1715 results about "Climbing robots" patented technology

The invention relates to a power transmission tower climbing robot and a power transmission tower routing inspection mode thereof and belongs to the technical field of robots. The robot is formed by a telescopic module, a clamping module and traction modules. The clamping module is divided into an upper clamping module and a lower clamping module, the upper clamping module and the lower clamping module are connected through the telescopic module, and the traction modules are installed on the two sides of the upper clamping module. According to the power transmission tower routing inspection mode of the power transmission tower climbing robot, robots with the corresponding number are installed on corresponding tower piece main materials of a power transmission tower according to routing inspection power transmission tower pieces, the robots of the tower pieces are connected to the corresponding traction modules through traction ropes with detection and maintenance devices, the clamping module and the telescopic module are in linkage to complete climbing and barrier crossing, and thus the detection and maintenance working of the power transmission tower is achieved.

Disclosed is a magnetic-absorption wall-creeping robot with a self-adaptive capability to curved face, which belongs to the art of robot. Said robot comprises a wheeled shifter and a plural of permanent-magnet absorption devices, the wheeled shifter containing an undercarriage, a drive gear, a traction wheel and an auxiliary balancing wheel; one end of the permanent-magnet absorption device being equipped with the magnetic conduction wall surface by auxiliary balancing wheel, and the other end equipped with the undercarriage or other permanent-magnet absorption device by curved face self-adaptive device with rotational freedom degree of among one to three; the traction wheel being laid out symmetrically and driven by differential drive, and the differential of the traction wheel realizing the deflecting on the magnetic conduction wall surface. The wall-creeping robot having a strong loading power, a flexible motility and a super self-adaptive capability to curved face, has a perfect prospect.

The present invention discloses a crawler multicup wall-lcimbing robot. The described robot incldues main body using vacuum cup and crawler multicup drive/conversion mechanism as main body, and cleaning mechanism using backpitch structure rolling-brush and water-recovering device as main component. Said robot is suitable for cleaning and spray-coating high-rice building, specially for cleaning high-rise building glass curtain wall.

The invention discloses a wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system, belonging to the technical field of robots and comprising a robot frame, a 5-DOF (degree of freedom) robot arm, three groups of mobile absorption mechanisms, linear sliding rails, screws and drive motors, wherein the linear sliding rails, the screws and the drive motors respectively correspond to the three groups of mobile absorption mechanisms; the five-DOF robot arm is arranged above the robot frame; the three groups of linear sliding rails and screws are vertically arranged below the robot frame and two ends thereof are connected with the robot frame and the mobile absorption mechanism respectively; and the drive motor is fixedly connected with the mobile absorption mechanism. The invention solves the technical defects of the existing wall climbing robot in vertical wall surface operation, enables the robot to have the advantages of rapid speed and flexible steering of a wheeled mobile robot and have the characteristics of large magnetic absorption force and good load capacity as well as obstacle detouring capacity, and can satisfy the requirements of motion and operation in complicated environments.

The invention discloses a cable climbing robot, which comprises a cable holding effect, can stably climb and has a good obstacle crossing effect. The robot comprises two trolleys arranged symmetrically along the circumferential direction of a cable and clasping devices arranged on the two trolleys and used for clasping the cable, the clasping devices comprise guide rails which are respectively arranged on the front part and the rear part of the two trolleys and are parallel to each other, and the guide rails are perpendicular to the axis of the cable; two roller supports are arranged on each guide rail in a sliding mode, and a spring is arranged between each roller support and the body of each trolley along the direction of each guide rail; a roller rotating around a rotating shaft is arranged on each roller support, and the rotating shaft is obliquely arranged and is perpendicular to the axis of the cable; the rollers are supported and clamped on four points on the cable; and a driving device is arranged on at least one of the rollers.

A wall climbing robot using an Indoor Global Positioning System (IGPS) provided in a room is disclosed. The wall climbing robot includes a navigation receiver configured to receive rotating fan beams emitted from one or more navigation transmitters of the indoor global positioning system, and recognize the rotating fan beams as IGPS signals; a robot frame provided with the navigation receiver mounted; a mobile controller configured to be installed on the robot frame, and to recognize and determine its own position using the IGPS signals; and a drive mechanism configured to travel along the surfaces of the room under control of the mobile controller. The mobile controller includes a central processing unit, an input/output unit, a motion control unit, a drive control unit, a navigation control unit, a sensor signal processor, an emergency processing unit, and an alarm generator.

