The invention provides a power transmission tower climbing robot, system and method. The power transmission tower climbing robot comprises a frame body, wherein the two sides of the frame body are each symmetrically provided with a mechanical arm; the ends of the mechanical arms and the lower end of the frame body are each provided with a paw; the mechanical arm comprises at least two large and small arms which are rotatably connected; the large arm is rotatably connected with the frame body; the small arm is rotatably connected with the paw; the paw comprises two paw parts with adjustable angles; each paw part is provided with an electromagnet; by changing the power-on condition of the electromagnet, the magnetic attraction force of the paw is changed; and by controlling the magnetic attraction force of the paw and in cooperation with rotation between the mechanical arms and the frame body, rotation between the large arm and the small arm, rotation between the small arm and the paw and the change of the angle of the paw part, the pose and motion control of the climbing robot are achieved and the climbing robot reaches a designated target point.

    本公开提供了一种输电杆塔攀爬机器人、系统及方法,包括框体,所述框体的两侧分别对称设置有一机械手臂,所述机械手臂的端部和框体下端各设置有一手爪;机械手臂包括至少两个可转动连接的大臂和小臂,所述大臂可转动连接框体,所述小臂可转动连接所述手爪,所述手爪包括角度可调的两个手爪部,且每个手爪部设置有电磁铁,通过改变电磁铁的通电情况,改变手爪的磁吸附力,通过控制手爪的磁吸附力,配合机械手臂与框体之间的转动、大臂和小臂之间的转动,小臂和手爪之间的转动,以及手爪部角度改变,实现所述攀爬机器人的位姿和运动控制,到达指定目标点。


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    Title :

    Power transmission tower climbing robot, system and method


    Additional title:

    一种输电杆塔攀爬机器人、系统及方法


    Contributors:
    MEN YONGSHENG (author) / YU ZHEN (author) / XU YONGGANG (author) / MA SONG (author) / ZHU KUNSHUANG (author) / TANG SHIYANG (author) / XU WEI (author) / GUO RUI (author) / ZHANG FENG (author) / LU SHIBIN (author)

    Publication date :

    2020-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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