CN205345108U - Multi -functional pole -climbing robot based on double claw fixture - Google Patents
Multi -functional pole -climbing robot based on double claw fixture Download PDFInfo
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- CN205345108U CN205345108U CN201620058931.1U CN201620058931U CN205345108U CN 205345108 U CN205345108 U CN 205345108U CN 201620058931 U CN201620058931 U CN 201620058931U CN 205345108 U CN205345108 U CN 205345108U
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Abstract
The utility model provides an operating function is single of multi -functional pole -climbing robot based on double claw fixture belongs to robot design technical field, and aim at solves prior art and exists and a problem that the structure is complicated. The utility model discloses an one end of two connecting rods is connected through an upset joint, and the articular other end that twists reverse that the other end of two connecting rods is connected with the articular one end of upset respectively and two connecting rods are connected two articular other ends of upset twistd reverse with that articular one end is connected respectively and two upset joints are connected is connected with a holder respectively, be provided with the wiper mechanism on every holder, be provided with on the arbitrary connecting rod and overhaul the mechanism, twist reverse only rotational degrees of freedom of joint, and twist reverse joint bearing and twist reverse the holistic dead in line in joint or perpendicular, the upset joint is a rotational degrees of freedom only, and the joint bearing that just overturns is perpendicular with the holistic axis in upset joint.
Description
Technical field
This utility model belongs to Robot Design technical field, is specifically related to a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices.
Background technology
Climbing level robot be a kind of can on rod member the mobile apparatus people of operation.According to the difference being grasped climbing medium mode, existing typical case's model machine is divided into following three classes: encircling type climbing robot, Alcula type climbing robot and clipping climbing robot.On the whole, owing to clamping device can depart from climbing rod member, coordinating the degree of freedom that robot trunk is higher, existing clipping climbing robot has had been provided with stronger mobility；But to really be applied in the environment of reality, they also have no small distance, are in particular in: first, and the size and dimension of the medium that can climb is single, and adaptability is not strong；Second, their motion mode is single, it is impossible to carry out some basic avoidance motions；3rd, their clamping device does not possess operating function, it is impossible to complete the operation task of reality.
At present, modularity both hands claw climbing robot Climbot has passed through truss transition climbing, climbing lamp stand unloads experiments such as taking bulb, fully demonstrate both hands claw climbing robot with its action flexibly and possess the ability of dexterous climbing of shuttling back and forth in space truss, make decided progress and advantage in overcoming above-mentioned first and second deficiency of climbing robot.
But, operational capacity is the essential condition that robot carries out practical application, and existing model machine all needs extra operation device could realize operating function.Operating function is single, operational capacity is poor and structure is complicated；Therefore, develop a kind of there is multiple operating function, simple in construction, robot that security performance is good meet the trend of robot development and the needs of social production life.
Utility model content
The purpose of this utility model is in that to propose a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices, solves the single and baroque problem of operating function that prior art exists.
For achieving the above object, a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model includes two clampers, two torsion knuckles, three upset joints, two connecting rods, maintenance mechanism and wiper mechanism；
One end of two connecting rods is connected by a upset joint, the one end in the other end of two connecting rods respectively with upset joint connects, connect with one end of respectively with one torsion knuckle of the other end in two upset joints of two connecting rods connections, and respectively with one the clampers connection of the other end of the torsion knuckles of two upset joint connections；Each clamper is provided with wiper mechanism, any one connecting rod is provided with maintenance mechanism；
Described torsion knuckle only one of which rotational freedom, and the dead in line or vertical that torsion knuckle bearing is overall with torsion knuckle；Described upset joint only one of which rotational freedom, and upset oscillating bearing is vertical with the axis of upset joint entirety.
