The invention discloses an adsorption type obstacle-crossing pole-climbing bionic robot which comprises a control box, two mechanical arms, a clamping device and a control system, and the two mechanical arms are symmetrically arranged on the left side and the right side of the control box. One end of each mechanical arm is rotationally connected with the corresponding side of the control box, andthe other end of each mechanical arm is provided with a clamping device. First steering engines are arranged on the two sides of the control box correspondingly and drive the mechanical arms on the same side to rotate, and a clamping device is also arranged at the bottom of the control box. The mechanical arm comprises an upper arm and a front arm, one end of the upper arm is movably connected with one end of the front arm through an elbow joint, and an elbow joint driving mechanism is arranged on the elbow joint. The clamping device comprises a mounting frame, two enclasping mechanisms and anadsorption mechanism, and the two enclasping mechanisms are symmetrically arranged at the two ends of the mounting frame. The robot is ingenious in structural layout, suitable for pipelines and bentrods with various sections or diameters, good in obstacle crossing capacity, high in universality, good in firmness and better in climbing capacity, safety is improved, and the service life is prolonged.
本发明公开一种吸附式可越障爬杆仿生机器人,包括控制箱、机械臂、夹持装置及控制系统,机械臂有两个,对称设在控制箱的左右两侧。每个机械臂的一端与控制箱的对应侧转动相连,其另一端设有夹持装置。控制箱的两侧分别设有第一舵机,第一舵机驱动同侧的机械臂转动,控制箱的底部也设有一个夹持装置。机械臂包括上臂和前臂,上臂的一端通过肘关节与前臂的一端活动相连,肘关节上设有肘关节驱动机构。夹持装置包括安装架、抱紧机构、吸附机构,抱紧机构有两个,对称设置在安装架的两端。本发明结构布局巧妙能够适用于多种截面或直径的管道、弯折杆,具有较好的越障能力,通用性强,牢固度好,攀爬能力更佳,提高了安全性和使用寿命。
Adsorption type obstacle-crossing pole-climbing bionic robot
一种吸附式可越障爬杆仿生机器人
2020-06-05
Patent
Electronic Resource
Chinese
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