CN110341824A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN110341824A CN110341824A CN201910604254.7A CN201910604254A CN110341824A CN 110341824 A CN110341824 A CN 110341824A CN 201910604254 A CN201910604254 A CN 201910604254A CN 110341824 A CN110341824 A CN 110341824A
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- actuator
- crawler component
- arm
- pedestal
- adsorption piece
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of climbing robots, including pedestal, the first crawler component and the second crawler component, first crawler component is rotatably set on pedestal, the rotational angle of first crawler component is adjustable, first crawler component is equipped with the first adsorption piece, and the second crawler component is rotatably set on pedestal, and the rotational angle of the second crawler component is adjustable, second crawler component is equipped with the second adsorption piece, and the second crawler component is opposite with the rotation direction of the first crawler component.Above-mentioned climbing robot, since the first crawler component is opposite with the rotation direction of the second crawler component, it can make to form angle between the first crawler component and the second crawler component, with in enclosure space or pipeline arcwall face or irregular face be adapted to, keep the first adsorption piece and absorption of second adsorption piece to enclosure space or inner wall of the pipe tighter, then above-mentioned climbing robot can move in enclosure space or pipeline, and travelling performance is good, can be used in detecting to inside enclosure space or pipeline.
Description
Technical field
The present invention relates to repair apparatus technical fields, more particularly to a kind of climbing robot.
Background technique
As work sulfur hexafluoride sealed combination electrical equipment is increasingly becoming the mainstream transformer equipment of electric system, substation GIS
The maintenance and cleaning of equipment are also increasingly important, become the key project of daily O&M.Substation in the process of running, inside GIS
Probably due to having dirty insulating surface, spine, free metal particle, solid insulation internal flaw etc. and causing part inside GIS
The generation of electric discharge, it is therefore desirable to solve the problems, such as GIS internal overhaul and cleaning.Since spatial joint clearance is small in GIS device, and it is internal
For globoidal structure, traditional repair apparatus, which hardly enters in GIS device, to be checked.
Summary of the invention
Based on this, the invention reside in overcoming the deficiencies of existing technologies, provide it is a kind of can be moved in GIS device climb wall machine
Device people.
Its technical solution is as follows:
A kind of climbing robot, comprising:
Pedestal；
First crawler component, first crawler component are rotatably set on the pedestal, first crawler component
Rotational angle is adjustable, and first crawler component is equipped with the first adsorption piece；And
Second crawler component, second crawler component are rotatably set on the pedestal, second crawler component
Rotational angle is adjustable, and second crawler component is equipped with the second adsorption piece, and second crawler component is climbed with described first
The rotation direction of row component is opposite.
Above-mentioned climbing robot is adsorbed using the first adsorption piece and the second adsorption piece, and is creeped group by first
Part and the second crawler component are creeped in enclosure space or pipeline, due to the rotation side of the first crawler component and the second crawler component
To on the contrary, can make to form angle between the first crawler component and the second crawler component, with the arcwall face in enclosure space or pipeline
Or irregular face adaptation, keep the first adsorption piece and absorption of second adsorption piece to enclosure space or inner wall of the pipe tighter, then it is above-mentioned
Climbing robot can move in enclosure space or pipeline, and travelling performance is good.
Above-mentioned climbing robot further includes camera in one of the embodiments, and the camera is set to the pedestal
On.
Above-mentioned climbing robot further includes controller, the first actuator and the second actuator in one of the embodiments,
First actuator and second actuator are set on the pedestal, first crawler component and first driving
The output axis connection of part, the output axis connection of second crawler component and second actuator, the controller with it is described
Camera, first actuator and second actuator are electrically connected, and the controller is for controlling first driving
Part, second actuator output shaft rotational angle.
First crawler component climbs arm, second crawler component including two first in one of the embodiments,
Arm is climbed including two second, described first climbs arm is correspondingly arranged with first actuator, and described first climbs on arm and be all provided with
The first adsorption piece is stated, described first climbs the output axis connection of arm Yu first actuator, and described second climbs arm and described second
Actuator is correspondingly arranged, and described second climbs on arm and be equipped with second adsorption piece, and described second climbs arm and second driving
The output axis connection of part, one described first is climbed arm and one described second side for climbing arm set on the pedestal, another institute
It states first and climbs arm and another described second other side for climbing arm set on the pedestal.
