According to the multi-curvature working condition self-adaptive tower drum inspection robot, tracks on the two sides can swing according to curvature changes of the outer surface of a tower drum, the product fitness and the inspection efficiency are improved, meanwhile, sensing detection equipment is arranged, and targeted maintenance is conducted on the tower drum in time. Comprising a double-hinge structure base, a control module, a power supply module, a driving module, a maintenance module and an identification module; the base of the double-hinge structure comprises a rack and at least one set of connecting bases hinged to the left end and the right end of the rack correspondingly, the connecting bases are provided with magnetic adsorption caterpillar bands swinging relative to the rack, the magnetic adsorption caterpillar bands can adapt to curvature changes of the outer surface of the tower drum, and meanwhile the rack is lifted to make space for the maintenance module; cleaning and paint spraying maintenance are conducted on the tower drum in cooperation with visual recognition provided by the recognition module, and the control module controls overall movement of the robot; the power supply module supplies power to all the modules; the driving module provides driving force for the robot. The invention is suitable for the field of climbing robots.
本发明涉及一种双侧履带可根据塔筒外表面曲率变化进行摆动,提高产品适应度和巡检效率,同时具备传感检测设备,及时对塔筒进行针对性的维修保养的一种多曲率工况自适应的塔筒巡检机器人。包括双铰链结构底座、控制模块、供电模块、驱动模块、养护模块以及识别模块;双铰链结构底座包括机架以及分别铰接于机架左右两端的至少一组连接座,连接座上设置有相对机架进行摆动的磁吸附履带,可适应塔筒外表面的曲率变化,同时抬高机架为养护模块腾出空间,配合识别模块提供的视觉识别对塔筒进行清扫和喷漆养护,控制模块对机器人整体运动进行控制;供电模块对所有模块进行供电;驱动模块为机器人提供驱动力。本发明适用于攀爬机器人领域。
Multi-curvature working condition self-adaptive tower drum inspection robot
一种多曲率工况自适应的塔筒巡检机器人
2024-12-31
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B05B Sprühvorrichtungen , SPRAYING APPARATUS / B08B Reinigen allgemein , CLEANING IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / F03D Windkraftmaschinen , WIND MOTORS |
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