CN109131622B - Climbing robot - Google Patents
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- CN109131622B CN109131622B CN201811138088.8A CN201811138088A CN109131622B CN 109131622 B CN109131622 B CN 109131622B CN 201811138088 A CN201811138088 A CN 201811138088A CN 109131622 B CN109131622 B CN 109131622B
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- 230000009194 climbing Effects 0.000 title claims abstract description 33
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 76
- 229910052742 iron Inorganic materials 0.000 abstract description 38
- 238000001514 detection method Methods 0.000 abstract description 9
- 229910000831 Steel Inorganic materials 0.000 abstract description 8
- 239000010959 steel Substances 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003746 surface roughness Effects 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012946 outsourcing Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a climbing robot, which solves the technical problems: in order to improve the automation level of lifting equipment detection and reduce the labor intensity of detection personnel, the invention provides a lifting equipment iron tower climbing robot, in particular to a square iron tower climbing robot which has certain load capacity and can bear detection equipment. The technical scheme who adopts, a climbing robot, including carrying thing platform, two many joints leg and two soles, carrying thing platform level setting, the top of two many joints legs all sets up the back at carrying thing platform, and two soles set up the bottom at two many joints legs respectively. The beneficial effects of the invention are as follows: this climbing robot can climb the iron tower that square steelframe was constituteed, can climb the great circular steel pipe iron tower of diameter again, can climb the iron stand that steel of arbitrary shape was constituteed in theory, and with the help of the stronger suction of electromagnetic chuck, has reduced the requirement to steel surface roughness.
Description
Technical Field
The invention relates to a climbing robot.
Background
At present, robots are applied to the aspects of automobile manufacturing, logistics automation, medical treatment, home service, military, space and underwater exploration and the like, and are expanded to new fields. The robot technology capable of walking on land, flying in the air and diving under water is very reliable and mature, but the robot technology for climbing aloft is also a research hotspot, and a plurality of modes are patented.
With the development of basic construction of ports, buildings, high-speed rails and the like in China, climbing robots for detecting lifting equipment gradually become a popular research field, and lifting equipment inspection departments urgently need automatic equipment capable of replacing manual climbing iron towers for detection, however, finished products are not yet seen in domestic and foreign markets by the climbing robots for detecting lifting equipment. The research of the climbing robot can lighten the labor intensity of workers, reduce the falling risk of high-altitude operation and create good economic and social benefits.
Disclosure of Invention
The invention aims to solve the technical problems that in order to improve the detection automation level of lifting equipment and reduce the labor intensity of detection personnel, the invention provides a lifting equipment iron tower climbing robot, in particular to a lifting equipment iron tower climbing robot for each area of a square iron tower, which has a certain load capacity and can bear detection equipment.
In order to solve the problems, the invention adopts the following technical scheme:
the climbing robot comprises a carrying platform (A), two multi-joint legs (B) and two soles (C), wherein the carrying platform (A) is horizontally arranged, the top ends of the two multi-joint legs (B) are arranged on the back surface of the carrying platform (A), and the two soles (C) are respectively arranged at the bottom ends of the two multi-joint legs (B);
the two multi-joint legs (B) comprise a first steering engine unit (1), a second steering engine unit (2) and a third steering engine unit (3), the third steering engine unit (3) is connected with the sole (C) and drives the sole (C) to swing back and forth in the X-axis direction in the space three-axis coordinate system, the second steering engine unit (2) is connected with the third steering engine unit (3) and drives the sole (C) to swing back and forth in the Z-axis direction in the space three-axis coordinate system, the first steering engine unit (1) is connected with the second steering engine unit (2) and drives the sole (C) to swing back and forth in the Y-axis direction in the space three-axis coordinate system, and the first steering engine unit (1) is connected with the carrying platform (A);
