The invention provides a stay cable climbing robot capable of avoiding obstacles. The stay cable climbing robot comprises a first clamping jaw mechanism, a second clamping jaw mechanism and a bending and stretching mechanism. The flexion and extension mechanism comprises a first support for bearing the first clamping jaw mechanism, a second support for bearing the second clamping jaw mechanism and a flexion and extension device for connecting the first support and the second support, and the flexion and extension device drives the first support and the second support to get close to each other or get away from each other. According to the robot, self-adaption to the diameter size of the stay cable is achieved through the structural characteristics of the clamping jaws, and slipping is not likely to happen. The holding action of the clamping jaw mechanism on the stay cable is alternately executed, the bending and stretching action of the bending and stretching arm is matched, the whole robot operates upwards or downwards, the whole robot is in a free state in the vertical direction in the operation process, and power consumption is small. By arranging the rotating motor and gear transmission, the robot body can rotate around the stay cable at will, and the task of crossing obstacles or fixing any posture can be completed.

    本发明提供了一种可避障的斜拉索攀爬机器人,包括第一夹爪机构、第二夹爪机构及屈伸机构;所述屈伸机构包括承载第一夹爪机构的第一支架、承载第二夹爪机构的第二支架及连接第一支架与第二支架的屈伸装置,该屈伸装置驱使第一支架与第二支架相互靠近或者相互远离。该机器人通过夹爪的结构特点实现对斜拉索直径尺寸的自适应,不易打滑。交替执行夹爪机构对斜拉索的抱紧动作,配合屈伸臂的屈伸动作,实现机器人整体向上或向下运行,运行过程中机器人整体竖直方向处于自由状态,功耗较小;通过设置旋转电机及齿轮传动,实现机器人本体绕斜拉索的任意旋转,可完成跨越障碍物或任意姿态固定的任务。


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    Title :

    Stay cable climbing robot capable of avoiding obstacles and obstacle avoidance control method thereof


    Additional title:

    一种可避障的斜拉索攀爬机器人及其避障控制方法


    Contributors:
    ZHANG WENYAN (author) / TIAN YULAN (author) / LI CHENGGANG (author)

    Publication date :

    2023-02-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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