The invention provides a self-adaptive joint-wheel type pole-climbing robot. Comprising a rack, a self-adaptive clamping device, a self-adaptive driving device and a driving wheel steering device. The self-adaptive clamping device comprises an upper layer and a lower layer, the clamping device only needs one driving motor, and the distance between the upper clamping device and the lower clamping device is increased through a rack to prevent the robot from reversely rotating backwards. The self-adaptive clamping device is a joint-wheel type mechanism, joint movement is combined with a wheel type mechanism, and passive enclasping with the rod is achieved through the tensioning force of a spring. According to the self-adaptive driving device, wheel-tree self-adaptive fitting driving is achieved through a similar crank sliding block mechanism with a shock absorption damping device. Steering motion of a driving motor can be achieved through lead screw transmission of the driving motor module and a steering engine, and the driving motor is matched with omnidirectional wheels in the self-adaptive clamping device so that the robot can move in the circumferential direction. The multifunctional joint-wheel type tree climbing operation robot is efficient, capable of preventing falling, simple in mechanism and reliable in operation. The device shows huge potential in tasks such as fruit picking, electric pole detection and street lamp maintenance by climbing straight trees such as coconut tree, replaces manual work to complete high-risk and high-intensity operation, improves the production efficiency and reduces the labor cost.
本发明提出一种自适应关节‑轮式爬杆机器人。包括:机架,自适应夹紧装置,自适应驱动装置,驱动轮转向装置。其中设计自适应夹紧装置包括上下两层,该夹紧装置仅需一个驱动电机,且通过机架增大上、下两夹紧装置距离防止机器人向后反转。自适应夹紧装置是关节‑轮式机构,利用关节活动与轮式结合,弹簧拉紧力实现与杆的被动抱紧。自适应驱动装置,利用带有减震阻尼装置的类似曲柄滑块机构,实现轮‑树自适应贴合驱动。驱动电机模组的丝杆传动以及转向舵机能够实现驱动电机的转向运动,驱动电机与自适应夹紧装置中的全向轮配可使得机器人进行周向移动。本发明是多功能关节‑轮式爬树作业机器人,高效,防坠,机构简单,运行可靠。在攀爬椰树等较直树木进行果实采摘、电杆检测以及路灯维修等任务中展现出巨大潜力,替代人工完成高风险、高强度作业,提高生产效率,降低劳动成本。
Self-adaptive joint-wheel type pole-climbing robot
一种自适应关节-轮式爬杆机器人
2024-09-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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European Patent Office | 2021
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