the first steering engine unit (1) comprises a first steering engine (11), a first output flange (12), a first U-shaped connecting piece (14) and two first L-shaped connecting pieces (13), wherein the output shaft of the first steering engine (11) is horizontally arranged, the two first L-shaped connecting pieces (13) are symmetrically arranged on the shells at two sides of the first steering engine (11) respectively, and the two first L-shaped connecting pieces (13) are connected with the back of the carrying platform (A); the first output flange (12) is arranged on an output shaft of the first steering engine (11), one end of the first U-shaped connecting piece (14) is connected with the first output flange (12), and the other end of the first U-shaped connecting piece is rotationally connected with a shell of the first steering engine (11);
the second steering engine unit (2) comprises a second steering engine (21), a second output flange (22), a vertical plate connecting piece (24) and a horizontal plate connecting piece (25) of a second U-shaped connecting piece (23), an output shaft of the second steering engine (21) is vertically downwards arranged, the horizontal plate connecting piece (25) is fixedly connected with the first U-shaped connecting piece (14), one end of the vertical plate connecting piece (24) is fixedly connected with one end of the horizontal plate connecting piece (25), the vertical plate connecting piece (24) is vertically arranged with the horizontal plate connecting piece (25), the vertical plate connecting piece (24) is fixedly connected with a shell of the second steering engine (21), the second output flange (22) is arranged on the output shaft of the second steering engine (21), one end of the second U-shaped connecting piece (23) is rotationally connected with the other end of the horizontal plate connecting piece (25), and the other end of the second U-shaped connecting piece (23) is fixedly connected with the second output flange (22);
the third steering engine unit (3) comprises a third steering engine (31), a third output flange (32), a third U-shaped connecting piece (34), a flat plate connecting piece (35) and two second L-shaped connecting pieces (33), wherein the output shaft of the third steering engine (31) is horizontally arranged, the output shaft of the third steering engine (31) is vertical to the output shaft space of the first steering engine (11), the two second L-shaped connecting pieces (33) are symmetrically arranged on the shells at two sides of the third steering engine (31) respectively, the two second L-shaped connecting pieces (33) are connected with the flat plate connecting pieces (35), and the flat plate connecting pieces (35) are fixedly connected with the other ends of the second U-shaped connecting pieces (23); the third output flange (32) is arranged on an output shaft of the third steering engine (31), one end of the third U-shaped connecting piece (34) is fixedly connected with the third output flange (32), and the other end of the third U-shaped connecting piece (34) is rotationally connected with a shell of the third steering engine (31);
the two soles (C) are electromagnetic chucks (6), and the electromagnetic chucks (6) are fixedly connected with a third U-shaped connecting piece (34) through a fourth U-shaped connecting piece (5).
The climbing robot provided by the invention is designed to imitate the lower limb structure of a person, and comprises a carrying platform, two multi-joint legs and an electromagnetic chuck (6) sole, wherein the multi-joint legs are driven by three steering engines. The electromagnetic chuck (6) has strong adsorption capacity to steel materials, and has simple structure and low requirement on the accuracy of the adsorption surface. The multi-joint leg formed by connecting the three steering engines can realize back-and-forth movement and left-and-right movement, and the object carrying platform can provide a mounting platform for the joint leg and can bear a detection instrument of hoisting equipment.
According to the improvement of the technical scheme, a space is arranged between the two multi-joint legs (B).
According to the improvement of the technical scheme, the square shaft (4) is inserted into the electromagnetic chuck (6), and two ends of the square shaft (4) are respectively connected with two ends of the fourth U-shaped connecting piece (5).
According to the technical scheme, the first steering engine, the second steering engine and the third steering engine are all outsourcing parts and are obtained through direct purchase.
The electromagnetic chuck (6) in the technical scheme of the invention is an outsourcing piece and is obtained by direct purchase.
The beneficial effects of the invention are as follows:
this climbing robot can climb the iron tower that square steelframe was constituteed, can climb the great circular steel pipe iron tower of diameter again, can climb the iron stand that steel of arbitrary shape was constituteed in theory, and with the help of the stronger suction of electromagnetic chuck, has reduced the requirement to steel surface roughness. Meanwhile, the climbing robot can climb the iron frames connected together and can also span the iron frames with a certain gap.