A mobile robot generally including a first suction module, a second suction module and a hinge assembly pivotably connecting the suction modules together. Each of the suction modules includes a support frame defining a vacuum chamber and a vacuum unit supported on the support frame and communicating with the vacuum chamber. The vacuum unit includes a rotating impeller and an exhaust cowling surrounding the impeller. The impeller has an axis of rotation and is adapted to draw air from the vacuum chamber into the impeller in a direction generally parallel to the impeller axis of rotation and to discharge the drawn air in a direction substantially perpendicular to the impeller axis of rotation. The exhaust cowling is adapted to redirect the discharged air, whereby a thrusting force is applied to the support frame in a direction opposite of the direction of the drawn air from the vacuum chamber.

The invention discloses a detecting system of a bridge cable. The detecting system comprises a climbing robot and a signal processing device. The climbing robot comprises a climbing device and a flaw detecting device. The climbing device comprises at least two clamping mechanisms and a supporting mechanism. Each clamping mechanism comprises two motors arranged at intervals along the axial direction of the bridge cable, the motors are fixed on two lateral sides of a herringbone support respectively, and motor shafts are perpendicular to corresponding lateral sides respectively and extend into a casing. Cylindrical rollers are fixedly arranged on the motor shafts, the supporting mechanism is arranged in the casing in rotating mode and matched with the cylindrical rollers to form triangular clamping force to clamp the outer circumferential face of the bridge cable. By adjusting the length of a pull rod, clamping force of the climbing device on the bridge cable is adjusted so as to enable the friction between the climbing robot and the bridge cable to be optimal. Excessive clamping or slippery in an operation process is prevented, the climbing robot is guaranteed to operate stably, and the structure is simple.

The invention relates to a visual navigation system of a wall climbing robot for weld inspection, a welding and locating method of a welding seam and a method of obtaining welding seam offset. According to the invention, the problem that in the place with a bad natural environment, the overhauling and maintaining work for a tower cylinder in a teaching reappearing way cannot be realized by using the prior art is solved. A charge coupled camera and a cross-shaped laser transmitter of the visual navigation system are fixedly arranged at the front end of the head part of the wall climbing robot, the cross-shaped laser transmitter is arranged right above the charge coupled camera, laser transmitted by the cross-shaped laser transmitter irradiates on the surface of a welding workpiece to form a cross-shaped light spot, the charge coupled camera is used for photographing the cross-shaped light spot on the surface of the welding workpiece, and a data output end of the charge coupled camera is connected with a data input end of a computer. The visual navigation system, the welding and locating method and the method of obtaining the welding seam offset, disclosed by the invention, are suitable for the field of overhauling and maintaining the tower cylinder.

The invention belongs to the technical field of robot welding, particularly an autonomous mobile double-sided double-arc welding robot system. The autonomous mobile double-sided double-arc welding robot system comprises robot bodies, a control system and a welding system; the robot bodies, the control system and the welding system are connected by cables; two robot bodies, two sets of robot body control boxes, two sets of sensing systems and two welding guns are provided; each two sets of corresponding equipment are symmetrically arranged; and the two robot bodies are respectively adsorbed at both sides of a workpiece to be welded. The autonomous mobile double-sided double-arc welding robot system has the advantages that a creeping device adopts a contact magnetic wheel adsorption and non-contact clearance adsorption composite mode and is of a three-wheel structure; all wheels are driving wheels; a redundancy control steering mode is adopted; the steering on a magnetic conducting wall surface is implemented by the differential velocity of two rear wheels and the controlled steering of the front wheel; the steering accuracy of a wall climbing robot is improved by accurately controlling the steering angle of the front wheel; the autonomous mobile double-sided double-arc welding robot system has good movement flexibility, can steer around the center of a vehicle body and has the minimum steering radius of 0; and a robot can be reliably adsorbed on the magnetic conducting wall surface and the free and flexible movement of the robot can be implemented.

