CN109795573B - Tendon-driven self-adaptive climbing robot - Google Patents
Tendon-driven self-adaptive climbing robot Download PDFInfo
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- CN109795573B CN109795573B CN201910248751.8A CN201910248751A CN109795573B CN 109795573 B CN109795573 B CN 109795573B CN 201910248751 A CN201910248751 A CN 201910248751A CN 109795573 B CN109795573 B CN 109795573B
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Abstract
The invention belongs to the field of robots, and particularly relates to an tendon-driven self-adaptive climbing robot which comprises a self-adaptive holding system, a driving system and a follow-up system, wherein the self-adaptive holding system controls the length change of a steel wire rope through a steering engine, and the change of the length of the steel wire rope controls the motion conditions of limbs on two sides of the robot so as to realize the holding function; the driving system transmits the power generated by the motor to the driving wheel through the synchronous belt, so that the robot can integrally realize crawling action; the follow-up system fixes the driving wheel through the fixed baffle, and plays a role in supporting the whole robot and following and crawling under the driving force action of the driving system. The invention has the advantages of flexible structure, simple driving mode, high motion precision, simple control and flexible motion.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an tendon-driven self-adaptive climbing robot.
Background
The early pole-climbing robot mainly adopts air pressure or hydraulic pressure as a power source, a cam mechanism is used as a clamping mechanism, and alternating clamping and moving are realized through the driving of an air cylinder or a hydraulic cylinder; the cam mechanism is not flexible, so that the pole-climbing robot cannot adapt to the reducing rod piece, the problems can be solved through the pneumatic crawling type robot, but the complex mechanism increases the equipment cost, the whole machine quality and the control difficulty, the load bearing ratio is reduced, and the pole-climbing robot is difficult to popularize and use in the market. Through the development of more than 20 years, the crawling robot is increasingly applied to the fields of industrial and agricultural production and scientific research exploration, and particularly under the environment with complex danger or unreachable for human beings, the crawling robot can replace human beings to complete various operations. In the prior art, scholars experts at home and abroad develop climbing robots with various shapes and principles to complete specified tasks aiming at specific environments; but the climbing robot has relatively complex structure, complicated driving control and poor self-adaptability, so that the application of the climbing robot is limited.
Disclosure of Invention
Aiming at the problems of the existing climbing robot, the invention aims to provide an tendon-driven self-adaptive climbing robot. The tendon-driven self-adaptive climbing robot has high flexibility and stability, and can adapt to more complex environments compared with other climbing robots.
The purpose of the invention is realized by the following technical scheme:
the self-adaptive clasping system comprises a self-adaptive clasping system, a driving system and a follow-up system, wherein the self-adaptive clasping system is connected with another self-adaptive clasping system through an elastic connecting plate B, the self-adaptive clasping system on one side of the elastic connecting plate B is connected with the driving system, and the self-adaptive clasping system on the other side of the elastic connecting plate B is connected with the follow-up system; the self-adaptive holding system comprises a steering engine, a mounting frame, an elastic connecting plate A, a near-end limb joint, a far-end limb joint, a steel wire rope and a steel wire rope winding screw A, one end of the mounting frame in the front-back direction is connected with the driving system or the servo system, the other end of the mounting frame is connected with the mounting frame of the other self-adaptive holding system through the elastic connecting plate B, the near-end limb joint and the far-end limb joint are arranged at any end in the left-right direction of the mounting frame, the near-end limb joint and the mounting frame and the far-end limb joint and the near-end limb joint are connected through the elastic connecting plate A, and the steel wire rope winding screw A is connected to; the steel wire rope is wound around the steering engine, one end of the steel wire rope is wound on the steel wire rope winding screw A in the near-end limb segment and the far-end limb segment on one side of the mounting frame respectively, the other end of the steel wire rope is wound on the steel wire rope winding screw A in the near-end limb segment and the far-end limb segment on the other side of the mounting frame respectively, and the steering engine drives the steel wire rope to pull, so that the near-end limb segment and the far-end limb segment on two sides of the mounting frame are held in a self-adaptive;