Described clamper includes drive motor and automatically controlled part A, harmonic speed reducer A, leading screw A, slide block A, joint pedestal, parallelogram lindage and clip；Described drive motor and automatically controlled part A are fixed on the pedestal of joint, motor in drive motor and automatically controlled part A is connected with the wave producer of harmonic speed reducer A by axle sleeve, harmonic speed reducer A steel wheel is fixed on the pedestal of joint, harmonic speed reducer A output wheel is connected by axle sleeve with leading screw A, slide block A engages with leading screw A, parallelogram lindage one end and slide block A connect, the other end is fixed with clip, slide block A drives parallelogram lindage motion, and then driving opening or clamping of clip, one end of described joint pedestal and described torsion knuckle is fixing to be connected.
Described torsion knuckle includes drive motor and automatically controlled part B, harmonic speed reducer B, gear, gear ring, the first joint A and second joint A；Described drive motor and automatically controlled part B are fixed on the first joint A, motor in drive motor and automatically controlled part B is connected with the wave producer of harmonic speed reducer B by axle sleeve, the steel wheel of harmonic speed reducer B is fixed on the first joint A, harmonic speed reducer B output wheel is connected with gear, gear ring is fixed on second joint A, and gear and gear ring engage.
Described upset joint includes drive motor and automatically controlled part C, harmonic speed reducer C, bevel gear A, bevel gear B, the first joint B, second joint B and joint connector；Described drive motor and automatically controlled part C are fixed on the first joint B, motor in drive motor and automatically controlled part C is connected with the wave producer of harmonic speed reducer C by axle sleeve, the steel wheel of harmonic speed reducer C is fixed on the first joint B, harmonic speed reducer C output wheel and bevel gear A are connected, first joint B is connected with second joint B joint connector, bevel gear B is arranged on second joint, and bevel gear A and bevel gear B (304) engages.
Described maintenance mechanism includes drive motor and automatically controlled part D, leading screw B, shear rod, two axle camera system and slide block B；Described leading screw B includes oppositely oriented two section, two sections of oppositely oriented for leading screw B respectively with one slide block B form screw pair, described drive motor and automatically controlled part D are fixed in any one connecting rod, motor in drive motor and automatically controlled part D connects leading screw B by axle sleeve, respectively with two, described contraction shear rod one end slide block B connects, and the other end connects two axle camera systems.
Described wiper mechanism includes cleaning brush, connecting rod and cleaning pedestal；Described cleaning pedestal is fixed on the pedestal both sides, joint of described clamper, and described cleaning brush is connected by connecting rod and described cleaning pedestal, and described connecting rod is extensible link, drives described cleaning brush stretch out or regain by described connecting rod is flexible.
Described extensible link is hydraulic pressure extensible link.
The maximum elongation length of described connecting rod is more than the entire length of clamper.
The beneficial effects of the utility model are: a kind of wiper mechanism based on the multifunctional pole-climbing robot of double; two pawl clamping devices of the present utility model is arranged on the revolute joint mechanical arm of robot, the rotation that can directly utilize joint realizes cleaning function, without extra actuating motor, can effectively alleviate the weight of robot；
What adopt in gripper module is the screw slider kind of drive, and the principle utilizing screw pair angle of friction big enables mechanism's self-locking, reaches the purpose of gripper bar stability；
Maintenance mechanism is arranged on the inside of body, retractable, takes full advantage of the inner space of robot, and apparatus for examination and repair can be avoided again to hinder robot climbing；
Upset joint of the present utility model and torsion knuckle coordinate the clamper at robot two ends, according to different climbing environment, robot can be made with the gait climbing rod member reversed or overturn, after arriving appointed place, equipment is overhauled or cleans.Multiple operating function, simple in construction, security performance are good.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 2 is the holder structure schematic diagram of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 3 is the holder structure sectional view of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 4 is the torsion knuckle structural representation of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 5 is the torsion knuckle structure sectional view of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 6 is the upset articulation structure schematic diagram of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 7 is the upset articulation mechanism sectional view of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 8 is the maintenance structural scheme of mechanism of a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model；
Fig. 9 is that a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model reverses climbing attitude schematic diagram；
Figure 10 a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model overturns climbing attitude schematic diagram；
Wherein: 1, clamper, 101, drive motor and automatically controlled part A, 102, harmonic speed reducer A, 103, leading screw A, 104, slide block A, 105, joint pedestal, 106, parallelogram lindage, 107, clip, 2, torsion knuckle, 201, drive motor and automatically controlled part B, 202, harmonic speed reducer B, 203, gear, 204, gear ring, 205, first joint A, 206, second joint A, 3, upset joint, 301, drive motor and automatically controlled part C, 302, harmonic speed reducer C, 303, bevel gear A, 304, bevel gear B, 305, first joint B, 306, second joint B, 4, connecting rod, 5, maintenance mechanism, 501, drive motor and automatically controlled part D, 502, leading screw B, 503, shear rod, 504, two axle camera systems, 505, slide block B, 6, wiper mechanism, 601, cleaning brush, 602, connecting rod, 603, clean pedestal.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.