The invention belongs to the field of robots and relates to a wall climbing robot, in particular to a wall climbing robot used for detection and maintenance of a small-radius cone-fan tower body, which comprises four driving units (1), four chain caterpillar bands (2), a control system and a robot box body. A magnetic absorption unit is arranged on each chain caterpillar band (2), wherein connection of the driving units and a vehicle body backbone (3) through a hinged bottom plate (6) has a freedom degree of rolling, and the magnetic absorption units on the chain caterpillar bands (2) have a freedom degree of moving through a moving magnetic block hinged seat (28). The robot is capable of climbing in any direction on the small-radius cone-fan tower body and reducing the gaps between the absorption units of the wall climbing robot and the wall when the robot climbs on the small-radius cone surface, thereby facilitating detection and maintenance of walls of small-radius cone tower type structures.

The invention discloses a wall-climbing robot, comprising a front body, a back body, a waist overturning mechanism and a control unit, support legs and walking legs are respectively arranged at the two sides of the front body and the back body, the support legs and the walking legs at the two sides are arranged at opposite angles, the wall-climbing robot is characterized in that: the waist overturning mechanism comprises a clutch, a front support and a back support fixed on the back body, a rotary shaft is fixed on the front support to penetrate the front body in a sliding manner, the other end of the rotary shaft is fixed at one end of the clutch, the other end of the clutch is fixed with the front body, front and back gears which are mutually meshed are fixed on the front and the back supports, wheel shafts of the front and the back gears are movably connected through a connecting plate, wherein, the a front body overturning stepping motor and a back body overturning stepping motor are respectively arranged on the front and the back supports, output shafts of the front body and the back body overturning stepping motors are respectively connected with the wheel shafts of the front and the back gears, the front body, the back body overturning stepping motor and the clutch are respectively connected with the control unit.

The invention provides an electric iron tower climbing robot which mainly comprises a pair of mechanical arms, an electric cylinder, a pitching mechanism and a mechanical clamping device, wherein the mechanical clamping device can clamp steel angles of different specifications; the upper ends of the two mechanical arms are connected by an installing shaft; a motor stand and an ejector rod of the electric cylinder are respectively connected with the two arms through pin columns; the electric cylinder telescopically drives the two arms to rotate around the installing shaft at the upper ends; the lower ends of the mechanical arms are connected with a rotating shaft of the pitching mechanism; the pitching mechanism enables the mechanical arms to rotate around the rotating shaft to realize an obstacle detouring function; and a worm-gear case of the pitching mechanism is fixedly connected with wrist joints of mechanical hands, so that the mechanical arms can also rotate around the wrist joints of the mechanical hands to realize a turning function. The invention has compact structure; complex actions such as obstacle detouring, turning and the like can be completed by linkage of multiple joints; and the robot can climb different structure types of iron towers, has wide range of use and certain loading capacity, and can carry necessary overhaul equipment, substitute for workers to climb the electric iron tower and complete the corresponding overhaul task.

The invention relates to a four-feet climbing robot, comprising a trunk, upper limbs, lower limbs, hands and feet, wherein shoulder steering engines are located at the upper parts of two trunk side plates and elbow steering engines are connected with the shoulder steering engines through rear arms; a wrist steering engine is located between each hand and each front arm; hip steering engines are located at the inner sides of the lower parts of the two trunk side plates; a thigh is located between each hip steering engine and a knee steering engine; and shanks are fixedly connected with the feet and the knee steering engines. A shoulder rotary pair can be rotated in a vertical plane; an elbow rotary pair and a wrist rotary pair rotate in a horizontal plane; and a hip rotary pair and a knee rotary pair rotate in a vertical plane. A structure that the robot embraces a rod body to climb is realized through simulating an animal body structure and a tree climbing manner. When the robot climbs the rod body, an inclined angle is formed between the robot and the rod body, the hands and the feet have mutual effects with the rod body to generate a friction force, so that the robot is self-locked on the rod body under the effect of self gravity; and other clamping mechanisms are not needed, so that the four-feet climbing robot saves the energy consumption and also can improve the energy utilization rate of the robot.

