The invention discloses an inspection operation climbing robot which comprises two machine bodies which are connected through a three-degree-of-freedom parallel mechanism. A universal walking assembly and a holding arm assembly are arranged on the machine body; the universal walking assembly comprises Mecanum wheels installed on the machine body and a first motor used for driving the Mecanum wheels. The enclasping arm assembly comprises two enclasping arms which are arranged on the two sides of the machine body correspondingly and are adjustable in length, and one end of each enclasping arm is rotationally matched with the machine body through a first rotating shaft; a holding driving mechanism for driving the holding arm to rotate around the first rotating shaft is arranged on the machine body; the three-degree-of-freedom parallel mechanism comprises two moving platforms and three driving cylinders located between the two moving platforms. A cylinder body of the driving cylinder is connected with one moving platform through a hooke joint, and a telescopic rod of the driving cylinder is connected with the other moving platform through a hooke joint; and the two motion platforms are fixedly connected with the two machine bodies respectively. The invention further discloses a patrol operation method of the patrol operation climbing robot.
本发明公开了一种巡检作业攀爬机器人,包括两个机身,两个机身之间采用三自由度并联机构连接;机身上设有万向行走组件和抱紧臂组件;万向行走组件包括安装在机身上的麦克纳姆轮和用于驱动麦克纳姆轮的第一电机;抱紧臂组件包括分别设置在机身两侧且长度可调节的两个抱紧臂,抱紧臂的一端与机身之间通过第一转轴转动配合;机身上设有用于驱动抱紧臂绕第一转轴转动的抱紧驱动机构;三自由度并联机构包括两个运动平台和位于两个运动平台之间的三个驱动缸;驱动缸的缸体与其中一个运动平台之间以及驱动缸的伸缩杆与另一个运动平台之间分别采用虎克铰连接;两个运动平台分别与两个机身固定连接。本发明还公开了一种巡检作业攀爬机器人的巡检作业方法。
Inspection operation climbing robot and inspection operation method thereof
巡检作业攀爬机器人及其巡检作业方法
2025-04-11
Patent
Electronic Resource
Chinese
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