wherein: the near-end limb segment comprises a near-end limb segment frame and a near-end thumbwheel, the two ends of the near-end limb segment frame in the left and right directions are respectively connected with the mounting frame and the far-end limb segment through elastic connecting plates A, and the near-end limb segment frame is relatively rotatably connected with the near-end thumbwheel;
wheel axle brackets are respectively arranged below the two ends of the near-end limb knuckle bracket in the left-right direction, wheel axles are respectively connected with the two ends of the near-end finger wheel, one end of each wheel axle is rotatably connected with the near-end finger wheel, the other end of each wheel axle is spliced with a wheel axle bracket at the same end, and a spring is arranged between each wheel axle and the near-end limb knuckle bracket;
the far-end limb segment comprises a far-end limb segment frame and a far-end thumbwheel, the far-end limb segment frame is connected with the near-end limb segment through an elastic connecting plate A, and the far-end limb segment frame is connected with the far-end thumbwheel in a relatively rotatable manner;
wheel axle brackets are respectively arranged below the two ends of the far-end limb joint bracket in the left-right direction, wheel axles are respectively connected with the two ends of the far-end finger wheel, one end of each wheel axle is rotatably connected with the far-end finger wheel, the other end of each wheel axle is spliced with a wheel axle bracket at the same end, and a spring is arranged between each wheel axle and the far-end limb joint bracket;
the driving system comprises a motor, a transmission mechanism, a support frame A and a ratchet wheel, the support frame A is connected with the mounting frame of the self-adaptive holding system, the motor is fixed on the support frame A, the ratchet wheel is rotatably mounted on the support frame A, and a wheel shaft of the ratchet wheel is connected with the output end of the motor through the transmission mechanism; the thorn wheel comprises a plurality of thorn discs and a plurality of partition plates, and the thorn discs and the partition plates are arranged at intervals and are all linked with the wheel shaft;
the servo system comprises a support frame B and a ratchet wheel, the support frame B is connected with an installation frame of the self-adaptive holding system, the ratchet wheel is rotatably installed on the support frame B through a wheel shaft, the ratchet wheel comprises a plurality of ratchet discs and a plurality of partition plates, and the ratchet discs and the partition plates are arranged at intervals and are linked with the wheel shaft of the ratchet wheel;
the mounting frame is provided with a guide shaft, a linear bearing is connected onto the guide shaft, the linear bearing is mounted on a linear bearing guide rail frame, a steel wire rope winding screw B is connected onto the linear bearing guide rail frame, and the steel wire rope is wound on the steel wire rope winding screw B;
the mounting frame comprises a top plate, a bottom plate and guide shafts, the top plate is connected with the bottom plate through the guide shafts, the steel wire rope winding screws B and the steel wire rope winding screws A are positioned on the same side of the self-adaptive holding system, and the steel wire rope winding screws B are positioned above the steel wire rope winding screws A; the linear bearing and the linear bearing guide rail bracket are arranged on the guide shaft close to one side of the steel wire rope winding screw B;
the upper surface of the top plate is provided with a pulley, the steel wire rope is wound on the pulley, and the lower surface of the bottom plate is provided with an auxiliary wheel through an auxiliary wheel support.
The invention has the advantages and positive effects that:
1. the invention has the advantages of flexible structure, simple driving mode, high motion precision, simple control and flexible motion.
2. According to the invention, each limb segment is connected through the elastic connecting plate made of the polyurethane material, and the bending deformation of the robot when the robot is held is realized by utilizing the flexibility of the elastic connecting plate made of the polyurethane material.
3. The spring is arranged at each limb joint wheel shaft, so that the thumbwheel can be biased at different required angles during working, and the holding of more complex conditions can be further adapted.
