CN101537616B - Pole-climbing robot with multiple postures - Google Patents

Pole-climbing robot with multiple postures Download PDF

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CN101537616B
CN101537616B CN2009100311993A CN200910031199A CN101537616B CN 101537616 B CN101537616 B CN 101537616B CN 2009100311993 A CN2009100311993 A CN 2009100311993A CN 200910031199 A CN200910031199 A CN 200910031199A CN 101537616 B CN101537616 B CN 101537616B
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reversing
straight
support
robot
rotating
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CN101537616A (en
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纪小刚
李楠
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Jiangnan University
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Jiangnan University
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Abstract

本发明涉及一种多姿态爬杆机器人,其特征在于包括支座及电控装置,直行机构及旋转机构分别装置在支座的两侧,换向导向机构装置在支座中间于直行机构及旋转机构之间,直行机构带动机器人沿导杆的轴线方向直线运动,旋转机构带动机器人围绕导杆轴线转动,换向导向机构为机器人导向并变换运动状态。本发明结构简单,动作灵活,操作方便;机器人既可作沿导杆轴线方向的直线动,又可作围绕导杆轴线的旋转运动,使爬杆机器人适用于更广的范围和领域;另外,换向楔块通过T型槽螺栓装置在换向支架上,可调整换向楔块及直线轴承的径向位置,从而在一定范围内适应直径不同的导杆。

The invention relates to a multi-posture pole-climbing robot, which is characterized in that it includes a support and an electric control device. The straight-running mechanism and the rotating mechanism are respectively installed on both sides of the support. Between the mechanisms, the straight-travel mechanism drives the robot to move linearly along the axis of the guide rod, the rotation mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state. The invention has the advantages of simple structure, flexible action and convenient operation; the robot can not only move linearly along the axis of the guide rod, but also rotate around the axis of the guide rod, so that the climbing rod robot is applicable to a wider range and field; in addition, The reversing wedge is installed on the reversing bracket through the T-slot bolt, and the radial position of the reversing wedge and the linear bearing can be adjusted, so as to adapt to guide rods with different diameters within a certain range.

Description

多姿态爬杆机器人 Multi-attitude pole climbing robot

技术领域technical field

本发明涉及一种机器人,尤其是涉及一种可以沿导杆直行或旋转的多姿态爬杆机器人。 The invention relates to a robot, in particular to a multi-posture pole-climbing robot that can go straight or rotate along a guide bar. the

背景技术  Background technique

爬杆机器人在建筑、装饰、清洗、喷漆等行业都有应用,目前爬杆机器人技术已经成为研究的热点,在各行业的应用也越来越广泛。现有爬杆机器人的爬杆有多种实现方式,但无论是沿杆连续运动的滚动式和如尺蠖般运动的攀爬式都只能单姿态运动,也就是作沿导杆方向的直线运动,而无法作旋转运动,因此,其适用范围受到限制,如喷漆时,因无法旋转而喷漆范围较小。 Pole-climbing robots are used in construction, decoration, cleaning, painting and other industries. At present, pole-climbing robot technology has become a research hotspot, and its application in various industries is becoming more and more extensive. There are many ways to realize the pole climbing of existing pole climbing robots, but both the rolling type that moves continuously along the pole and the climbing type that moves like an inchworm can only move in a single posture, that is, linear motion along the direction of the guide rod , and cannot be rotated, therefore, its scope of application is limited. For example, when painting, the scope of painting is small because it cannot be rotated. the

发明内容  Contents of the invention

本申请人针对上述的问题,进行了研究改进,提供一种可以作直线运动及旋转运动、适用范围和领域更广的多姿态爬杆机器人。 In view of the above problems, the present applicant has carried out research and improvement to provide a multi-posture pole-climbing robot that can perform linear motion and rotary motion, and has a wider application range and field. the

