The invention discloses a power transmission tower climbing quadruped robot and a climbing method. The robot comprises a vehicle body and four limbs of the same structure, each limb comprises a base, a lead screw, a lead screw motor, a third motor and a mechanical claw, one end of each lead screw is in transmission connection with the corresponding base, the other end of each lead screw is in transmission connection with a rotating shaft of the corresponding lead screw motor, a rotating shaft of the third motor is in transmission connection with the lead screw motor and can drive the lead screw motor, the lead screw rotates in the plane perpendicular to the axial direction of the rotating shaft of the third motor, a body of the third motor is fixedly connected with the mechanical claw, and four first motors are fixedly arranged on the two sides of the vehicle body at intervals in the length direction of the vehicle body. The rotating shafts of the four first motors are in transmission connection with the bases of the four limbs in a one-to-one correspondence mode and can drive the corresponding bases, the lead screws rotate in the plane perpendicular to the axial directions of the rotating shafts of the first motors, and the axial directions of the rotating shafts of the first motors are parallel to the axial directions of the rotating shafts of the third motors. The climbing robot has the advantages of being large in load capacity, stable in climbing and reliable in structure.
本发明公开了一种输电铁塔攀爬四足机器人及其攀爬方法,该机器人包括车身和结构相同的四肢,每一肢包括基座、丝杆、丝杆电机、第三电机和机械爪,该丝杆的一端与基座传动连接,该丝杆的另一端与丝杆电机的转轴传动连接,该第三电机的转轴与该丝杆电机传动连接并能带动该丝杆电机、丝杆在垂直第三电机的转轴轴向的平面内转动,该第三电机的本体与机械爪固定连接,该车身的两侧沿其长度方向间隔地固设有四个第一电机,该四个第一电机的转轴一一对应地与四肢的基座传动连接并能带动相应的基座、丝杆在垂直第一电机的转轴轴向的平面内转动,该第一电机的转轴轴向平行第三电机的转轴轴向。它具有如下优点:负载能力大,攀爬稳定、结构可靠。
Power transmission tower climbing quadruped robot and climbing method thereof
一种输电铁塔攀爬四足机器人及其攀爬方法
2021-06-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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