In one of the embodiments, described first climb arm include first structure part, the second structural member, third actuator and
Fourth drive member, the output shaft of first actuator are connect with the third actuator, the output shaft of the third actuator
Connect with the first structure part, the fourth drive member be set to the first structure part on, second structural member with it is described
The output axis connection of fourth drive member, second structural member are equipped with the first adsorption piece, the output shaft of first actuator
Horizontally disposed, the output shaft of the third actuator is arranged along the vertical direction, the output shaft of the third actuator with
The output shaft of the fourth drive member is arranged in parallel.
Described first to climb arm further include third structural member in one of the embodiments, and reinforcement is additionally provided on the pedestal
Part, surrounds installing port between the reinforcer and the pedestal, the output shaft of first actuator protrudes into the installing port
And connect with the one side of the third structural member, the another side of the third structural member can by bearing and the reinforcer
Rotation connection, the U-shaped structure of third structural member, third structural member part around the third actuator and with it is described
The connection of third actuator.
In one of the embodiments, the pedestal include the first side plate, the second side plate, top plate and bottom plate, the top plate,
The bottom plate is set between first side plate, second side plate, and the top plate, bottom plate interval setting, described
First actuator, second actuator are set between the top plate, the bottom plate, and it is remote that the camera is set to the top plate
Side from the bottom plate.
The pedestal is equipped with the 5th actuator in one of the embodiments, and the 5th actuator is set to the top
Between plate, the bottom plate, the output shaft of the 5th actuator wears the top plate and connect with the camera.
Above-mentioned climbing robot further includes Wireless Transmitter in one of the embodiments, the Wireless Transmitter and institute
Controller electric connection is stated, the Wireless Transmitter is used to receive the image of telecommand or the output camera shooting.
First adsorption piece is set to first crawler component by spherical joint bearing in one of the embodiments,
On, second adsorption piece is set in second crawler component by spherical joint bearing.
Detailed description of the invention
Fig. 1 is the operation schematic diagram of climbing robot described in the embodiment of the present invention；
Fig. 2 is the oblique view of climbing robot described in the embodiment of the present invention；
Fig. 3 is the partial schematic diagram of climbing robot described in the embodiment of the present invention.
Description of symbols:
100, pedestal, the 101, first side plate, the 102, second side plate, 103, top plate, 104, bottom plate, 110, reinforcer, 200,
First crawler component, 210, first climbs arm, 211, first structure part, 211a, first point of component, 211b, second point of component, 212,
Second structural member, 213, third actuator, 214, fourth drive member, 215, third structural member, the 300, second crawler component, 310,
Second climbs arm, the 400, first adsorption piece, 410, support leg, 420, sucker, the 500, second adsorption piece, 600, camera, and 710,
One actuator, the 720, second actuator.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more
Any and all combinations of relevant listed item.
Heretofore described " first ", " second " do not represent specific quantity and sequence, are only used for the differentiation of title.
In this specific embodiment, above-mentioned climbing robot is mainly used for the gas-insulated metal-enclosed switch internal of substation
The case where detected, but above-mentioned climbing robot can also be used for detecting other scenes, such as pipeline, tunnel etc..
As shown in Figures 1 and 2, an embodiment discloses a kind of climbing robot, including pedestal 100, the first crawler component
200 and second crawler component 300, the first crawler component 200 be rotatably set on pedestal 100, the rotation of the first crawler component 200
Adjustable angle, the first crawler component 200 are equipped with the first adsorption piece 400, and the second crawler component 300 is rotatably set to pedestal 100
On, the rotational angle of the second crawler component 300 is adjustable, and the second crawler component 300 is equipped with the second adsorption piece 500, and second climbs
Row component 300 is opposite with the rotation direction of the first crawler component 200.