Drawings
Fig. 1 is a front view of a climbing robot according to the technical solution of the present invention.
Fig. 2 is a schematic view of the structure of the multi-joint leg.
Fig. 3 is an exploded view of the assembly of fig. 2.
Detailed Description
The technical scheme of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the contents of the present invention more comprehensible, the present invention is further described with reference to fig. 1 to 3 and the detailed description below.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the climbing robot in this embodiment includes a carrying platform a, two multi-joint legs B and two soles C, where the carrying platform a is horizontally disposed, the top ends of the two multi-joint legs B are all disposed on the back of the carrying platform a, a space is disposed between the two multi-joint legs B, and the two soles C are respectively disposed at the bottom ends of the two multi-joint legs B.
As shown in fig. 1, two multi-joint legs B each include a first steering engine unit 1, a second steering engine unit 2 and a third steering engine unit 3, the third steering engine unit 3 is connected with the sole C and drives the sole C to swing back and forth in the X-axis direction in the three-axis space coordinate system, the second steering engine unit 2 is connected with the third steering engine unit 3 and drives the sole C to swing back and forth in the Z-axis direction in the three-axis space coordinate system, the first steering engine unit 1 is connected with the second steering engine unit 2 and drives the sole C to swing back and forth in the Y-axis direction in the three-axis space coordinate system, and the first steering engine unit 1 is connected with the carrying platform a.
In this embodiment, the carrying platform a is square, but other shapes of platforms are also possible, and only the requirement of providing an installation position for the joint leg of the robot is met.
In this embodiment, the number of the multi-joint legs B may be increased or decreased according to actual needs, and two are taken as an example for further detailed description.
As shown in fig. 2 and 3, the first steering engine unit 1 includes a first steering engine 11, a first output flange 12, a first "U" shaped connecting piece 14 and two first "L" shaped connecting pieces 13, the output shaft of the first steering engine 11 is horizontally arranged, the two first "L" shaped connecting pieces 13 are symmetrically arranged on the casings at two sides of the first steering engine 11 respectively, and the two first "L" shaped connecting pieces 13 are both connected with the back of the carrying platform a; the first output flange 12 is arranged on the output shaft of the first steering engine 11, one end of the first U-shaped connecting piece 14 is connected with the first output flange 12 and fixed through bolts, and the other end of the first U-shaped connecting piece is rotatably connected with the shell of the first steering engine 11. The first steering engine 11 drives the first U-shaped connecting piece 14 to swing back and forth in the Y-axis direction in the space three-axis coordinate system, and the space drives the sole C to swing back and forth in the Y-axis direction in the space three-axis coordinate system.
As shown in fig. 2 and 3, the second steering engine unit 2 includes a second steering engine 21, a second output flange 22, a second "U" shaped connecting member 23, a vertical plate connecting member 24 and a horizontal plate connecting member 25, the output shaft of the second steering engine 21 is vertically disposed downward, the horizontal plate connecting member 25 is fixedly connected to the first "U" shaped connecting member 14, one end of the vertical plate connecting member 24 is fixedly connected to one end of the horizontal plate connecting member 25 and the vertical plate connecting member 24 is vertically disposed with the horizontal plate connecting member 25, the vertical plate connecting member 24 is fixedly connected to the housing of the second steering engine 21, the second output flange 22 is disposed on the output shaft of the second steering engine 21, one end of the second "U" shaped connecting member 23 is rotatably connected to the other end of the horizontal plate connecting member 25, and the other end of the second "U" shaped connecting member 23 is fixedly connected to the second output flange 22 and is fixed by bolts. The second steering engine 21 drives the second U-shaped connecting piece 23 to swing back and forth in the Z-axis direction in the space triaxial coordinate system, and the space drives the sole C to swing back and forth in the Z-axis direction in the space triaxial coordinate system.
