The invention relates to a four-degree-of-freedom crawler robot special for wind driven generator blades. The robot comprises a front advancing mechanism and a rear advancing mechanism, and a joint mechanism is arranged between the two advancing mechanisms. The joint mechanism comprises two two-degree-of-freedom adjusting mechanisms which are perpendicular to each other and connected in series. Each two-degree-of-freedom adjusting mechanism comprises a roll structure, wherein one end of the roll structure is connected with the corresponding advancing mechanism, and the other end of the roll structure is connected with a swing structure. The roll structures drive the advancing mechanisms to move rotationally, the swing structures drive the advancing mechanisms to turn or head up, and the two swing structures at the inner ends of the two-degree-of-freedom adjustment mechanisms are perpendicular to each other and connected in series. According to the robot, the two-degree-of-freedom adjustment mechanisms are connected in series, the roll modules are added, the four-degree-of-freedom joint structure is formed by combining the two-degree-of-freedom cross mechanism and the two roll modules, and then the front and rear independently controlled advancing mechanisms are also used, so that complex detection requirements can be met.

    本发明涉一种专用于风力发电机叶片的四自由度履带机器人。包括前后两段行进机构,两段行进机构之间设置关节机构,所述的关节机构包括两个相互垂直串联连接的二自由度调节机构,所述的二自由度调节机构包括回转结构,回转结构一端与行进机构连接,另一端连接摆动结构,回转结构带动所述的行进机构作回转动作,摆动结构带动所述的行进机构转弯或抬头动作,两个二自由度调节机构内端的两个摆动结构相互垂直串联连接。本发明将两个二自由度调节机构串联接,并增加了回转(roll)模块,通过二自由度的十字机构和两个回转模块的组合,形成一个四自由度的关节机构,再配合前后两段独立控制的行进机构,能够适合复杂的探测需求。


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    Title :

    Four-degree-of-freedom crawler robot special for wind driven generator blades


    Additional title:

    一种专用于风力发电机叶片的四自由度履带机器人


    Contributors:
    ZHANG YUE (author) / DONG LEI (author) / HUAN RONGHUA (author) / HUANG ZHILONG (author) / LUO MING (author) / ZHANG LIYING (author) / LIU DAWEI (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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