Above-mentioned climbing robot is adsorbed using the first adsorption piece 400 and the second adsorption piece 500, and passes through first
Crawler component 200 and the second crawler component 300 are creeped in enclosure space or pipeline, due to the first crawler component 200 and second
The rotation direction of crawler component 300 on the contrary, can make to form angle between the first crawler component 200 and the second crawler component 300, with
Arcwall face or irregular face adaptation in enclosure space or pipeline, keep the 500 pairs of closings of the first adsorption piece 400 and the second adsorption piece empty
Between or inner wall of the pipe absorption it is tighter, then above-mentioned climbing robot can move in enclosure space or pipeline, and travelling performance is good.
Specifically, at least one in the first adsorption piece 400 and the second adsorption piece 500 is adsorbed on inner wall, can prevent from climbing
Wall robot is fallen.
In one of the embodiments, as shown in Figures 1 and 2, above-mentioned climbing robot further includes camera 600, camera shooting
First 600 are set on pedestal 100.Above-mentioned climbing robot, by the way that camera 600 is arranged, can to enclosure space or pipeline etc. it is narrow
In small space or itself the case where observed, and then to more fully being checked in enclosure space or pipeline, while conveniently
The adjustment such as angle is carried out to robot.
In one of the embodiments, as shown in Fig. 2, above-mentioned climbing robot further includes controller, the first actuator 710
And second actuator 720, the first actuator 710 and the second actuator 720 are set on pedestal 100, the first crawler component 200 with
The output axis connection of first actuator 710, the output axis connection of the second crawler component 300 and the second actuator 720, controller with
Camera 600, the first actuator 710 and the second actuator 720 are electrically connected, and controller is for controlling the first actuator 710, the
The rotational angle of the output shaft of two actuators 720.The inside feelings of enclosure space or pipeline can be understood by camera 600 at this time
Condition, and control by controller the rotational angle of the first actuator 710 and the second actuator 720, make the first crawler component 200 with
The angle of second crawler component 300 can match the actual conditions in enclosure space or pipeline, so make the first adsorption piece 400,
Second adsorption piece 500 can be adsorbed preferably, guarantee that climbing robot can move in enclosure space or pipeline.In addition, can
By the rotation of the output shaft on the first actuator 710 and the second actuator 720, the first crawler component 200 or the second is made to creep
Component 300 realizes the effect of foot-up, and then adsorption piece is made to be detached from enclosure space or inner wall of the pipe, facilitates the movement of climbing robot
And position adjustment.
Optionally, the first actuator 710, the second actuator 720 can be steering engine, motor etc..Specifically, the first actuator
710, the second actuator 720 is steering engine, steering engine it is small in size, torque is big, on the basis of keeping climbing robot dynamic property,
The miniaturization of above-mentioned climbing robot can be achieved.
In one of the embodiments, as shown in Fig. 2, the first crawler component 200, which includes two first, climbs arm 210, second
Crawler component 300 includes two second and climbs arm 310, and first climbs arm 210 is correspondingly arranged with the first actuator 710, and first climbs arm 210
On be equipped with the first adsorption piece 400, first climbs the output axis connection of arm 210 and the first actuator 710, and second climbs arm 310 and
Two actuators 720 are correspondingly arranged, and second climbs on arm 310 and be equipped with the second adsorption piece 500, and second climbs arm 310 and the second actuator
720 output axis connection, one first is climbed arm 210 and one second side for climbing arm 310 set on pedestal 100, another first
Climb arm 210 and another second other side for climbing arm 310 set on pedestal 100.The two sides of pedestal 100 are respectively equipped with two at this time
One climbs arm 210 and two second are climbed arm 310, can climb arm 210 by one first and one second adsorption piece climbed on arm 310 is inhaled
The inner wall of attached enclosure space or pipeline, another first climbs arm 210 and another second climbs the mobile mode of arm 310 to make
It is mobile to state climbing robot.
