The invention relates to the technical field of biomimetic robots, and provides a rigid-flexible combined pipe climbing robot based on a single controller in order to solve a problem that an existingrobot difficultly considers both flexibility and rigidity. The robot comprises a pneumatic flexible driving module and a rigid driven module. The pneumatic flexible driving module comprises a flexibledriving pipe, and the rigid driven module comprises a first movement mechanism and a second movement mechanism. The first movement mechanism comprises a first fixing support and a plurality of firstpipe climbing assemblies. A first pneumatic boss is arranged in a first fixed bracket; the first pipe climbing assembly is fixedly connected with the first pneumatic boss; the second movement mechanism comprises a second fixing support and a plurality of second pipe climbing assemblies, a second pneumatic boss is arranged in the second fixing support, and the second pipe climbing assemblies are fixedly connected with the second pneumatic boss. A single-controller operation mode is adopted, rigidity and flexibility are combined, the robot can crawl in a narrow pipeline, and both flexibility andrigidity are considered.
本发明涉及仿生机器人技术领域,为解决现有机器人难以兼顾灵活性及刚性的问题,提供了一种基于单控制器的刚柔结合爬管机器人,包括气动柔性驱动模块和刚性从动模块;所述气动柔性驱动模块包括柔性驱动管,所述刚性从动模块包括第一运动机构和第二运动机构;所述第一运动机构包括第一固定支架和若干个第一爬管组件;所述第一固定支架内设有第一气动凸台;所述第一爬管组件与第一气动凸台固定连接;所述第二运动机构包括第二固定支架和若干个第二爬管组件,所述第二固定支架内设有第二气动凸台,所述第二爬管组件与第二气动凸台固定连接。本发明为单控制器操作模式,刚柔结合,能够在狭小管道爬行,兼顾灵活性及刚性。
Rigid-flexible combined pipe climbing robot based on single controller
一种基于单控制器的刚柔结合爬管机器人
30.10.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Climbing robot, advancing control method of climbing robot and controller of climbing robot
Europäisches Patentamt | 2023
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