CN113119162A - Pole-climbing robot - Google Patents
Pole-climbing robot Download PDFInfo
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- CN113119162A CN113119162A CN202110364064.XA CN202110364064A CN113119162A CN 113119162 A CN113119162 A CN 113119162A CN 202110364064 A CN202110364064 A CN 202110364064A CN 113119162 A CN113119162 A CN 113119162A
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- pipe wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pole-climbing robot, which belongs to the technical field of industrial robots and comprises a power supply, a first arm and an intermediate connecting arm, wherein a first rotating mechanism and a second rotating mechanism are respectively arranged at two ends of the intermediate connecting arm, one end of the first arm is connected with one end of the intermediate connecting arm through the first rotating mechanism, one end of a first clamping mechanism is connected with the other end of the first arm through the second rotating mechanism, one end of the second clamping mechanism is connected with the other end of the intermediate connecting arm through a third rotating mechanism, rotating shafts of the first rotating mechanism, the second rotating mechanism and the third rotating mechanism are parallel to each other, and the power supply and a control element are arranged in the middle of the intermediate connecting arm. If meet the obstacle in the wall climbing process, can adjust the action that the robot climbed through artifical wireless remote control's mode, realize keeping away the barrier function, have better trafficability characteristic and practicality.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a pole-climbing robot for pipeline maintenance.
Background
High-altitude operation is more and more common in people's life, and high-altitude operation has higher complexity and danger, and the staff often need erect lifting rope or machineshop car and reach the position of predetermined height, and the preliminary preparation work is loaded down with trivial details, and the operational environment has high risk nature and uncertainty, and the process cost is high, and efficiency is lower. In consideration of the danger of high-altitude operation, the application requirement of the pole-climbing robot for replacing the working personnel to carry out operation is more and more urgent. Maintenance operations of various pipelines such as oil pipelines, gas pipelines, tap water pipelines and the like are increasingly common, most of the pipelines contain high-temperature, high-pressure and toxic substances, and the pole-climbing robot gradually and successfully replaces manpower to overhaul and do work. The research of the existing pole-climbing robot is relatively mature, and the existing pole-climbing robot can be divided into a rolling pole-climbing robot, a clamping pole-climbing robot, a bionic pole-climbing robot and an adsorption pole-climbing robot. The existing pole-climbing robot mainly depends on three groups of driving rollers arranged on a support to climb a pole as disclosed in a Chinese patent with the authorization number of CN203172752U, the three groups of driving rollers and the support form a C shape, and a channel for a pipe body to pass through is formed inside the pole-climbing robot. The pole-climbing robot is tightly held on the rod body, the stepping motor drives the roller to rotate, the pole-climbing robot moves on the pipe body in different movement modes, and the working mode is flexible and changeable. However, the movement realized by the rollers often causes insufficient friction between the rollers and the wall surface of the pipe body, the bearing capacity of the robot is limited, and when a pipeline has a connector or some other obstacles, the robot cannot automatically or remotely control the robot to cross the obstacles, so that the continuity of wall climbing is realized, the prospect of industrial application is not provided, and the obstacle avoidance function is not provided.
In the process of crawling along vertical direction, need to have great frictional force in order to control pole-climbing robot dead weight in order to prevent that it from receiving gravity to be out of control and descend between pole-climbing robot and the pipeline.
Disclosure of Invention
The invention aims to provide a novel climbing robot, which can realize an obstacle avoidance function by changing a motion mode if an obstacle is encountered in the wall climbing process and has better trafficability and practicability.
The technical scheme adopted by the invention is as follows: the utility model provides a pole-climbing robot, including the power, first arm and intermediate junction arm, first slewing mechanism and second slewing mechanism install respectively at the both ends of intermediate junction arm, the one end of first arm and the one end of intermediate junction arm link to each other through first slewing mechanism, the one end of first fixture links to each other through second slewing mechanism with the other end of first arm, the one end of second fixture links to each other through third slewing mechanism with the other end of intermediate junction arm, first slewing mechanism, the second slewing mechanism, the pivot of third slewing mechanism is parallel to each other, the middle part at first arm is installed to power and control element.
Further, first arm links firmly between last linkage frame and the lower linkage frame including all going up linkage frame and lower linkage frame, goes up the linkage frame and links firmly down, and first slewing mechanism and second slewing mechanism all install at last linkage frame under and between the connecting rod.