As shown in Figures 2 and 3 in one of the embodiments, first, which climbs arm 210, includes first structure part 211, the second knot
Component 212, third actuator 213 and fourth drive member 214, the output shaft and third actuator 213 of the first actuator 710 connect
It connecing, the output shaft of third actuator 213 is connect with first structure part 211, and fourth drive member 214 is set on first structure part 211,
The output axis connection of second structural member 212 and fourth drive member 214, the second structural member 212 are equipped with the first adsorption piece 400, the
The output shaft of one actuator 710 is horizontally disposed, and the output shaft of third actuator 213 is arranged along the vertical direction, and third is driven
The output shaft of moving part 213 and the output shaft of fourth drive member 214 are arranged in parallel.Due to third actuator 213 and fourth drive member
214 output shaft is arranged in parallel, then first structure part 211 can be rotated relative to third actuator 213, and the second structural member 212 can phase
Fourth drive member 214 on first structure part 211 is rotated, the movement of the first adsorption piece 400 on the second structural member 212 at this time
It is more flexible, mobile gait can be preferably adjusted, the flexible first movement for climbing arm 210 is preferably provided, above-mentioned wall-climbing device is facilitated
Movement of the people in enclosure space or pipeline.
Optionally, it second climbs the structure of arm 310 and first to climb the structure of arm 210 identical, is simple to manufacture at this time, and be conducive to
Difference climbs the Collaborative Control and adjustment of wall.
Optionally, in the initial state, the angle between first structure part 211 and the second structural member 212 is 90 °.At this time
Each adsorption piece climbed on arm is close to the adsorption effect of inner wall, is conducive to the stabilization for keeping above-mentioned climbing robot.
Specifically, the quantity of the first adsorption piece 400 and the second adsorption piece 500 is two, and two the first adsorption pieces 400 divide
First it Wei not inhale foot and second inhale foot, two the second adsorption pieces 500 are respectively that third inhales foot and the 4th inhales foot, and first inhales foot and the
Three inhale the front position that foot is set to pedestal 100, and second, which inhales foot and the 4th, inhales foot set on the rear position of pedestal 100, by each
The rotation of actuator at least makes the first suction foot and the 4th inhale foot holding adsorbed state；Or the second suction foot and third is at least made to inhale foot
Adsorbed state is kept, can guarantee that climbing robot is firm at this time and be adsorbed on inner wall.
In one of the embodiments, as shown in Figures 2 and 3, first to climb arm 210 further include third structural member 215, pedestal
It is additionally provided with reinforcer 110 on 100, installing port is surrounded between reinforcer 110 and pedestal 100, the output shaft of the first actuator 710 is stretched
Enter in installing port and connect with the one side of third structural member 215, the another side of third structural member 215 by bearing and is reinforced
Part 110 is rotatably connected, the U-shaped structure of third structural member 215,215 part of third structural member around third actuator 213 and with
Third actuator 213 connects.The output shaft of the first actuator 710 is not direct at this time connect with third actuator 213, passes through third
Actuator 213 is installed on third structural member 215, and is connected using the output shaft of the first actuator 710 and third structural member 215
It connects, improves integrally-built stability, ensure that the reliability that the first actuator 710 and third actuator 213 work.
Optionally, as shown in figure 3, first structure part 211 includes first point of component 211a and second point of component 211b, first
Dividing component 211a and second point of component 211b is U-shaped structure, the bottom phase of first point of component 211a and second point of component 211b
Even, the output axis connection of one end of first point of component 211a and third actuator 213, the other end of first point of component 211a and the
The bottom of three structural members 215 is rotatably connected, and fourth drive member 214 is set in the groove that second point of component 211b is surrounded, and is located at
The output shaft of 214 side of fourth drive member wears one end of second point of component 211b, the other side of fourth drive member 214 and second
Divide the other end connection of component 211b, third structural member 215 is also U-shaped structure, one end of third structural member 215 and the 4th driving
The output axis connection of part 214, the other end of third structural member 215 are rotatably connected with second point of component 211b, at this time whole knot
Structure is more stable, simultaneously because each structural member is sheet metal component, overall weight is lighter, can reduce power required for absorption, therefore
The requirement to adsorption piece can be reduced, and then reduces the cost of above-mentioned climbing robot.In addition, can guarantee third actuator at this time
213, the output shaft of fourth drive member 214 is vertical with the output shaft of the first actuator 710, can simplify to the first adsorption piece 400
Motion track control, specifically, each structural member is Al-alloy parts.Each structural member is as sheet metal component, intensity at this time
Greatly, light-weight.
