The invention discloses a variable cross-section pier column comprehensive maintenance climbing robot based on a metamorphic mechanism. The variable cross-section pier column comprehensive maintenance climbing robot comprises a frame structure formed by a set of opposite long-side frames and a set of opposite short-side frames. The long-side frame is rotationally connected with a telescopic isolation wheel mechanism, the telescopic isolation wheel mechanism is rotationally connected with a telescopic rod, the telescopic rod is rotationally connected with the short-side frame, and the outer sides of the two ends of the short-side frame are connected with wire guide wheels; a power wheel mechanism and a single-side mechanism are arranged on the short-side frame, a rope is fixed to the single-side mechanism, and the other end of the rope penetrates through the telescopic isolation wheel mechanism in a steering mode through the guide wheel and is fixed to the outer side of the long-side frame. And a fixed isolation wheel mechanism is also arranged on the long-side frame. According to the invention, on the basis of a pier body section self-adaptive reconstruction mechanical system, synchronous stretching, positioning and touch force automatic adjustment of multiple supporting points of the holding system are realized.

    本发明公开了一种基于变胞机构的变截面墩柱综合维护攀爬机器人,包括一组相对的长边框架和一组相对的短边框架形成的框架结构;所述长边框架转动连接伸缩隔离轮机构,所述伸缩隔离轮机构转动连接伸缩杆,所述伸缩杆转动连接所述短边框架,所述短边框架的两个端部外侧连接有导线轮;所述短边框架上设置有动力轮机构和单边机构,所述单边机构上固定有绳索,所述绳索的另一端通过所述导向轮转向穿过所述伸缩隔离轮机构固定在所述长边框架的外侧;所述长边框架上还设置有固定隔离轮机构。本发明可以根据墩身截面自适应重构的机械系统为基础,实现了抱紧系统多支撑点的同步伸缩、定位及触力自主调节。


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    Title :

    Variable cross-section pier column comprehensive maintenance climbing robot based on metamorphic mechanism


    Additional title:

    基于变胞机构的变截面墩柱综合维护攀爬机器人


    Contributors:
    JEON SEUNG-HO (author) / TAO RAN (author) / ZHAO GUANGWEI (author) / SONG ZHIWEN (author) / LI JUNSHENG (author)

    Publication date :

    2024-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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