4. The self-adaptive holding system adopts one steel wire rope to be communicated, accords with the differential principle, can realize different deformation of two sides during holding, and further increases the stability in the holding process.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic structural diagram of an adaptive clasping system of the present invention;
FIG. 4 is a bottom view of the present invention with the drive system and follower system removed;
FIG. 5 is a schematic perspective view of the driving system of the present invention;
FIG. 6 is a schematic perspective view of a follower system of the present invention;
wherein: the steering engine comprises a steering engine 1, a steering engine fixing plate 2, a top plate 3, a guide shaft 4, a pulley 5, a pulley frame 6, a linear bearing 7, a linear bearing guide rail frame 8, a bottom plate 9, an elastic connecting plate A, a proximal end limb segment frame 11, a proximal end finger wheel 12, a distal end limb segment frame 13, a distal end finger wheel 14, a wheel shaft 15, a wheel shaft 16, a wheel shaft support 17, a spring 18, a steel wire rope 18, an auxiliary wheel support 19, an auxiliary wheel 20, a motor 21, a small synchronous pulley 22, a large synchronous pulley 23, a synchronous belt 24, a motor end supporting baffle 25, a left supporting baffle 26, a partition plate 27, a ratchet plate 28, a supporting bottom plate 29, a right supporting baffle 30, an elastic connecting plate B31, a groove 32, a steel wire rope winding screw A, a steel wire rope winding screw B, a self-adaptive clasping system I, a driving system II and a follow-up system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention includes an adaptive clasping system I, a driving system ii and a following system iii, wherein the adaptive clasping system I is connected to another adaptive clasping system I through an elastic connection board B31, the driving system ii is connected to the adaptive clasping system I on one side of an elastic connection board B31, and the following system iii is connected to the adaptive clasping system I on the other side. The self-adaptive holding system I comprises a steering engine 1, a mounting frame, an elastic connecting plate A10, a near-end limb segment, a far-end limb segment, a steel wire rope 18 and a steel wire rope winding screw A33, wherein one end of the mounting frame in the front-back direction is connected with a driving system II or a follow-up system III, and the other end of the mounting frame is connected with the mounting frame of the other self-adaptive holding system I through an elastic connecting plate B31; that is, the number of the adaptive clasping systems I in this embodiment is two, the front end of one of the adaptive clasping systems I is connected to the driving system ii, the rear end thereof is connected to the elastic connecting plate B31, the front end of the other adaptive clasping system I is connected to the elastic connecting plate B31, and the rear end thereof is connected to the servo system iii. Any end of the left and right directions of the mounting rack is provided with a near-end limb segment and a far-end limb segment, the near-end limb segment and the mounting rack and the far-end limb segment are connected through elastic connecting plates A10, and the near-end limb segment and the far-end limb segment are connected with steel wire rope winding screws A33. Steering wheel 1 is fixed on the mounting bracket, steering wheel 1 is walked around to wire rope 18, this wire rope 18's one end twines respectively on the near-end limb section of mounting bracket one side, wire rope winding screw A33 in the distal end limb section, the other end twines respectively on the near-end limb section of mounting bracket opposite side, wire rope winding screw A33 in the distal end limb section, through steering wheel 1 control wire rope 18's length, and then realize the tightening up and relaxing of control steering wheel 1 both sides near-end limb section and distal end limb section, realize that the near-end limb section of both sides, the self-adaptation of distal end limb section is held. In the driving system II, the motor 21 transmits power to the transmission mechanism, so that the ratchet wheel is driven to rotate, and the crawling motion of the robot body is realized. The follow-up system III is composed of two supporting baffle plates clamping a ratchet wheel, and the functions of supporting the tail end of the robot and following movement are achieved.