为了解决上述技术问题,本发明采用如下的技术方案: In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

一种多姿态爬杆机器人,包括支座及电控装置,直行机构及旋转机构分别装置在支座的两侧,换向导向机构装置在支座中间,并且换向导向机构装置在直行机构与旋转机构之间,直行机构带动机器人沿导杆的轴线方向直线运动,旋转机构带动机器人围绕导杆轴线转动,换向导向机构为机器人导向并变换运动状态;所述直行机构包括三个铰接在支座上的直行臂,三个直行臂以导杆轴线为中心呈圆周均匀设置在支座上,三个直行臂之间连接有弹簧,直行臂前端分别装置有直行滚轮,直行滚轮通过第一传动机构与第一步进电机连接; A multi-posture pole-climbing robot, including a support and an electric control device, a straight-running mechanism and a rotating mechanism are respectively installed on both sides of the support, a reversing guide mechanism is installed in the middle of the support, and the reversing guide mechanism is installed between the straight-running mechanism and the rotating mechanism. Between the rotating mechanisms, the straight-traveling mechanism drives the robot to move linearly along the axis of the guide rod, the rotating mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state; The straight-running arms on the seat, the three straight-running arms are evenly arranged on the support in a circle centered on the axis of the guide rod. The mechanism is connected with the first stepper motor;

所述旋转机构包括三个铰接在支座上的旋转臂,旋转臂与直行臂的安装位置相对应,三个旋转臂之间连接有弹簧,旋转臂前端分别装置有旋转滚轮,旋转滚轮通过第二传动机构与第二步进电机连接; The rotating mechanism includes three rotating arms hinged on the support. The installation position of the rotating arms corresponds to the straight arm. There are springs connected between the three rotating arms. The front ends of the rotating arms are equipped with rotating rollers respectively. The second transmission mechanism is connected with the second stepper motor;

所述换向导向机构包括环形换向支架,换向支架的一侧装置有齿条,齿条与装置在支座上的换向驱动齿轮啮合,换向驱动齿轮连接第三步进电机,换向支架上装置有三个换向楔块,换向楔块的安装位置与旋转臂及直行臂相对应,换向楔块的内侧装置有直线轴承。 The reversing guide mechanism includes an annular reversing bracket, and a rack is installed on one side of the reversing bracket, and the rack is engaged with the reversing drive gear installed on the support, and the reversing drive gear is connected to the third stepping motor, and the reversing drive gear is connected to the third stepping motor. There are three reversing wedges installed on the support, the installation positions of the reversing wedges are corresponding to the rotating arm and the straight arm, and the inboard of the reversing wedges is equipped with a linear bearing. the

进一步的: further:

所述换向楔块上设有T型槽,T型槽螺栓与换向支架螺纹连接,T型槽螺栓的螺栓头呈圆柱形,螺栓头滑套在T型槽中;T型槽螺栓的螺杆端部设有凹槽。 The reversing wedge is provided with a T-slot, and the T-slot bolt is threadedly connected with the reversing bracket. The bolt head of the T-slot bolt is cylindrical, and the bolt head slides in the T-slot; the T-slot bolt The end of the screw is provided with a groove. the

所述支座呈等边六角形。 The support is in the shape of an equilateral hexagon. the

所述第一传动机构及第二传动机构为同步齿形带传动机构。 The first transmission mechanism and the second transmission mechanism are synchronous toothed belt transmission mechanisms. the

本发明的技术效果在于: Technical effect of the present invention is:

本发明公开的一种多姿态爬杆机器人,结构简单,动作灵活,操作方便;设有直行机构及旋转机构,使机器人既可作沿导杆轴线方向的直线动,又可作围绕导杆轴线的旋转运动,使爬杆机器人适用于更广的范围和领域;另外,换向楔块通过T型槽螺栓装置在换向支架上,可调整换向楔块及直线轴承的径向位置,从而在一定范围内适应直径不同的导杆。 A multi-posture pole-climbing robot disclosed by the present invention has simple structure, flexible action and convenient operation; it is provided with a straight-moving mechanism and a rotating mechanism, so that the robot can not only move in a straight line along the axis of the guide rod, but also move around the axis of the guide rod. The rotating movement makes the pole-climbing robot applicable to a wider range and field; in addition, the reversing wedge is installed on the reversing bracket through the T-slot bolt, and the radial position of the reversing wedge and the linear bearing can be adjusted, so that Adapt to guide rods with different diameters within a certain range. the

附图说明Description of drawings

图1为本发明的三维结构示意图。 Fig. 1 is a schematic diagram of a three-dimensional structure of the present invention. the

