The invention discloses an adsorption type wind power blade crawling robot based on pneumatic muscle driving. The device is mainly composed of an adsorption system based on pneumatic muscle driving, a sine mechanism and a three-crank linkage mechanism. The adsorption system based on pneumatic muscle driving is mainly composed of a motor, a rotating wheel, a sine sliding groove, a sliding block, an air cylinder, pneumatic muscles and a suction cup. Each adsorption system controls a pair of suction cups on the diagonal line of the robot, and the two adsorption systems work alternately to complete the alternate adsorption crawling periodic motion of the four feet. The walking and adsorption functions can be achieved without an additional compressed air pump for providing an air source, the blades are inspected and maintained on the surfaces of the wind power blades, the structural design is exquisite, energy is saved, and great research and use value is achieved.
本发明公开了一种基于气动肌肉驱动的吸附式风电叶片爬行机器人。本发明主要由基于气动肌肉驱动的吸附系统、正弦机构、三曲柄联动机构组成。所述基于气动肌肉驱动的吸附系统主要由电机,转动轮,正弦滑槽,滑块,气缸,气动肌肉,吸盘组成。每个吸附系统控制机器人对角线一对吸盘,两套吸附系统交替工作,完成四足的交替吸附爬行周期运动。本发明无需额外的压缩空气泵来提供气源,即可实现行走与吸附功能,在风电叶片表面,对叶片进行检查维修,结构设计精巧,节约能源,具有极大的研究和使用价值。
Adsorption type wind power blade crawling robot based on pneumatic muscle driving
基于气动肌肉驱动的吸附式风电叶片爬行机器人
2022-03-11
Patent
Electronic Resource
Chinese
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