottom of the door opening is curved, the snake-shaped robot is easy to roll over when passing through, and the snake-shaped robot weighs tens of kilograms, so it cannot be carried on board by one person

The arm type is also unable to complete the task due to the weight and complicated operation

None of the existing kinematic configurations has the ability to overcome obstacles by climbing over the air cabin door opening

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