As shown in fig. 2 and 3, the third steering engine unit 3 includes a third steering engine 31, a third output flange 32, a third "U" shaped connecting piece 34, a flat plate connecting piece 35 and two second "L" shaped connecting pieces 33, wherein the output shaft of the third steering engine 31 is horizontally arranged and the output shaft of the third steering engine 31 is vertical to the output shaft space of the first steering engine 11, the two second "L" shaped connecting pieces 33 are symmetrically arranged on the casings at two sides of the third steering engine 31 respectively, the two second "L" shaped connecting pieces 33 are both connected with the flat plate connecting piece 35, and the flat plate connecting piece 35 is fixedly connected with the other end of the second "U" shaped connecting piece 23; the third output flange 32 is arranged on the output shaft of the third steering engine 31, one end of the third U-shaped connecting piece 34 is fixedly connected with the third output flange 32, and the other end of the third U-shaped connecting piece 34 is rotationally connected with the casing of the third steering engine 31. The third steering engine unit 31 drives the third U-shaped connecting piece 34 to swing back and forth in the X-axis direction in the space three-axis coordinate system, and the space drives the sole C to swing back and forth in the Z-axis direction in the space three-axis coordinate system.
As shown in fig. 2 and 3, both soles C are electromagnetic chucks 6, and the electromagnetic chucks 6 are fixedly connected with a third "U" shaped connecting piece 34 through a fourth "U" shaped connecting piece 5. The electromagnetic chuck 6 is inserted with the square shaft 4, and two ends of the square shaft 4 are respectively connected with two ends of the fourth U-shaped connecting piece 5.
In this embodiment, the three steering engines are powered by external ac power, and the power line has a certain tensile capability, and may also use a diesel generator as a power supply mode.
In this embodiment, the first steering engine unit 1, the second steering engine unit 2 and the third steering engine unit 3 in the multi-joint leg B are installed in parallel, but serial connection and serial-parallel hybrid installation are also possible.
The climbing robot provided by the invention is designed to imitate the lower limb structure of a person, and comprises a carrying platform, two multi-joint legs and an electromagnetic chuck 6-type sole, wherein the multi-joint legs are driven by three steering engines. The electromagnetic chuck 6 has strong adsorption capacity to steel materials, and has simple structure and low requirement on the accuracy of the adsorption surface. The multi-joint leg formed by connecting the three steering engines can realize back-and-forth movement and left-and-right movement, and the object carrying platform can provide a mounting platform for the joint leg and can bear a detection instrument of hoisting equipment.
The working mode of the climbing robot in the embodiment is as follows:
first case: and climbing in the vertical direction.
Firstly, two electromagnetic chucks 6 are electrified, the climbing robot is adsorbed on the surface of an iron frame of hoisting equipment, and two multi-joint legs B are vertically distributed. When stepping upwards, the upper electromagnetic chuck is powered off, the lower joint leg chuck is taken as a fixed point, and the third steering engine 31 and the first steering engine 11 in the lower joint leg work, so that the upper joint leg is slightly lifted, and the upper electromagnetic chuck is separated from the surface of the iron frame; the third steering engine 31 and the first steering engine 11 in the upper joint leg work to enable the electromagnetic chuck of the upper joint leg to contact the surface of the iron frame, and the electromagnetic chuck is electrified again to fix the upper joint leg; then the electromagnetic chuck of the lower joint leg is powered off, the third steering engine 31 of the lower joint leg and the first steering engine 11 work in a coordinated mode, the electromagnetic chuck of the lower joint leg is attached to the surface of the iron frame again, and the electromagnetic chuck is powered on and adsorbed on the surface of the iron frame, so that the previous step of action is completed. If moving downwards, the rhythm is opposite to that of moving upwards. The upper joint leg is taken as a fixed point, the lower joint leg is moved firstly, then the upper joint leg is moved, and the coordinated movement is repeated, so that the downward movement can be realized. During the moving process, if the deviation phenomenon occurs, the deviation can be corrected by rotating the second steering engine 22 of each joint leg by a certain angle.
Second case: and climbing in the horizontal direction.