The invention discloses a reconfigurable wall climbing robot and a collaborative obstacle-detouring method thereof. The reconfigurable wall climbing robot comprises an adaptive seal skirt, a sealing lining, a centrifugal pump, a centrifugal pump motor, a centrifugal pump motor driver, a robot body, and the like, wherein the seal skirt is vertically fixed on the periphery of the lower bottom surface of the robot body; the robot body is provided with a through hole, the air inlet of the centrifugal pump is corresponding to the through hole of the robot body and fixedly arranged on the robot body, and an output shaft of the centrifugal pump motor is connected with the centrifugal pump; and the sealing lining is arranged on the lower bottom surface of the robot body and located between the through hole and the seal skirt. In the invention, each reconfigurable wall climbing robot is an independent individual, and can independently complete tasks such as reconnaissance and the like under the condition of no barrier; and when a certain wall climbing robot is required to detour an obstacle, two independent reconfigurable wall climbing robots can collaboratively complete an obstacle-detouring task through being combined to be a whole.

The invention belongs to the technical field of intelligent robots and specifically provides a wall-climbing robot and a using method thereof. The vacuum suction wall-climbing robot comprises a box body (1), a transmission mechanism (2), guide mechanisms (3) and suction mechanisms (4). The transmission mechanism (2) comprises two synchronous belt sets (11) in square crossing. Each synchronous belt set (11) is driven by a motor (8). The suction mechanisms (4) are installed on the two ends of the synchronous belt sets (11). Each suction mechanism comprises an electric push rod (21) and a sucker group (25) arranged under the electric push rod (21), wherein the suction and the release of the sucker group (25) are controlled by a solenoid value. Through coordinated control of the motor at one end of each guide rail, the suckers and the solenoids for controlling the suction of the suckers, the motors can drive the guide rails to move linearly in certain directions; the solenoid valves for the suckers can achieve the suction and the release of the suckers, so that the robot can move continuously in the certain directions.

A three-plane-branch six-degree-of-freedom parallel wall-climbing robot mainly comprises a movable platform, a laser gun, three plane branches, a reset mechanism and three traction legs. Each plane branch comprises two telescopic driving legs, the upper end of each driving leg and the movable platform are in composite universal pair connection through a transverse shaft, and the lower end of each driving leg and a permanent magnetic chuck are in composite ball pair connection. The traction legs can stretch out in a rigidity mode, retract in a flexibility mode and swing, the upper end of each traction leg and the movable platform are in ball pair connection, and the lower end of each traction leg and a permanent magnetic chuck are in ball pair connection. The reset mechanism enables the plane branches to be reset through the transverse shafts. Pressing springs enable the traction legs to be reset, all the legs and the permanent magnetic chucks are in coordinated movement, and wall face climbing of magnetic workpieces is achieved. After absorbing and positioning are completed, the absorption capacity of the chucks acts on the movable platform all the time, the wall-climbing robot is changed into a parallel robot, and the movable platform drives the laser gun so that large equipment can be repaired and workpiece defects can be overcome. The three-plane-branch six-degree-of-freedom parallel wall-climbing robot has the advantages of being simple in structure, strong in absorption capacity, flexible to move, simple in control, low in self weight, and capable of achieving the dual functions of quick translation wall climbing and large-load six-degree-of-freedom flexible operation.

The invention discloses a wheel-type obstacle detouring mechanism for a wall climbing robot with adjustable magnetic adsorption force in the technical field of robots. The wheel-type obstacle detouring mechanism comprises a moving mechanism, an adsorption mechanism, a lifting mechanism, a linear guide rail, a spring, sliding guide rods and a guide rod connecting frame, wherein the adsorption mechanism is arranged below a driving mechanism and movably connected with four sliding guide rods; the spring is sleeved on the sliding guide rods; the guide rod connecting frame is contacted with the spring and connected with the four sliding guide rods; the lifting mechanism is movably connected with the moving mechanism and the adsorption mechanism; the linear guide rail is connected with the moving mechanism; and the lifting mechanism drives the moving mechanism and the adsorption mechanism to move up and down along the linear guide rail. The non-contact magnetic adsorption wheel-type moving mechanism has the characteristics of flexible movement, high and adjustable adsorption force and lifting capability, and has good application prospect.