The invention relates to the technical field of robots. More specifically, the present invention relates to a single-degree-of-freedom cylindrical climbing robot. The robot comprises a trunk assembly,a magnetic adsorption assembly, a tail end driving assembly for changing the magnetic force of the magnetic adsorption assembly, and a swing assembly for changing included angles among multiple groups of magnetic adsorption units. The trunk assembly comprises a first motor and two sets of first connecting rods, one ends of the two sets of first connecting rods are connected to the two output endsof the first motor correspondingly, and the other ends of the two sets of first connecting rods are hinged to second connecting rods which are connected with bases; each magnetic adsorption unit comprises a magnetic core magnetized in the radial direction and a plurality of sets of permanent magnets surrounding the periphery of the magnetic core, and the permanent magnets are sequentially connected in a heteropolar mode. The tail end driving assembly is installed on the base, the magnetic core is connected to an output shaft of the tail end driving assembly through a universal joint, and theswing assembly is connected between the magnetic adsorption assembly and the base. The climbing robot is adsorbed on a steel structure plane or the inner and outer surfaces of a cylindrical steel structure, can adapt to climbing of cylindrical surfaces with different curvatures, and is rapid in action and convenient to control.
本发明涉及机器人的技术领域,更具体地,涉及一种单自由度柱面攀爬机器人,包括躯干组件、磁吸附组件、改变磁吸附组件磁力大小的末端驱动组件、用于改变多组磁吸附单元之间夹角的摆转组件,躯干组件包括第一电机及两组第一连杆,两组第一连杆的一端分别连接于第一电机的两输出端,两组第一连杆的另一端均与第二连杆铰接,第二连杆连接有基座;磁吸附单元包括径向充磁的磁芯及若干组环绕于磁芯外周的永磁铁,若干永磁铁顺次异极相接;末端驱动组件安装于基座,磁芯通过万向节连接于末端驱动组件的输出轴,摆转组件连接于磁吸附组件与基座之间。本发明吸附于钢结构平面或柱形钢结构内外表面、可自适应于不同曲率的柱面攀爬,行动迅速、控制方便。
Single-degree-of-freedom cylindrical climbing robot
一种单自由度柱面攀爬机器人
2020-12-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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