图2为本发明的另一视角的三维结构示意图。 Fig. 2 is a schematic diagram of a three-dimensional structure from another perspective of the present invention. the

图3为本发明换向导向机构及支座的三维结构示意图。 Fig. 3 is a three-dimensional structural schematic diagram of the reversing guide mechanism and the support of the present invention. the

图4为本发明换向导向机构局部三维爆炸图。 Fig. 4 is a partial three-dimensional exploded view of the reversing guide mechanism of the present invention. the

具体实施方式Detailed ways

下面结合附图对本发明的具体实施方式作进一步详细的说明。 The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. the

如图1、2、3所示,本发明包括支座1及电控装置(未在图中画出),直行机构2及旋转机构3装置在支座的两侧,直行机构2带动机器人沿导杆5的轴线方向直线运动,旋转机构3带动机器人围绕导杆5的轴线转动。直行机构2包括三个直行臂201,三个直行臂201分别通过销轴202铰接在支座1上,三个直行臂201以导杆5轴线为中心呈圆周均匀设置在支座1上,在本实施例中,支座1呈等边六角形,便于三个直行臂201的等分安装,三个直行臂201之间连接有弹簧203,直行臂201的前端分别装置有直行滚轮204,直行滚轮204通过同步齿形带传动机构205与步进电机206连接,三个步进电机206作为带动机器人沿导杆5作轴向直线运动的动力源,电控装置控制三个步进电机206同步带动三个直行滚轮204沿导杆5的轴线滚动。旋转机构3包括三个旋转臂301,旋转臂301通过销轴302铰接在支座1上的,旋转臂301与直行臂201的安装位置相对应,三个旋转臂301之间连接有弹簧303,旋转臂301的前端分别装置有旋转滚轮304,旋转滚轮304通过同步齿形带传动机构305与步进电机306连接,三个步进电机306作为带动机器人围绕导杆5作转动的动力源,电控装置控制三个步进电机306同步带动三个旋转滚轮304围绕导杆5的轴线滚动。同步齿形带传动机构205及同步齿形带传动机构305也可用其他的传动机构替代,如齿轮传动机构。换向导向机构4装置在支座1中间于直行机构2及旋转机构3之间,换向导向机构4为机器人导向并变换运动状态。换向导向机构4包括呈环形的换向支架401,换向支架401的一侧固定装置有齿条402,换向驱动齿轮403装置在支座1上,齿条402与换向驱动齿轮403啮合,换向驱动齿轮403连接步进电机404,换向支架401上装置有三个换向楔块405,换向楔块405的安装位置与旋转臂301及直行臂201相对应,也就是说,换向楔块405与旋转臂301及直行臂201的上下位置对齐,当换向楔块405随换向导向机构4向上或向下运动时,换向楔块405可推动旋转臂301及直行臂201张开。换向楔块405的内侧装置有直线轴承406,直线轴承406的内侧面为圆柱面,三个直线轴承406环抱住导杆5,为机器人的直线运动及旋转运动导向。步进电机404作为驱动换向导向机构4的动力源,由电控装置控制并经齿轮齿条机构,带动换向导向机构4实现直行和旋转两种运动姿态的切换。在本实施例中,如图3、4所示,换向楔块405的后部设有T型槽408,T型槽螺栓407与换向支架401螺纹连接,T型槽螺栓407的螺栓头呈圆柱形,T型槽螺栓407的螺栓头滑套在T型槽408中,T型槽螺栓407的螺杆端部设有凹槽409。在T型槽408的开口处用螺钉装置档块410,防止T型槽螺栓407从T型槽408中滑出。在需要调整换向楔块405及直线轴承406的径向位置时,可在凹槽409中插入调节手柄411或其他工具,转动T型槽螺栓407即可调整换向楔块405及直线轴承406的径向位置,从而在一定范围内适应直径不同的导杆5,并且T型槽螺栓407的螺栓头滑套在T型槽408中的结构还可使换向导向机构4在导杆5上自动定心。本发明中,直行滚轮204及旋转滚轮304均采用橡胶滚轮,电控装置按现有技术设计制造,控制机器人各构件的协同动作,并采用无线遥控技术,在较远的距离通过遥控手柄操纵机器人的动作。 As shown in Figures 1, 2, and 3, the present invention includes a support 1 and an electric control device (not shown in the figure), a straight travel mechanism 2 and a rotation mechanism 3 are installed on both sides of the support, and the straight travel mechanism 2 drives the robot along the The axial direction of the guide rod 5 moves linearly, and the rotating mechanism 3 drives the robot to rotate around the axis of the guide rod 5 . The straight travel mechanism 2 includes three straight travel arms 201, the three straight travel arms 201 are respectively hinged on the support 1 through pin shafts 202, and the three straight travel arms 201 are evenly arranged on the support 1 around the axis of the guide rod 5 as the center. In this embodiment, the support 1 is in the shape of an equilateral hexagon, which is convenient for the equal installation of the three straight arms 201. Springs 203 are connected between the three straight arms 201, and the front ends of the straight arms 201 are respectively equipped with straight rollers 204. The roller 204 is connected with the stepper motor 206 through a synchronous toothed belt transmission mechanism 205, and the three stepper motors 206 are used as a power source to drive the robot to move axially along the guide rod 5, and the electric control device controls the three stepper motors 206 to synchronize Drive the three straight rollers 204 to roll along the axis of the guide rod 5 . The rotating mechanism 3 includes three rotating arms 301, the rotating arms 301 are hinged on the support 1 through a pin shaft 302, the rotating arms 301 correspond to the installation positions of the straight arm 201, and a spring 303 is connected between the three