Referring to accompanying drawing 1, a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices of the present utility model includes 3, two, joint of 1, two torsion knuckles of two clampers 2, three upset connecting rod 4, maintenance mechanism 5 and wiper mechanism 6；
One end of two connecting rods 4 is connected by a upset joint 3, the one end in the other end of two connecting rods 4 respectively with upset joint 3 connects, connect with one end of respectively with one torsion knuckle 2 of the other end in two upset joints 3 of two connecting rods 4 connections, and respectively with one clamper 1 of the other end of the torsion knuckles 2 of two upset joint 3 connections connect；Each clamper 1 is provided with wiper mechanism 6, any one connecting rod 4 is provided with maintenance mechanism 5；
Described torsion knuckle 2 only one of which rotational freedom, and the dead in line or vertical of torsion knuckle bearing and torsion knuckle 2 entirety；Described upset joint 3 only one of which rotational freedom, and upset oscillating bearing is vertical with the axis of upset joint 3 entirety.
Referring to accompanying drawing 2 and accompanying drawing 3, described clamper 1 includes drive motor and automatically controlled part A101, harmonic speed reducer A102, leading screw A103, slide block A104, joint pedestal 105, parallelogram lindage 106 and clip 107；Described drive motor and automatically controlled part A101 are fixed on joint pedestal 105, motor in drive motor and automatically controlled part A101 is connected with the wave producer of harmonic speed reducer A102 by axle sleeve, harmonic speed reducer A102 steel wheel is fixed on joint pedestal 105, harmonic speed reducer A102 output wheel is connected by axle sleeve with leading screw A103, slide block A104 engages with leading screw A103, parallelogram lindage 106 one end and slide block A104 connect, the other end is fixed with clip 107, slide block A104 drives parallelogram lindage 106 to move, and then drive opening or clamping of clip 107, one end of described joint pedestal 105 and described torsion knuckle 2 is fixing to be connected.
Referring to accompanying drawing 4 and accompanying drawing 5, described torsion knuckle 2 includes drive motor and automatically controlled part B201, harmonic speed reducer B202, gear 203, gear ring the 204, first joint A205 and second joint A206；Described drive motor and automatically controlled part B201 are fixed on the first joint A205, motor in drive motor and automatically controlled part B201 is connected with the wave producer of harmonic speed reducer B202 by axle sleeve, the steel wheel of harmonic speed reducer B202 is fixed on the first joint A205, harmonic speed reducer B202 output wheel is connected with gear 203, gear ring 204 is fixed on second joint A206, and gear 203 and gear ring 204 engage.
