The invention discloses an obstacle-crossing pole-climbing robot and an obstacle-crossing method thereof.A mechanism body is composed of two supporting arm sets and a supporting main frame, each supporting arm set is composed of two supporting arms, and the length of the supporting arms can be adjusted; the supporting arm sets are connected with driving tracks through driven support mechanisms and elastic track supports, each set is connected with three driving tracks, and the three driving tracks are distributed in an equilateral triangle shape. Elastic elements are distributed on the crawler belt strips, and during working, arms are clamped to deform and fit a curved surface, so that a rod body is protected, and climbing is easier; each supporting arm set is connected with a servo motor, and the supporting arm sets are controlled to be unfolded and unfolded through a control circuit. Through the arrangement of the two sets of crawler belt driving mechanisms and the arrangement of the functions of clamping on the arms, stretching and retracting of the arms and the like, the climbing operation of the robot on rod bodies with different diameters can be achieved, the obstacle crossing climbing operation on annular obstacles and prominent obstacles on the rod bodies can also be achieved, and meanwhile the capacity of vertical climbing operation is reserved.

    本发明公开了一种越障爬杆机器人及其越障方法,机构主体由两个支撑臂组与支撑主架构成,每个支撑臂组由两个支撑臂构成,支撑臂长度可以调节;支撑臂组上通过从动支架机构与弹性履带支架连接驱动履带,每组连接三个驱动履带,以等边三角形分布;履带条上分布弹性元件,工作时,臂上夹紧使之形变贴合曲面,保护杆体的同时更易攀爬;每组支撑臂组各连接一个伺服电机,通过控制电路控制支撑臂组的张开与放下;本发明通过两组履带驱动机构的设置,以及臂上夹紧、臂伸缩等功能的设置,既能实现机器人对不同直径杆体的爬升作业,也能实现对杆体上环形障碍、较突出障碍的越障爬升作业,同时保留了垂直爬升作业的能力。


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    Titel :

    Obstacle-crossing pole-climbing robot and working method thereof


    Weitere Titelangaben:

    一种越障爬杆机器人及其工作方法


    Beteiligte:
    WANG XIANGHONG (Autor:in) / SHU JIA (Autor:in) / HU HONGWEI (Autor:in) / XU XIAOQIANG (Autor:in) / HE ZHIYI (Autor:in) / LYU DUO (Autor:in)

    Erscheinungsdatum :

    2023-08-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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