rotating arms 301, The front end of rotating arm 301 is equipped with rotating roller 304 respectively, and rotating roller 304 is connected with stepping motor 306 by synchronous toothed belt transmission mechanism 305, and three stepping motors 306 are as the power source that drives robot to rotate around guide bar 5, and electric The control device controls the three stepping motors 306 to synchronously drive the three rotating rollers 304 to roll around the axis of the guide rod 5 . The synchronous toothed belt transmission mechanism 205 and the synchronous toothed belt transmission mechanism 305 can also be replaced by other transmission mechanisms, such as a gear transmission mechanism. The reversing guide mechanism 4 is installed between the straight running mechanism 2 and the rotating mechanism 3 in the middle of the support 1, and the reversing guide mechanism 4 guides and changes the motion state for the robot. The reversing guide mechanism 4 comprises an annular reversing bracket 401, a side fixing device of the reversing bracket 401 has a rack 402, and a reversing drive gear 403 is installed on the support 1, and the rack 402 meshes with the reversing drive gear 403 , the reversing drive gear 403 is connected to the stepper motor 404, and there are three reversing wedges 405 installed on the reversing bracket 401. The up and down positions of the reversing wedge 405 and the rotating arm 301 and the straight arm 201 are aligned. When the reversing wedge 405 moves upward or downward with the reversing guide mechanism 4, the reversing wedge 405 can push the rotating arm 301 and the straight arm 201 Open up. The inboard device of reversing wedge 405 has linear bearing 406, and the inner surface of linear bearing 406 is a cylindrical surface, and three linear bearings 406 encircle guide rod 5, guide the linear motion and rotary motion of robot. The stepper motor 404 is used as the power source for driving the reversing guide mechanism 4, controlled by the electric control device and driven by the rack and pinion mechanism to realize the switch between two motion postures of straight travel and rotation. In this embodiment, as shown in Figures 3 and 4, a T-slot 408 is provided at the rear of the reversing wedge 405, and the T-slot bolt 407 is threadedly connected with the reversing bracket 401, and the bolt head of the T-slot bolt 407 It is cylindrical, and the bolt head of the T-slot bolt 407 slides into the T-slot 408 , and the screw end of the T-slot bolt 407 is provided with a groove 409 . At the opening of the T-shaped groove 408, a screw device stopper 410 is used to prevent the T-shaped groove bolt 407 from slipping out of the T-shaped groove 408 . When it is necessary to adjust the radial position of the reversing wedge 405 and the linear bearing 406, an adjustment handle 411 or other tools can be inserted into the groove 409, and the reversing wedge 405 and the linear bearing 406 can be adjusted by turning the T-slot bolt 407 radial position, so as to adapt to guide rods 5 with different diameters within a certain range, and the structure of the bolt head sliding sleeve of the T-slot bolt 407 in the T-slot 408 can also make the reversing guide mechanism 4 on the guide rod 5 Automatic centering. In the present invention, both the straight rollers 204 and the rotating rollers 304 are rubber rollers, and the electric control device is designed and manufactured according to the prior art to control the coordinated action of the various components of the robot, and wireless remote control technology is used to manipulate the robot through the remote control handle at a relatively long distance. Actions. the