Referring to accompanying drawing 6 and accompanying drawing 7, described upset joint 3 includes drive motor and automatically controlled part C301, harmonic speed reducer C302, bevel gear A303, bevel gear B304, the first joint B305, second joint B306 and joint connector；Described drive motor and automatically controlled part C301 are fixed on the first joint B305, motor in drive motor and automatically controlled part C301 is connected with the wave producer of harmonic speed reducer C302 by axle sleeve, the steel wheel of harmonic speed reducer C302 is fixed on the first joint B305, harmonic speed reducer C302 output wheel and bevel gear A303 are connected, first joint B305 is connected with second joint B306 joint connector, bevel gear B304 is arranged on second joint, and bevel gear A303 engages with bevel gear B304.
Referring to accompanying drawing 8, described maintenance mechanism 5 includes drive motor and automatically controlled part D501, leading screw B502, shear rod 503, two axle camera system 504 and slide block B 505；Described leading screw B502 includes oppositely oriented two section, two sections of oppositely oriented for leading screw B502 respectively with one slide block B 505 form screw pair, described drive motor and automatically controlled part D501 are fixed in any one connecting rod 4, motor in drive motor and automatically controlled part D501 connects leading screw B502 by axle sleeve, respectively with two slide block B 505 in described contraction shear rod 503 one end connect, and the other end connects two axle camera systems 504.
Described wiper mechanism 6 includes cleaning brush 601, connecting rod 602 and cleans pedestal 603；Described cleaning pedestal 603 is fixed on joint pedestal 105 both sides of described clamper 1, described cleaning brush 601 is connected by connecting rod 602 and described cleaning pedestal 603, described connecting rod 602 is extensible link, drives described cleaning brush 601 stretch out or regain by described connecting rod 602 is flexible.
Described extensible link is hydraulic pressure extensible link.
The maximum elongation length of described connecting rod 602 is more than the entire length of clamper 1.
In this utility model, after bar is gripped by one of them clamper 1, just can adjust the attitude of robot so that the clamper 1 of the other end arrives target location by the angle of adjustment torsion knuckle 2 and upset joint 3, carry out next step climbing.Or utilize a clamper 1 stationary machines people, and by the angle change in torsion knuckle 2 and upset joint 3, another clamper 1 is delivered to target location, wiper mechanism 6 performs cleaning function, or utilizes double fastener holder 1 stationary machines people, and maintenance performs detection function.
Referring to accompanying drawing 9, robot climbing process is reversed gait and is:
1. the drive motor in two clampers 1 and the motor in automatically controlled part A101 drive two clampers 1 to clamp on stock one on the other respectively；
2. the clip 107 being located below unclamps, and clip 107 above is motionless；
3. upset joint 3 drives, by the clip 107 unclamped to sending a segment distance outside, in case clip 107 hinders ensuing motion to carry out；
4. it is driven near the torsion knuckle 2 of clip 107 above, robot entirety is reversed 180 ° from the side
5. upset joint 3 drives, and the inside segment distance of clip 107 that will unclamp returns to original vertical position；
6. clamper 1 clamps
7. repeat above step, it is achieved reverse the motion of gait.
Referring to accompanying drawing 10, robot climbing process upset gait is:
1. the drive motor in two clampers 1 and the motor in automatically controlled part A101 drive two clampers 1 to clamp on stock one on the other respectively；
2. the clip 107 being located below unclamps, and clip 107 above is motionless；
3. upset joint 3 drives, by the clip 107 unclamped to sending a segment distance outside, in case clip 107 hinders ensuing motion to carry out；
4. upset joint 3 drives, and rotates up 180 °, and adjusts robot pose；
5. upset joint 3 drives, and by inside for clip 107 segment distance, returns to original vertical position；
6. clamper 1 clamps；
7. repeat above step, it is achieved the motion of upset gait.
Robot can pass through to overturn and reverse climbing gait and the rod member of different size is climbed, and its clamper 1 can depart from climbing rod member, coordinating the degree of freedom that robot trunk is higher, so possessing stronger mobility, can complete corresponding actions.Robot can be controlled on ground by people, climbing is to high-altitude, such as traffic camera, street lamp etc., after robot interior sensor sensing arrives predetermined altitude to robot, robot will pass through to be contained in outward the wiper mechanism 6 with robot or maintenance mechanism 5, equipment it is carried out or detects, improve safety and the work efficiency of work high above the ground.