First two electromagnetic chuck circular telegrams, climbing robot adsorbs on the iron stand surface of hoisting equipment, and two many joint legs B are horizontal direction and are left and right sides overall arrangement. When moving to the right, the right side electromagnet is powered off, take left side joint leg sucking disc as the fixed point, third steering wheel 31 and first steering wheel 11 work in the left side joint leg, make the little lift of right side joint leg, make right side electromagnet break away from the iron stand surface, third steering wheel 31 and first steering wheel 11 work in the right side joint leg, make the electromagnet contact iron stand surface of right side joint leg, electromagnet is circular telegram again, it is fixed with right side joint leg, then the electromagnet outage of left side joint leg, the motor 3 and the motor 1 coordinated work of left side joint leg, make the electromagnet of left side joint leg laminate once more with the iron stand surface, the circular telegram adsorbs on the iron stand surface, accomplish the right removal. If moving to the left, the cadence is reversed from that of moving to the right. The right joint leg is taken as a fixed point, the left joint leg is moved firstly, then the right joint leg is moved, and the coordinated movement is repeated, so that the left movement can be realized. During the moving process, if the deviation phenomenon occurs, the deviation can be corrected by rotating the second steering engine 22 of each joint leg by a certain angle.
Third case: and (5) obliquely climbing.
First two electromagnetic chuck circular telegrams, climbing robot adsorbs on the iron stand surface of hoisting equipment, and two many joint legs are the front and back overall arrangement along the iron stand. When the front-side electromagnetic chuck is moved forwards, the electromagnetic chuck at the front is powered off, the joint leg chuck at the rear is used as a fixed point, the third steering engine 31 and the first steering engine 11 in the joint leg at the rear work, the joint leg at the front is slightly lifted, the front electromagnetic chuck is separated from the surface of the iron frame, the third steering engine 31 and the first steering engine 11 in the joint leg at the front work, the electromagnetic chuck of the joint leg at the front is contacted with the surface of the iron frame, the electromagnetic chuck is powered on again, the joint leg at the front is fixed, then the electromagnetic chuck of the joint leg at the rear is powered off, the third steering engine 31 and the first steering engine 11 in the joint leg at the rear work in a coordinated manner, the electromagnetic chuck of the joint leg at the rear is attached to the surface of the iron frame again, and the electromagnetic chuck at the rear joint leg is powered on and adsorbed on the surface of the iron frame, so that the previous step of action is completed. If the backward step is moved, the rhythm is opposite to that of the forward movement. The front joint leg is taken as a fixed point, the rear joint leg is moved firstly, then the front joint leg is moved, and the coordinated movement is repeated, so that the backward stepping movement can be realized. During the moving process, if the deviation phenomenon occurs, the deviation can be corrected by rotating the second steering engine 22 of each joint leg by a certain angle.
Fourth case: and (5) climbing across.
When two iron frames with a certain gap need to be climbed, two joint legs B of a climbing robot are adsorbed on the surface of the same iron frame through electromagnetic chucks, when the two iron frames need to be spanned to the adjacent iron frames, the electromagnetic chuck of one joint leg which is close to the adjacent iron frame is powered off firstly, a third steering engine 31 and a first steering engine 11 in the other joint leg work, the joint leg powered off by the electromagnetic chuck is lifted up, a second steering engine 22 works, the lifted joint leg rotates a certain angle to enable the lifted joint leg to be close to the adjacent iron frame, a motor on the joint leg powered off by the chuck works, the chuck of the joint leg contacts the surface of the adjacent iron frame, the chuck is powered on, and the joint leg is fixed on the surface of the iron frame; the electromagnetic chuck of the other joint leg is powered off, and the climbing can be completed by repeating the actions.
While the invention has been described in the context of what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and variations apparent to those skilled in the art.