在使用本发明时,将本发明穿入导杆5,转动T型槽螺栓407使三个换向 楔块405上的直线轴承406环抱在导杆5上,三个直行滚轮204及三个旋转滚轮304在弹簧力的作用下分别压紧在导杆5上。 When using the present invention, the present invention is inserted into the guide rod 5, and the T-slot bolt 407 is rotated so that the linear bearings 406 on the three reversing wedges 405 are encircled on the guide rod 5, and the three straight rollers 204 and the three rotating The rollers 304 are respectively compressed on the guide rods 5 under the action of the spring force. the

如图1、2所示,当换向导向机构4处于中间位置时,直行臂201前端的直行滚轮204及旋转臂301前端的旋转滚轮304在弹簧力的作用下压紧在导杆5上,此时机器人静止于导杆5上。当电控装置控制步进电机404通过齿轮齿条机构驱动换向导向机构4向上运动到一定位置,机器人的直行臂201在换向楔块405的作用下张开(直行滚轮204不与导杆5接触),旋转臂301前端的三个旋转滚轮304在弹簧力的作用下压紧在导杆5上,电控装置控制步进电机306通过同步齿形带传动机构305带动三个旋转滚轮304转动,从而带动机器人绕导杆5作旋转运动。当电控装置控制步进电机404通过齿轮齿条机构驱动换向导向机构4向下运动到一定位置,机器人的旋转臂301在换向楔块405的作用下张开(旋转滚轮304不与导杆5接触),直行臂201前端的直行滚轮204在弹簧力的作用下压紧在导杆5上,电控装置控制步进电机206通过同步齿形带传动机构205带动三个行滚轮204转动,从而实现机器人沿导杆5的直线运动。 As shown in Figures 1 and 2, when the reversing guide mechanism 4 is in the middle position, the straight roller 204 at the front end of the straight arm 201 and the rotating roller 304 at the front end of the rotating arm 301 are pressed against the guide rod 5 under the action of the spring force, Now the robot is stationary on the guide rod 5 . When the electronic control device controls the stepping motor 404 to drive the reversing guide mechanism 4 to move upwards to a certain position through the rack and pinion mechanism, the straight arm 201 of the robot will be opened under the effect of the reversing wedge 405 (the straight roller 204 is not in contact with the guide bar. 5 contact), the three rotating rollers 304 at the front end of the rotating arm 301 are pressed against the guide rod 5 under the action of the spring force, and the electric control device controls the stepping motor 306 to drive the three rotating rollers 304 through the synchronous toothed belt transmission mechanism 305 Rotate, thereby drive the robot to rotate around the guide rod 5. When the electronic control device controls the stepper motor 404 to drive the reversing guide mechanism 4 to move downward to a certain position through the rack and pinion mechanism, the rotating arm 301 of the robot will be opened under the effect of the reversing wedge 405 (the rotating roller 304 does not contact the guide. rod 5 contact), the straight roller 204 at the front end of the straight arm 201 is pressed on the guide rod 5 under the action of the spring force, and the electric control device controls the stepper motor 206 to drive the three row rollers 204 to rotate through the synchronous toothed belt transmission mechanism 205 , so as to realize the linear movement of the robot along the guide rod 5 . the

机器人运动状态及各机构的动作状态见下表: The motion status of the robot and the action status of each mechanism are shown in the table below: 

  机器人运   动状态Robot motion status  换向导向机构4Reversing guide mechanism 4   直行臂步进   电机206Straight arm stepping motor 206   旋转臂步进   电机306Rotary arm stepping motor 306  直行滚轮204与  导杆Straight running roller 204 and guide rod 旋转滚轮304与 导杆Rotary roller 304 and guide rod   直线运动linear motion  向下down   开 open   关 close  接触 touch 分离separate   旋转转动Rotate  向上up   关 close   开 open  分离separate 接触touch   停止 stop  置中 Set in   关 close   关 close  接触 touch 接触touch