Further, first fixture includes two rocking arms, the both ends at the third slewing mechanism output are installed to the one end symmetry of two rocking arms, third slewing mechanism drives the rocking arm and rotates around its one end axis, the both sides at the motor mounting panel are installed respectively to two rocking arm lower parts, clamping jaw control motor is installed at the up end of motor mounting panel and is located between two rocking arms, the both ends at the motor mounting panel lower part are fixed to two connecting rods symmetry respectively, two racks slide respectively and set up in the inboard that two connecting rods are relative, the gear sets up the lower terminal surface at the motor mounting panel, clamping jaw control motor drives the gear and rotates, the both sides of gear respectively with two rack toothing, clamping jaw upper portion links firmly with the rack.
Furthermore, the rack is connected with the connecting rod through a guide assembly, the guide assembly comprises a guide rail and a sliding block, the guide rail is fixed on the connecting rod, the sliding block is nested on the guide rail, and the sliding block is fixedly connected with the rack.
Furthermore, two clamping jaws are arranged on the lower portion of the rack on one side, one clamping jaw is arranged on the lower portion of the rack on the other side, and projections of the clamping jaws on the two sides are not overlapped along the direction perpendicular to the horizontal axis of the connecting rod.
Further, the inner side of the clamping jaw is provided with a V-shaped opening.
Further, the inner side of the clamping jaw is provided with a permanent magnet.
Furthermore, the power supply adopts a direct current output power supply, the first rotating mechanism, the second rotating mechanism and the third rotating mechanism are all driven by adopting direct current motors, the first clamping mechanism and the second clamping mechanism are all driven by adopting direct current motors, the clamping parts of the first clamping mechanism and the second clamping mechanism are all provided with pressure sensors, and the clamping force of the clamping jaw can be adjusted by setting the threshold value of the pressure sensors.
Further, the pole-climbing robot has two motion modes, namely a peristalsis motion mode and a crossing motion mode, and the control method of the peristalsis motion mode comprises the following steps: the first clamping mechanism clamps the pipe wall, the second clamping mechanism loosens the pipe wall, the second rotating mechanism drives the first arm to rotate towards the direction close to the pipe wall, the included angle between the first arm and the middle connecting arm is reduced, the second clamping mechanism clamps the pipe wall, the first clamping mechanism loosens the pipe wall, the middle connecting arm of the second rotating mechanism rotates towards the direction far away from the pipe wall, the included angle between the first arm and the middle connecting arm is enlarged, and the first clamping mechanism clamps the pipe wall; the control method of the crossing movement mode comprises the following steps: the first clamping mechanism clamps the pipe wall, the second clamping mechanism loosens the pipe wall, the first rotating mechanism drives the first clamping mechanism to rotate relative to the middle connecting arm towards the direction far away from the pipe wall, meanwhile, the third rotating mechanism drives the first arm to rotate relative to the first clamping mechanism towards the direction far away from the pipe wall, the second clamping mechanism is driven to move to the front of the first clamping mechanism along the wall climbing direction, when the first arm rotates to be parallel to the pipe wall, the third rotating mechanism drives the first arm to rotate relative to the first clamping mechanism towards the direction close to the pipe wall, and the second clamping mechanism clamps the pipe wall.
The scheme has the following technical effects: (1) pressure sensors are arranged inside clamping parts of the first clamping mechanism and the second clamping mechanism, read pressure values are transmitted in real time and fed back, the clamping jaw control motor is protected from overload, and normal operation of the pole-climbing robot is guaranteed. The permanent magnet is arranged in the clamping jaw, so that the threshold value of the pressure sensor can be reduced, the output power of the clamping jaw control motor is reduced, the closed-loop control of the clamping jaw control motor is realized, and the harm caused by the excessive clamping jaw control motor can be effectively relieved. When the pressure sensor reaches a certain value, the friction force of pressure conversion balances the gravity of the pole-climbing robot, so that the balance of the pole-climbing robot is realized; (2) the projections of the clamping jaws at the two sides in the first clamping mechanism and the second clamping mechanism are not overlapped along the horizontal axis direction of the connecting rod, namely the clamping jaws at the two sides are not overlapped along the axis direction of the pipe wall when climbing the wall. When a pipeline with a smaller pipe diameter is clamped, the clamping jaws on the two sides of the first clamping mechanism saturate the pipe wall from the two sides, so that the front ends of the clamping jaws on the two sides are prevented from being mutually contacted to cause interference, and the first clamping mechanism can adapt to the pipeline with a wider pipe diameter range; (3) the climbing mode and the creeping motion are combined, the creeping efficiency can be guaranteed, effective obstacle avoidance can be achieved, and the creeping continuity is achieved.