The mounting frame comprises a top plate 3, a bottom plate 9 and guide shafts 4, wherein the top plate 3 is connected with the bottom plate 9 through a plurality of (four in the embodiment) guide shafts 4; the top end of each guide shaft 4 is connected below the top plate 3 by a screw, and the bottom end of each guide shaft is connected with the bottom plate 9 by a screw. The top of steering wheel 1 adopts bolted connection with steering wheel fixed plate 2, and steering wheel fixed plate 2 is connected with roof 3 with the screw, and the surface mounting of roof 3 has two pulley yoke 6, installs pulley 5 in the middle of two pulley yoke 6, and wire rope 18 twines on this pulley 5. The guide shaft 4 is connected with a linear bearing 7, the linear bearing 7 is installed on a linear bearing guide rail bracket 8, the linear bearing guide rail bracket 8 is connected with a steel wire rope winding screw B34, and a steel wire rope 18 is wound on a steel wire rope winding screw B34. The linear bearing guide rail bracket 8 and the linear bearing 7 of the embodiment are connected by screws and are integrally arranged on the guide shaft 4 close to the driving system II or the follow-up system III; the steel wire rope winding screw B34 is located on the same side of the adaptive clasping system I as the steel wire rope winding screws a33 (in this embodiment, the steel wire rope winding screw B34 is located above the steel wire rope winding screws a33, and is installed on the side close to the driving system ii or the servo system iii). One end of the bottom plate 9 in the front-back direction is connected with the driving system II or the follow-up system III through screws, and the other end of the bottom plate is connected with an elastic connecting plate B31; two auxiliary wheel brackets 19 are fixed on one side of the lower part of the bottom plate 9 far away from the driving system II or the follow-up system III by screws, and an auxiliary wheel 20 is arranged in the middle of each auxiliary wheel bracket 19.
The near-end limb segment comprises a near-end limb segment frame 11 and a near-end thumbwheel 12, and the two ends of the near-end limb segment frame 11 in the left and right directions are respectively connected with the bottom plate 9 and the far-end limb segment through elastic connecting plates A10; the proximal limb segment holder 11 is provided with a square hole in the middle, a proximal thumbwheel 12 is arranged in the square hole, and the proximal thumbwheel 12 is connected with the proximal limb segment holder 11 in a relatively rotatable manner. Wheel axle brackets 16 are fixedly connected below the two ends of the near-end limb knuckle bracket 11 in the left-right direction, T-shaped grooves 32 are reserved on the wheel axle brackets 16, wheel axles 15 are connected to the two ends of the near-end finger wheels 12, one end of each wheel axle 15 is rotatably connected with the near-end finger wheel 12, the other end of each wheel axle 15 is square and is inserted into the vertical edge of the T-shaped groove of the same-end wheel axle bracket 16, and springs 17 are arranged between the other end of each wheel axle 15 and the near-end limb knuckle bracket 11.
The distal limb segment comprises a distal limb segment frame 13 and a distal thumbwheel 14, and the distal limb segment frame 13 is connected with the proximal limb segment frame 11 through an elastic connecting plate A10; the middle of the distal limb segment frame 13 is provided with a square hole, a distal finger wheel 14 is arranged in the square hole, and the distal finger wheel 14 can be connected with the distal limb segment frame 13 in a relatively rotating way. Wheel axle brackets 16 are fixedly connected below the two ends of the far-end limb knuckle bracket 13 in the left-right direction, T-shaped grooves 32 are reserved on the wheel axle brackets 16, wheel axles 15 are connected to the two ends of the far-end finger wheels 14, one end of each wheel axle 15 is rotatably connected with the far-end finger wheel 14, the other end of each wheel axle 15 is a square vertical edge inserted in the T-shaped groove of the wheel axle bracket 16 at the same end, and springs 17 are arranged between the other end of each wheel axle 15 and the far-end limb knuckle bracket 13.
The elastic connecting board a10 and the elastic connecting board B31 in this embodiment are made of polyurethane.
The wire rope 18 is wound by the wire rope winding screws B34 on the near-end limb segment frame 11 and the far-end limb segment frame 13 to realize the self-adaptive holding function, the whole self-adaptive holding system I is connected with two independent holding structures (namely the near-end limb segment and the far-end limb segment) by a polyurethane connecting plate, the polyurethane connecting plate can realize the self-adaptive capacity, meanwhile, springs 17 are arranged on two sides of the near-end thumbwheel 12 and two sides of the far-end thumbwheel 14, when the springs 17 deform, the near-end thumbwheel 12 and the far-end thumbwheel 14 can be biased by required angles, and the holding is more flexible and stable. In addition, adopt the rope line drive to make the process of holding more gentle and agreeable, a wire rope 18 is connected, accords with differential principle, can make two limbs joints on mounting bracket left and two limbs joints on right side produce asymmetric deformation, and then can hold under the more complicated condition.