Claims (1)
1. A climbing robot, its characterized in that: the multi-joint support comprises a carrying platform (A), two multi-joint legs (B) and two soles (C), wherein the carrying platform (A) is horizontally arranged, the top ends of the two multi-joint legs (B) are arranged on the back surface of the carrying platform (A), and the two soles (C) are respectively arranged at the bottom ends of the two multi-joint legs (B);
the two multi-joint legs (B) comprise a first steering engine unit (1), a second steering engine unit (2) and a third steering engine unit (3), the third steering engine unit (3) is connected with the sole (C) and drives the sole (C) to swing back and forth in the X-axis direction in the space three-axis coordinate system, the second steering engine unit (2) is connected with the third steering engine unit (3) and drives the sole (C) to swing back and forth in the Z-axis direction in the space three-axis coordinate system, the first steering engine unit (1) is connected with the second steering engine unit (2) and drives the sole (C) to swing back and forth in the Y-axis direction in the space three-axis coordinate system, and the first steering engine unit (1) is connected with the carrying platform (A);
the first steering engine unit (1) comprises a first steering engine (11), a first output flange (12), a first U-shaped connecting piece (14) and two first L-shaped connecting pieces (13), wherein the output shaft of the first steering engine (11) is horizontally arranged, the two first L-shaped connecting pieces (13) are symmetrically arranged on the shells at two sides of the first steering engine (11) respectively, and the two first L-shaped connecting pieces (13) are connected with the back of the carrying platform (A); the first output flange (12) is arranged on an output shaft of the first steering engine (11), one end of the first U-shaped connecting piece (14) is connected with the first output flange (12), and the other end of the first U-shaped connecting piece is rotationally connected with a shell of the first steering engine (11);
the second steering engine unit (2) comprises a second steering engine (21), a second output flange (22), a second U-shaped connecting piece (23), a vertical plate connecting piece (24) and a transverse plate connecting piece (25), wherein an output shaft of the second steering engine (21) is vertically downwards arranged, the transverse plate connecting piece (25) is fixedly connected with the first U-shaped connecting piece (14), one end of the vertical plate connecting piece (24) is fixedly connected with one end of the transverse plate connecting piece (25), the vertical plate connecting piece (24) is vertically arranged with the transverse plate connecting piece (25), the vertical plate connecting piece (24) is fixedly connected with a shell of the second steering engine (21), the second output flange (22) is arranged on an output shaft of the second steering engine (21), one end of the second U-shaped connecting piece (23) is rotationally connected with the other end of the transverse plate connecting piece (25), and the other end of the second U-shaped connecting piece (23) is fixedly connected with the second output flange (22);
the third steering engine unit (3) comprises a third steering engine (31), a third output flange (32), a third U-shaped connecting piece (34), a flat plate connecting piece (35) and two second L-shaped connecting pieces (33), wherein the output shaft of the third steering engine (31) is horizontally arranged, the output shaft of the third steering engine (31) is vertical to the output shaft space of the first steering engine (11), the two second L-shaped connecting pieces (33) are symmetrically arranged on the shells at two sides of the third steering engine (31) respectively, the two second L-shaped connecting pieces (33) are connected with the flat plate connecting pieces (35), and the flat plate connecting pieces (35) are fixedly connected with the other ends of the second U-shaped connecting pieces (23); the third output flange (32) is arranged on an output shaft of the third steering engine (31), one end of the third U-shaped connecting piece (34) is fixedly connected with the third output flange (32), and the other end of the third U-shaped connecting piece (34) is rotationally connected with a shell of the third steering engine (31);
the two soles (C) are electromagnetic chucks (6), and the electromagnetic chucks (6) are fixedly connected with a third U-shaped connecting piece (34) through a fourth U-shaped connecting piece (5);
a space is arranged between the two multi-joint legs (B);
the electromagnetic chuck (6) is inserted with a square shaft (4), and two ends of the square shaft (4) are respectively connected with two ends of a fourth U-shaped connecting piece (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138088.8A CN109131622B (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138088.8A CN109131622B (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN109131622A CN109131622A (en) | 2019-01-04 |
| CN109131622B true CN109131622B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811138088.8A Active CN109131622B (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
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| CN (1) | CN109131622B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112925300B (en) * | 2019-12-06 | 2024-02-20 | 临颍县爬杆机器人有限公司 | Carrying platform and pole-climbing robot assembly |
| CN113460187A (en) * | 2021-07-20 | 2021-10-01 | 河海大学常州校区 | Climbing detection robot |
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