In one of the embodiments, as shown in Figures 2 and 3, pedestal 100 include the first side plate 101, the second side plate 102,
Top plate 103 and bottom plate 104, top plate 103, bottom plate 104 are set between the first side plate 101, the second side plate 102, and top plate 103,
The setting of the interval of bottom plate 104, the first actuator 710, the second actuator 720 are set between top plate 103, bottom plate 104, camera
600 are set to side of the top plate 103 far from bottom plate 104.The more reasonable structure of pedestal 100 at this time, the first actuator 710 and second drive
Moving part 720 can play protection and fixation to the first actuator 710, the second actuator 720 between top plate 103, bottom plate 104
Effect, ensure that the normal work of the first actuator 710, the second actuator 720, while the structure of pedestal 100 is simple, facilitates dimension
Shield and maintenance.
Specifically, the both ends of top plate 103 and bottom plate 104 are bent, and bend part for respectively with the first side plate
101, the second side plate 102 connects.It can guarantee the integrally-built stability of pedestal 100 at this time.
Pedestal 100 is equipped with the 5th actuator in one of the embodiments, and the 5th actuator is set to top plate 103, bottom plate
Between 104, the output shaft of the 5th actuator wears top plate 103 and connect with camera 600.The 5th actuator, which can drive, at this time takes the photograph
As the rotation of head 600, the coverage to environment is improved, inner case is preferably observed.
Optionally, the end of the output shaft of the 5th actuator is equipped with holder, and camera 600 is set on holder.At this time may be used
Play the role of stabilization by holder, guarantees the shooting effect of camera 600.
Specifically, the 5th actuator and processor are electrically connected.It can be by processor to the angle of rotation of fourth drive member 214
Degree is controlled, and observing effect is improved.
Above-mentioned climbing robot further includes Wireless Transmitter, Wireless Transmitter and controller in one of the embodiments,
It is electrically connected, Wireless Transmitter is used to receive telecommand or exports the image that camera 600 is shot.It at this time can be by wirelessly passing
Defeated device transmits the telecommand outside image to extraneous or reception.
Optionally, Wireless Transmitter can be the wireless transport modules such as bluetooth, wifi.
Optionally, above-mentioned climbing robot further includes remote control device, and Wireless Transmitter and controller can be integrated into single-chip microcontroller,
Remote control device and Wireless Transmitter communicate to connect, and can pass through the working as in remote control device real-time detection climbing robot of camera 600
Preceding working condition.
The first adsorption piece 400 is set to the first crawler component 200 by spherical joint bearing in one of the embodiments,
On, the second adsorption piece 500 is set in the second crawler component 300 by spherical joint bearing.The first adsorption piece can be facilitated at this time
400, the second adsorption piece 500 finely tunes its relative position between inner wall, makes the first adsorption piece 400, the second adsorption piece 500 to interior
The adsorption effect of wall is more preferable.
Optionally, the first adsorption piece 400 be set to the second structural member 212 on, the first adsorption piece 400 include support leg 410 and
Sucker 420, support leg 410 wear the second structural member 212 and are installed on the second structural member 212 by spherical joint bearing, inhale
Disk 420 is connect with support leg 410.Specifically, the first adsorption piece 400 and the structure of the second adsorption piece 500 are close or identical.At this time
The adsorption effect of each adsorption piece is close or identical, facilitates manufacture, while being easier to control climbing robot.Specifically,
Sucker 420 is vacuum chuck.Adsorption effect is good, and structure is simple.
Specifically, top plate 103 is equipped with idler wheel and the 5th actuator, and top plate 103 is equipped with far from the side of bottom plate 104 and uses
In the mounting base of installation idler wheel, idler wheel is pivotally mounted in mounting base, and the center of rotation of idler wheel is parallel with top plate 103, and the 5th
For driving idler wheel to rotate, the 5th actuator and controller are electrically connected actuator.If above-mentioned climbing robot is by equipment inner wall
On when falling off, the 5th actuator can be controlled by controller and start and idler wheel is driven to rotate, even if climbing robot can not turn at this time
Body also moves, and can prevent climbing robot from falling off inside equipment and lead to not move.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of climbing robot characterized by comprising
Pedestal；
First crawler component, first crawler component are rotatably set on the pedestal, the rotation of first crawler component
Adjustable angle, first crawler component are equipped with the first adsorption piece；And
Second crawler component, second crawler component are rotatably set on the pedestal, the rotation of second crawler component
Adjustable angle, second crawler component is equipped with the second adsorption piece, and second crawler component is creeped group with described first
The rotation direction of part is opposite.