The driving system II comprises a motor 21, a transmission mechanism, a support frame A and a ratchet wheel, the support frame A is connected with a mounting frame of the self-adaptive holding system I, the motor 21 is fixed on the support frame A, the ratchet wheel is rotatably mounted on the support frame A, and a wheel shaft of the ratchet wheel is connected with an output end of the motor 21 through the transmission mechanism. The support frame a of this embodiment includes a motor end support baffle 25, a left support baffle 26 and a support base plate 29, the motor end support baffle 25 is connected to the left support baffle 26 through the support base plate 29, and the support base plate 29 is fixedly connected to the base plate 9 by screws. The transmission mechanism of this embodiment includes small synchronous pulley 22, big synchronous pulley 23 and hold-in range 24, and motor 21 is fixed on motor end supporting baffle 25, and the output shaft of motor 21 is connected with small synchronous pulley 22, and big synchronous pulley 23 is connected on the shaft of ratchet wheel to pass through synchronous pulley 24 transmission connection with small synchronous pulley 22. The ratchet wheel is rotationally connected between the motor end supporting baffle plate 25 and the left supporting baffle plate 26 and comprises a plurality of ratchet discs 28 and a plurality of partition plates 27, wherein the ratchet discs 28 and the partition plates 27 are arranged at intervals and are mutually bonded, and the ratchet discs and the partition plates are all linked with the wheel shaft of the ratchet wheel. The motor 21 transmits power to the small synchronous belt pulley 22 and then to the large synchronous belt pulley 23 through the synchronous belt 24, thereby driving the ratchet wheel to rotate.
The servo system III comprises a support frame B and a ratchet wheel, the support frame B is connected with a mounting frame of the self-adaptive holding system I, and the ratchet wheel is rotatably mounted on the support frame B through a wheel shaft. The supporting frame B of the present embodiment includes a left supporting baffle 26, a right supporting baffle 30 and a supporting bottom plate 29, the left supporting baffle 26 is connected to the right supporting baffle 30 through the supporting bottom plate 29, and the supporting bottom plate 29 is fixedly connected to the bottom plate 9 by screws. The ratchet wheel is rotationally connected between the left support baffle 26 and the right support baffle 30 and comprises a plurality of ratchet discs 28 and a plurality of partition plates 27, wherein the ratchet discs 28 and the partition plates 27 are arranged at intervals and are mutually bonded, and the ratchet discs and the partition plates are all linked with the wheel shaft of the ratchet wheel.
The working principle of the invention is as follows:
according to the invention, the length change of the steel wire rope 18 is controlled by the steering engine 1, so that the position of the linear bearing guide rail frame 8 relative to the guide shaft 4 is driven to change (the linear bearing guide rail frame is lifted along the axial direction of the guide shaft 4), and the length of the steel wire rope 18 wound by a far-end limb joint and a near-end limb joint is further changed. When the length of the steel wire rope 18 is shortened, the spring 17 deforms, the elastic connecting plate A10 also deforms, and the holding action is realized; when the length of the steel wire rope 18 is lengthened, the spring 17 is deformed and restored, the elastic connecting plate A10 is restored and deformed, and loosening action is achieved. In the process that the steering engine 1 controls the length change of the steel wire rope 18, the steel wire rope 18 pulls the steel wire rope winding screw B34, and then the linear bearing guide rail frame 8 and the linear bearing 7 are driven to move along the axial direction of the guide shaft 4, so that the guide effect is achieved.