Claims (8)
1. the multifunctional pole-climbing robot based on double; two pawl clamping devices, it is characterized in that, including two clampers (1), two torsion knuckles (2), three upsets joint (3), two connecting rods (4), maintenance mechanism (5) and wiper mechanism (6)；
One end of two connecting rods (4) is connected by upset joint (3), one end of the other end of two connecting rods (4) respectively with upset joint (3) connects, one end of respectively with one torsion knuckle (2) of the other end of two upsets joint (3) connected with two connecting rods (4) connects, and respectively with one clamper (1) of the other end of torsion knuckle (2) that two upsets joint (3) connect connect；Each clamper (1) is provided with wiper mechanism (6), any one connecting rod (4) is provided with maintenance mechanism (5)；
Described torsion knuckle (2) only one of which rotational freedom, and the dead in line or vertical that torsion knuckle bearing is overall with torsion knuckle (2)；Described upset joint (3) only one of which rotational freedom, and upset oscillating bearing is vertical with the axis of upset joint (3) entirety.
2. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 1, it is characterized in that, described clamper (1) includes drive motor and automatically controlled part A (101), harmonic speed reducer A (102), leading screw A (103), slide block A (104), joint pedestal (105), parallelogram lindage (106) and clip (107)；Described drive motor and automatically controlled part A (101) are fixed on joint pedestal (105), motor in drive motor and automatically controlled part A (101) is connected with the wave producer of harmonic speed reducer A (102) by axle sleeve, harmonic speed reducer A (102) steel wheel is fixed on joint pedestal (105), harmonic speed reducer A (102) output wheel is connected by axle sleeve with leading screw A (103), slide block A (104) and leading screw A (103) engages, parallelogram lindage (106) one end and slide block A (104) connect, the other end is fixed with clip (107), slide block A (104) drives parallelogram lindage (106) motion, and then drive opening or clamping of clip (107), one end of described joint pedestal (105) and described torsion knuckle (2) is fixing to be connected.
3. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 1 and 2, it is characterized in that, described torsion knuckle (2) includes drive motor and automatically controlled part B (201), harmonic speed reducer B (202), gear (203), gear ring (204), the first joint A (205) and second joint A (206)；Described drive motor and automatically controlled part B (201) are fixed on the first joint A (205), motor in drive motor and automatically controlled part B (201) is connected with the wave producer of harmonic speed reducer B (202) by axle sleeve, the steel wheel of harmonic speed reducer B (202) is fixed on the first joint A (205), harmonic speed reducer B (202) output wheel is connected with gear (203), gear ring (204) is fixed on second joint A (206), and gear (203) and gear ring (204) engage.
4. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 1 and 2, it is characterized in that, described upset joint (3) includes drive motor and automatically controlled part C (301), harmonic speed reducer C (302), bevel gear A (303), bevel gear B (304), the first joint B (305), second joint B (306) and joint connector；Described drive motor and automatically controlled part C (301) are fixed on the first joint B (305), motor in drive motor and automatically controlled part C (301) is connected with the wave producer of harmonic speed reducer C (302) by axle sleeve, the steel wheel of harmonic speed reducer C (302) is fixed on the first joint B (305), harmonic speed reducer C (302) output wheel and bevel gear A (303) are connected, first joint B (305) and second joint B (306) is connected with joint connector, bevel gear B (304) is arranged on second joint, bevel gear A (303) and bevel gear B (304) engages.
5. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 1 and 2, it is characterized in that, described maintenance mechanism (5) includes drive motor and automatically controlled part D (501), leading screw B (502), shear rod (503), two axle camera systems (504) and slide block B (505)；Described leading screw B (502) includes oppositely oriented two section, two sections respectively with one oppositely oriented for leading screw B (502) slide block B (505) forms screw pair, described drive motor and automatically controlled part D (501) are fixed in any one connecting rod (4), motor in drive motor and automatically controlled part D (501) connects leading screw B (502) by axle sleeve, respectively with two, described contraction shear rod (503) one end slide block B (505) connects, and the other end connects two axle camera systems (504).
6. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 2, it is characterized in that, described wiper mechanism (6) includes cleaning brush (601), connecting rod (602) and cleans pedestal (603)；Described cleaning pedestal (603) is fixed on joint pedestal (105) both sides of described clamper (1), described cleaning brush (601) is connected by connecting rod (602) and described cleaning pedestal (603), described connecting rod (602) is extensible link (602), drives described cleaning brush (601) stretch out or regain by described connecting rod (602) is flexible.
7. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 6, it is characterised in that described extensible link is hydraulic pressure extensible link.
8. a kind of multifunctional pole-climbing robot based on double; two pawl clamping devices according to claim 6, it is characterised in that the maximum elongation length of described connecting rod (602) is more than the entire length of clamper (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620058931.1U CN205345108U (en) | 2016-01-21 | 2016-01-21 | Multi -functional pole -climbing robot based on double claw fixture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620058931.1U CN205345108U (en) | 2016-01-21 | 2016-01-21 | Multi -functional pole -climbing robot based on double claw fixture |
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| CN205345108U true CN205345108U (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620058931.1U Expired - Fee Related CN205345108U (en) | 2016-01-21 | 2016-01-21 | Multi -functional pole -climbing robot based on double claw fixture |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108888923A (en) * | 2018-08-28 | 2018-11-27 | 罗晓辉 | A kind of automatic rock-climbing robot |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| CN112455563A (en) * | 2018-12-12 | 2021-03-09 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN113119163A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot control system and control method thereof |
| CN113119162A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot |
| CN113188591A (en) * | 2021-04-09 | 2021-07-30 | 苏州大学 | Self-powered multi-mode sensing method for space environment |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
| CN114735101A (en) * | 2022-04-02 | 2022-07-12 | 哈尔滨工程大学 | Robot is strideed across in intertube climbing |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
| CN115610544A (en) * | 2022-07-21 | 2023-01-17 | 广东工业大学 | Iron tower climbing robot with multiple gaits |
| CN117140571A (en) * | 2023-11-01 | 2023-12-01 | 哈尔滨学院 | Industrial robot chuck and robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108888923A (en) * | 2018-08-28 | 2018-11-27 | 罗晓辉 | A kind of automatic rock-climbing robot |
| CN112455563A (en) * | 2018-12-12 | 2021-03-09 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN112455563B (en) * | 2018-12-12 | 2022-02-08 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| CN113119163A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot control system and control method thereof |
| CN113119162A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot |
| CN113188591B (en) * | 2021-04-09 | 2023-08-11 | 苏州大学 | Self-powered multi-mode sensing device and method for space on-orbit assembly robot |
| CN113188591A (en) * | 2021-04-09 | 2021-07-30 | 苏州大学 | Self-powered multi-mode sensing method for space environment |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
| CN114735101B (en) * | 2022-04-02 | 2023-02-24 | 哈尔滨工程大学 | Robot is strideed across in intertube climbing |
| CN114735101A (en) * | 2022-04-02 | 2022-07-12 | 哈尔滨工程大学 | Robot is strideed across in intertube climbing |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
| CN115610544A (en) * | 2022-07-21 | 2023-01-17 | 广东工业大学 | Iron tower climbing robot with multiple gaits |
| CN117140571A (en) * | 2023-11-01 | 2023-12-01 | 哈尔滨学院 | Industrial robot chuck and robot |
| CN117140571B (en) * | 2023-11-01 | 2024-02-06 | 哈尔滨学院 | Industrial robot chuck and robot |
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