Rigid-flexible coupled climbing robot

A rigid-flexible coupling, robotics technology, applied in the field of robotics research and climbing robots, can solve the problems of difficulty in meeting the adaptability requirements of different rod diameters and rod-shaped objects at the same time, insufficient rigidity and limited adaptability of soft robots, etc. High cost performance, convenient control and simple structure

CN113650695APending Publication Date: 2021-11-16CHONGQING UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-11-16

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Abstract

The invention discloses a rigid-flexible coupled climbing robot. The robot comprises at least two annular air bags used for surrounding a climbed object, two surrounding roller driving modules fixed to one ends of the two annular air bags in a one-to-one correspondence mode, two telescopic roller driving modules fixed to the two surrounding roller driving modules in a one-to-one correspondence mode and a long-strip-shaped air bag connected between the two telescopic roller driving modules. The surrounding roller driving modules are provided with a roller pair I which enables the annular air bag penetrating through the surrounding roller driving modules to move relatively; the telescopic roller driving module is provided with a roller pair II which enables the long-strip-shaped air bag penetrating through the telescopic roller driving module to move relatively. The modular design and the rigid-flexible coupling principle are adopted, the overall design of the robot is achieved by designing the surrounding mechanism and the telescopic mechanism through the air bag with a certain shape, due to the fact that the inflatable air bag has certain rigidity, the loading capacity of the robot can be improved to a certain degree, meanwhile, the size of the robot is reduced, and the portable design is achieved; through the combination of the lengths of the air bags, rod-shaped objects with different rod diameters and shapes can be adapted.
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Description

technical field

[0001] The patent of the present invention relates to the field of robot research, especially the field of climbing robots, and specifically relates to a portable modular rigid-flexible coupling climbing robot that can be used for climbing rods, detecting and repairing pipelines and cables. Background technique

[0002] The maintenance and operation of pipelines, cables, and trusses are difficult and high-risk tasks for humans. Using climbing robots instead of manual operations has obvious advantages in terms of safety, stability, and accuracy.

[0003] In the 1980s, the United States, Japan and other developed countries successively carried out research work on climbing robots. In the early days, Waseda University in Japan successfully developed the woody-1 tree climbing robot. The trunk moves up and down. Based on this, a large number of rigid pole-climbing robots (such as the literature "Design of a micro pole-climbing robot") have been researched, mainly...

Examples

Embodiment Construction

[0023] Such as figure 1 As shown, a rigid-flexible coupling climbing robot in this embodiment includes two annular airbags 4 for surrounding objects to be climbed, and two encircling roller drive modules fixed to one end of the two annular airbags 4 one by one. 3. One-to-one correspondence between the two telescopic roller drive modules 2 fixed to the two embracing roller drive modules 3 and the elongated airbag 1 connected between the two telescopic roller drive modules 2; The pair of rollers I3-3 for the relative movement of the annular airbag 4 passing therethrough; the telescopic roller drive module 2 is provided with the pair of rollers II2-3 for the relative movement of the elongated airbag 1 passing therethrough.

[0024] Such as figure 1 As shown, one end of the annular airbag 4 is fixed on the connecting shell of the surrounding roller driving module 3, and the annular airbag 4 surrounds the rod 5 and then passes through the two roller pairs I3-3 in the surrounding r...