According to the robot, the power generated by the motor 21 is transmitted to the ratchet wheel through the synchronous belt 24, so that the robot can integrally realize crawling action, and the distal end finger wheel 14 in the distal end limb segment and the proximal end finger wheel 12 of the proximal end limb segment roll along with the rolling of the ratchet wheel; meanwhile, the thorn wheel of the follow-up system III can move along with the supporting function, and then the climbing function on the cylindrical object can be completed. Because each self-adaptive holding system I of the invention is only provided with one steel wire rope 18, different deformations of limb joints at two sides can be realized, and the adaptability to extreme environments is stronger. Meanwhile, due to the addition of the elastic connecting plate B31 made of polyurethane material, the robot can realize continuous movement from land to vertically placed objects without human intervention. The invention has the advantages of simple structure, light and compact overall structure, flexible movement, exquisite control and wide grabbing position.
Claims (10)
1. The utility model provides a tendon drive self-adaptation climbing robot which characterized in that: the self-adaptive clasping device comprises a self-adaptive clasping system (I), a driving system (II) and a follow-up system (III), wherein the self-adaptive clasping system (I) is connected with the other self-adaptive clasping system (I) through an elastic connecting plate B (31), the self-adaptive clasping system (I) on one side of the elastic connecting plate B (31) is connected with the driving system (II), and the self-adaptive clasping system (I) on the other side of the elastic connecting plate B (31) is connected with the follow-up system (III); the self-adaptive holding system (I) comprises a steering engine (1), a mounting frame, an elastic connecting plate A (10), a near-end limb joint, a far-end limb joint, a steel wire rope (18) and a steel wire rope winding screw A (33), one end of the mounting frame in the front-back direction is connected with the driving system (II) or the follow-up system (III), the other end of the mounting frame is connected with the mounting frame of the other self-adaptive holding system (I) through the elastic connecting plate B (31), the near-end limb joint and the far-end limb joint are arranged at any end of the mounting frame in the left-right direction, the near-end limb joint and the mounting frame and the far-end limb joint and the near-end limb joint are connected through the elastic connecting plate A (10), and the steel wire rope winding screws A (33); the steel wire rope winding device is characterized in that the steering gear (1) is mounted on a mounting frame, the steel wire rope (18) bypasses the steering gear (1), one end of the steel wire rope (18) is wound on a steel wire rope winding screw A (33) in a near-end limb segment and a far-end limb segment on one side of the mounting frame respectively, the other end of the steel wire rope (18) is wound on a steel wire rope winding screw A (33) in a near-end limb segment and a far-end limb segment on the other side of the mounting frame respectively, the steel wire rope (18) wound by the far-end limb segment and the near-end limb segment is controlled to change in length by driving the traction of the steel wire rope (18) through the steering gear; when the length of the steel wire rope (18) becomes long, loosening action is achieved, and then self-adaptive holding of the near-end limb joint and the far-end limb joint on the two sides of the mounting frame is achieved.
2. The tendon-driven adaptive climbing robot of claim 1, wherein: the near-end limb segment comprises a near-end limb segment frame (11) and a near-end thumbwheel (12), the two ends of the near-end limb segment frame (11) in the left and right directions are respectively connected with the mounting frame and the far-end limb segment through elastic connecting plates A (10), and the near-end thumbwheel (12) can be connected on the near-end limb segment frame (11) in a relatively rotating manner.
3. The tendon-driven adaptive climbing robot of claim 2, wherein: wheel axle supports (16) are mounted below the two ends of the near-end limb joint support (11) in the left-right direction, wheel axles (15) are connected to the two ends of the near-end thumbwheel (12), one end of each wheel axle (15) is rotatably connected with the near-end thumbwheel (12), the other end of each wheel axle is connected with the wheel axle support (16) at the same end in an inserted mode, and a spring (17) is arranged between each wheel axle (15) and the near-end limb joint support (11).
4. The tendon-driven adaptive climbing robot of claim 1, wherein: the far-end limb joint comprises a far-end limb joint frame (13) and a far-end thumbwheel (14), the far-end limb joint frame (13) is connected with the near-end limb joint through an elastic connecting plate A (10), and the far-end limb joint frame (13) is connected with the far-end thumbwheel (14) in a relatively rotatable manner.
