Pole-climbing robot capable of automatically identifying obstacles

Abstract

The invention discloses a pole-climbing robot capable of automatically identifying obstacles. The pole-climbing robot comprises a shell, motors a are fixedly connected to the upper portion and the lower portion of the right side of the bottom of an inner cavity of the shell, rotating wheels a are welded to the outlet ends of the motors a, the rotating wheels a are connected with upper supporting legs a through rotating shafts, and the lower ends of the upper supporting legs a are movably connected with lower supporting legs a through connecting shafts a; vacuum chucks a are welded to the lowerends of the lower supporting legs a, motors b are fixedly connected to the upper portion and the lower portion of the left side of the bottom of the inner cavity of the shell, rotating wheels b are welded to the outlet ends of the motors b and connected with upper supporting legs b through rotating shafts, the lower ends of the upper supporting legs b are movably connected with lower supporting legs b through connecting shafts b, and vacuum chucks b are welded to the lower ends of the lower supporting legs b; and an obstacle recognition device is arranged at the right end of the upper surfaceof the shell. Through mutual cooperation of the motors a, the motors b and the obstacle recognition device, obstacles are automatically recognized, walking is stopped, and after work is finished, therobot automatically returns to the initial position.

Description

technical field [0001] The invention belongs to the technical field of pole-climbing robots, in particular to a pole-climbing robot for automatically identifying obstacles. Background technique [0002] Rod-climbing robots are one of the current research hotspots in robotics. Rod-climbing robots are widely used in high-altitude and dangerous operations, and are increasingly promising in other industries. [0003] The prior art discloses a pole-climbing robot with the application number CN201921394091.6, including a walking frame, a walking wheel, a wheel frame, a permanent magnet block, an angular connector, an auxiliary connection structure, a hinge, a lock, a steering motor, a steering shaft, a main Drive motors, transmission belts, etc., are free to expand and contract through the elastic telescopic connection structure, and the walking unit is adsorbed on the rod body by its own magnetic force. The connection structure also plays the role of connecting each walking unit...

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Problems solved by technology

[0003] The prior art discloses a pole-climbing robot with the application number CN201921394091.6, including a walking frame, a walking wheel, a wheel frame, a permanent magnet block, an angular connector, an auxiliary connection structure, a hinge, a lock, a steering motor, a steering shaft, a main Drive motors, transmission belts, etc., are free to expand and contract through the elastic telescopic connection structure, and the walking unit is adsorbed on the rod body by its own magnetic force. The connection structure also plays the role of connecting each walking unit. During the walking process, the pole-climbing robot as a whole is in a synchronous rising state. Even if one walking unit is hindered, or when the obstacles are delayed, the remaining walking units transmit the lifting force through the elastic telescopic connection structure. , to drive the walking unit to rise synchronously, so that the whole machine has a certain obstacle avoidance ability. will cause damage to it, so we propose a robot that automatically recognizes obstacles and climbs poles

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