The invention discloses a gravity center self-balancing type double-arm inspection robot. The robot comprises a horizontal sliding table which comprises an upper track and a lower track, and a center-of-gravity balancing box body which is arranged on the lower track and is in sliding connection with the lower track, and a first driving mechanism is arranged between the center-of-gravity balancing box body and the lower track; the robot further comprises walking arms, each walking arm comprises a steering mechanism and a walking driving mechanism, the two walking arms are arranged on the upper track and are in sliding connection with the upper track, a second driving mechanism is arranged between the walking arms and the upper track, and the two sides of each steering mechanism are connected with the second driving mechanism and the corresponding walking driving mechanism respectively; the robot further comprises a working arm which is arranged on the upper track and located between the two walking arms. The whole gravity center position is changed through the center-of-gravity balancing box body at the bottom, lifting of one walking arm is achieved, the other walking arm hung on the line rotates, rotation of the whole robot is achieved, and then the whole robot crosses over obstacles.
本发明公开了一种重心自平衡式双臂巡检机器人,包括:水平滑台,其包括上层轨道和下层轨道;重心平衡箱体,其设置于下层轨道上,且与下层轨道滑动连接,所述中心平衡箱体与下层轨道之间设置有第一驱动机构;行走臂,其包括转向机构和行走驱动机构,所述的行走臂设置有两个且均设置于上层轨道上,且与上层轨道滑动连接,行走臂与上层轨道之间设置有第二驱动机构,转向机构的两侧分别连接第二驱动机构和行走驱动机构;作业臂,其设置于上层轨道上,所述的作业臂位于两个行走臂之间,本发明通过底部重心平衡箱体改变整体重心位置,实现其中一个行走臂的举升,而另一个挂在线上的行走臂旋转实现整机的旋转,进而跨越障碍物。
Gravity center self-balancing type double-arm inspection robot
重心自平衡式双臂巡检机器人
2021-08-06
Patent
Electronic Resource
Chinese
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