5. The tendon-driven adaptive climbing robot of claim 4, wherein: wheel axle supports (16) are mounted below the two ends of the far-end limb joint support (13) in the left-right direction, wheel axles (15) are connected to the two ends of the far-end finger wheels (14), one end of each wheel axle (15) is rotatably connected with the far-end finger wheel (14), the other end of each wheel axle is connected with the wheel axle support (16) at the same end in an inserted mode, and springs (17) are arranged between the wheel axles (15) and the far-end limb joint support (13).
6. The tendon-driven adaptive climbing robot of claim 1, wherein: the driving system (II) comprises a motor (21), a transmission mechanism, a support frame A and a ratchet wheel, the support frame A is connected with the mounting frame of the self-adaptive holding system (I), the motor (21) is fixed on the support frame A, the ratchet wheel is rotatably mounted on the support frame A, and a wheel shaft of the ratchet wheel is connected with the output end of the motor (21) through the transmission mechanism; the ratchet wheel comprises a plurality of ratchet discs (28) and a plurality of partition plates (27), wherein the ratchet discs (28) and the partition plates (27) are arranged at intervals and are linked with the wheel shaft.
7. The tendon-driven adaptive climbing robot of claim 1, wherein: the servo system (III) comprises a support frame B and a ratchet wheel, the support frame B is connected with a mounting frame of the self-adaptive holding system (I), the ratchet wheel is rotatably mounted on the support frame B through a wheel shaft, the ratchet wheel comprises a plurality of ratchet discs (28) and a plurality of partition plates (27), and the ratchet discs (28) and the partition plates (27) are arranged at intervals and are linked with the wheel shaft of the ratchet wheel.
8. The tendon-driven adaptive climbing robot of claim 1, wherein: the mounting bracket is provided with a guide shaft (4), a linear bearing (7) is connected to the guide shaft (4), the linear bearing (7) is installed on a linear bearing guide rail frame (8), a steel wire rope winding screw B (34) is connected to the linear bearing guide rail frame (8), and the steel wire rope (18) is wound on the steel wire rope winding screw B (34).
9. The tendon-driven adaptive climbing robot of claim 8, wherein: the mounting frame comprises a top plate (3), a bottom plate (9) and guide shafts (4), the top plate (3) is connected with the bottom plate (9) through the guide shafts (4), the steel wire rope winding screws B (34) and the steel wire rope winding screws A (33) are located on the same side of the self-adaptive holding system (I), and the steel wire rope winding screws B (34) are located above the steel wire rope winding screws A (33); the linear bearing (7) and the linear bearing guide rail bracket (8) are arranged on the guide shaft (4) close to one side of the steel wire rope winding screw B (34).
10. The tendon-driven adaptive climbing robot of claim 9, wherein: the upper surface of roof (3) installs pulley (5), wire rope (18) twine on this pulley (5), auxiliary wheel (20) are installed through auxiliary wheel support (19) to the lower surface of bottom plate (9).
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| CN113442148A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Multi-dimensional adjustable manipulator |
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| JP2011213293A (en) * | 2010-04-01 | 2011-10-27 | Seibu-Kawasaki Co Ltd | Suction self-propelled wall surface coating peeling device |
| CN102632937B (en) * | 2012-05-04 | 2013-11-06 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
| CN204978938U (en) * | 2015-09-30 | 2016-01-20 | 昆明鑫辉检测有限公司 | Steel wall crawl device with multi -direction left and right dish that floats |
| WO2018131329A1 (en) * | 2017-01-13 | 2018-07-19 | パナソニックＩｐマネジメント株式会社 | Wall surface suction traveling device |
| CN106882284B (en) * | 2017-03-22 | 2019-03-19 | 武汉科技大学 | A kind of four-jaw type apery tube climber device people |
| CN107086489B (en) * | 2017-05-31 | 2019-04-30 | 武汉理工大学 | A kind of separable obstacle detouring mechanical arm applied to aerial high voltage power line robot |
| CN108116521A (en) * | 2017-12-15 | 2018-06-05 | 中国矿业大学 | A kind of defect in rope inspection mechanism |
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