2. climbing robot according to claim 1, which is characterized in that further include camera, the camera is set to institute
It states on pedestal.
3. climbing robot according to claim 2, which is characterized in that further include controller, the first actuator and second
Actuator, first actuator and second actuator are set on the pedestal, first crawler component with it is described
The output axis connection of first actuator, the output axis connection of second crawler component and second actuator, the control
Device and the camera, first actuator and second actuator are electrically connected, and the controller is described for controlling
First actuator, second actuator output shaft rotational angle.
4. climbing robot according to claim 3, which is characterized in that first crawler component includes two first and climbs
Arm, second crawler component include two second and climb arm, and described first climbs arm is correspondingly arranged with first actuator, described
First climbs on arm and is equipped with first adsorption piece, and described first climbs the output axis connection of arm Yu first actuator, described
Second climbs arm is correspondingly arranged with second actuator, and described second climbs on arm and be equipped with second adsorption piece, and described second
Climb the output axis connection of arm Yu second actuator, one described first is climbed arm and one described second is climbed arm set on the base
Seat side, another described first climb arm and another described second climb arm be set to the pedestal other side.
5. climbing robot according to claim 4, which is characterized in that described first to climb arm include first structure part,
Two structural members, third actuator and fourth drive member, the output shaft of first actuator are connect with the third actuator, institute
The output shaft for stating third actuator is connect with the first structure part, and the fourth drive member is set on the first structure part,
The output axis connection of second structural member and the fourth drive member, second structural member are equipped with the first adsorption piece, institute
The output shaft for stating the first actuator is horizontally disposed, and the output shaft of the third actuator is arranged along the vertical direction, described
The output shaft of third actuator and the output shaft of the fourth drive member are arranged in parallel.
6. climbing robot according to claim 5, which is characterized in that described first to climb arm further include third structural member,
Be additionally provided with reinforcer on the pedestal, surround installing port between the reinforcer and the pedestal, first actuator it is defeated
Shaft is protruded into the installing port and is connect with the one side of the third structural member, and the another side of the third structural member is logical
It crosses bearing to be rotatably connected with the reinforcer, the U-shaped structure of third structural member, third structural member part surrounds institute
It states third actuator and is connect with the third actuator.
7. climbing robot according to claim 5, which is characterized in that the pedestal include the first side plate, the second side plate,
Top plate and bottom plate, the top plate, the bottom plate are set between first side plate, second side plate, and the top plate, institute
The setting of bottom plate interval is stated, first actuator, second actuator are set between the top plate, the bottom plate, described
Camera is set to side of the top plate far from the bottom plate.
8. climbing robot according to claim 7, which is characterized in that the pedestal is equipped with the 5th actuator, described
5th actuator be set between the top plate, the bottom plate, the output shaft of the 5th actuator wear the top plate and with institute
State camera connection.
9. climbing robot according to claim 3, which is characterized in that it further include Wireless Transmitter, the wireless transmission
Device and the controller are electrically connected, and the Wireless Transmitter is used to receive the figure of telecommand or the output camera shooting
Picture.
10. -9 described in any item climbing robots according to claim 1, which is characterized in that first adsorption piece passes through ball
Shape oscillating bearing is set in first crawler component, and second adsorption piece is set to described second by spherical joint bearing and climbs
On row component.
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| CN201910604254.7A CN110341824B (en) | 2019-07-05 | 2019-07-05 | Wall-climbing robot |
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| CN201910604254.7A CN110341824B (en) | 2019-07-05 | 2019-07-05 | Wall-climbing robot |
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| CN110341824B CN110341824B (en) | 2021-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949559A (en) * | 2019-12-23 | 2020-04-03 | 华南理工大学 | Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation |
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| CN110341824B (en) | 2021-02-23 |
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