The invention relates to a magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection. The magnetic climbing four-degree-of-freedom tracked robot comprises front and rear sections of advancing mechanisms, and a joint mechanism arranged between the two sections of advancing mechanisms; the joint mechanism comprises two two-degree-of-freedom adjusting mechanisms whichare connected in series and perpendicular to each other; the two swing structures at the inner ends of the two two-degree-of-freedom adjusting mechanisms are perpendicularly connected in series; theadvancing mechanisms are crawler-type traveling mechanisms and comprise electromagnets arranged in the advancing mechanisms and crawlers arranged outside the advancing mechanisms, a plurality of crawler plate strong magnetic blocks are uniformly arranged on the inner surfaces of the crawlers, and the currents of the electromagnets can be adjusted to change the adsorption magnetic force of the strong crawler plate magnetic blocks. High obstacle crossing capacity of the robot for obstacles such as weld joints and round pipes can be achieved, and the operation quality and efficiency are improved.
本发明涉及一种用于电网铁塔检测的磁性攀爬四自由度履带机器人。包括前后两段行进机构,两段行进机构之间设置的关节机构,所述的关节机构包括两个相互垂直串联连接的二自由度调节机构,两个二自由度调节机构内端的两个摆动结构相互垂直串联连接,所述的行进机构为履带式行进机构,包括设置在行进机构内的电磁体和设置在外部的履带,所述履带的内表面均匀设置多个履带板强磁块,所述电磁体的电流大小能够调节以改变强履带板磁块的吸附磁力。能实现机器人针对焊缝和圆管等障碍物较强的越障能力,提高作业质量和效率。
Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection
一种用于电网铁塔检测的磁性攀爬四自由度履带机器人
2020-06-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01H MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES , Messen von mechanischen Schwingungen oder Ultraschall-, Schall- oder Infraschallwellen |
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