Claims (4)

1.一种多姿态爬杆机器人,其特征在于:包括支座及电控装置,直行机构及旋转机构分别装置在支座的两侧,换向导向机构装置在支座中间,并且换向导向机构装置在直行机构与旋转机构之间,直行机构带动机器人沿导杆的轴线方向直线运动,旋转机构带动机器人围绕导杆轴线转动,换向导向机构为机器人导向并变换运动状态;1. A multi-posture pole-climbing robot, characterized in that: it comprises a support and an electric control device, a straight-running mechanism and a rotating mechanism are installed on both sides of the support respectively, a reversing guide mechanism is installed in the middle of the support, and the reversing guide The mechanism device is between the straight travel mechanism and the rotation mechanism. The straight travel mechanism drives the robot to move linearly along the axis of the guide rod, the rotation mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state; 所述直行机构包括三个铰接在支座上的直行臂,三个直行臂以导杆轴线为中心呈圆周均匀设置在支座上,三个直行臂之间连接有弹簧,直行臂前端分别装置有直行滚轮,直行滚轮通过第一传动机构与第一步进电机连接;The straight-travel mechanism includes three straight-travel arms hinged on the support, and the three straight-travel arms are evenly arranged on the support with the center of the guide rod axis as a circle. Springs are connected between the three straight-travel arms, and the front ends of the straight-travel arms are respectively installed There are straight rollers, and the straight rollers are connected with the first stepping motor through the first transmission mechanism; 所述旋转机构包括三个铰接在支座上的旋转臂,旋转臂与直行臂的安装位置相对应,三个旋转臂之间连接有弹簧,旋转臂前端分别装置有旋转滚轮,旋转滚轮通过第二传动机构与第二步进电机连接;The rotating mechanism includes three rotating arms hinged on the support. The installation position of the rotating arms corresponds to the straight arm. There are springs connected between the three rotating arms. The front ends of the rotating arms are equipped with rotating rollers respectively. The second transmission mechanism is connected with the second stepping motor; 所述换向导向机构包括环形换向支架,换向支架的一侧装置有齿条,齿条与装置在支座上的换向驱动齿轮啮合,换向驱动齿轮连接第三步进电机,换向支架上装置有三个换向楔块,换向楔块的安装位置与旋转臂及直行臂相对应,换向楔块的内侧装置有直线轴承。The reversing guide mechanism includes an annular reversing bracket, and a rack is installed on one side of the reversing bracket, and the rack is engaged with the reversing drive gear installed on the support, and the reversing drive gear is connected to the third stepping motor, and the reversing drive gear is connected to the third stepping motor. There are three reversing wedges installed on the support, the installation positions of the reversing wedges are corresponding to the rotating arm and the straight arm, and the inboard of the reversing wedges is equipped with a linear bearing. 2.按照权利要求1所述的多姿态爬杆机器人,其特征在于:所述换向楔块上设有T型槽,T型槽螺栓与换向支架螺纹连接,T型槽螺栓的螺栓头呈圆柱形,螺栓头滑套在T型槽中;T型槽螺栓的螺杆端部设有凹槽。2. According to the multi-posture pole-climbing robot according to claim 1, it is characterized in that: the reversing wedge is provided with a T-slot, the T-slot bolt is threaded with the reversing bracket, and the bolt head of the T-slot bolt It is cylindrical, and the bolt head slides in the T-shaped slot; the screw end of the T-shaped slot bolt is provided with a groove. 3.按照权利要求1所述的多姿态爬杆机器人,其特征在于:所述支座呈等边六角形。3. The multi-posture pole-climbing robot according to claim 1, wherein the support is in the shape of an equilateral hexagon. 4.按照权利要求1所述的多姿态爬杆机器人,其特征在于:所述第一传动机构及第二传动机构为同步齿形带传动机构。4. The multi-posture pole-climbing robot according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are synchronous toothed belt transmission mechanisms.
CN2009100311993A 2009-04-29 2009-04-29 Pole-climbing robot with multiple postures Expired - Fee Related CN101537616B (en)

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