Drawings
Fig. 1 is a schematic perspective view of the device of the present invention.
Fig. 2 is a schematic perspective view of a first clamping mechanism in the device of the present invention.
FIG. 3 is a schematic structural diagram of the first clamping mechanism from another view angle in the apparatus of the present invention.
FIG. 4 is a schematic diagram showing the dynamic structure of the peristaltic movement pattern in the device of the present invention.
Fig. 5 is a schematic diagram showing the dynamic structure of the mode of the traversing movement in the apparatus of the present invention.
In the figure: 1. a second clamping mechanism; 2. a first arm; 201. an upper connection frame; 202. a lower connecting frame; 3. an intermediate connecting arm; 4. a first clamping mechanism; 401. a rocker arm; 402. a motor mounting plate; 403. a jaw control motor; 404. a gear; 405. a rack; 406. a clamping jaw; 407. a connecting rod; 408. a guide assembly; 5. a second rotating mechanism; 6. a first rotating mechanism; 7. and a third rotating mechanism.
Detailed Description
As shown in fig. 1 to 5, a pole-climbing robot includes a power supply, a first arm 2 and an intermediate connecting arm 3, a second rotating mechanism 5 and a first rotating mechanism 6 are respectively installed at both ends of the intermediate connecting arm 3, one end of the first arm 2 and one end of the intermediate connecting arm 3 are connected through the second rotating mechanism 5, one end of a first clamping mechanism 1 and the other end of the first arm 2 are connected through the first rotating mechanism 6, one end of a second clamping mechanism 4 and the other end of the intermediate connecting arm 3 are connected through a third rotating mechanism 7, the rotating shafts of the second rotating mechanism 5, the first rotating mechanism 6 and the third rotating mechanism 7 are parallel to each other, and the power supply and a control element are installed at the middle part of the intermediate connecting arm 3.
The first arm 2 comprises an upper connecting frame 201 and a lower connecting frame 202, the upper connecting frame 201 and the lower connecting frame 202 are fixedly connected, the first arm 2 is in a split design, the upper connecting frame 201 and the lower connecting frame 202 are hollow, the self-mass of the pole-climbing robot body is reduced, when the pole-climbing robot climbs along the vertical direction, the dead weight is reduced, the requirement on the friction force between the first clamping mechanism 1 and the pipe wall and between the second clamping mechanism 4 and the pipe wall can be reduced, namely, the requirement that the driving elements in the first clamping mechanism 1 and the second clamping mechanism 4 can provide power to the maximum extent is reduced; and provide space for the installation of second slewing mechanism 5, first slewing mechanism 6, third slewing mechanism 7, power and indispensable controlling element, guaranteed that the robot is hugged closely the body of rod in the motion of crawling that rolls.
The first clamping mechanism 1 comprises two rocker arms 101, one ends of the two rocker arms 101 are symmetrically installed at two ends of the output end of a third rotating mechanism 7, the third rotating mechanism 7 drives the rocker arms 101 to rotate around the axis of one end of the rocker arms, the lower portions of the two rocker arms 101 are respectively installed at two sides of a motor installation plate 102, a clamping jaw control motor 103 is installed on the upper end face of the motor installation plate 102 and located between the two rocker arms 101, two connecting rods 107 are respectively and symmetrically fixed at two ends of the lower portion of the motor installation plate 102, two racks 105 are respectively and slidably arranged on the inner sides of the two connecting rods 107, a gear 104 is arranged on the lower end face of the motor installation plate 102, the clamping jaw control motor 103 drives the gear 104 to rotate, two sides of the gear 104.
The first clamping mechanism 1 is symmetrically arranged on the whole about the output end of the third rotating mechanism 7, and the clamping jaw control motor 103 adopts a symmetrically arranged rack and pinion mechanism to drive the clamping jaws 106 on two sides to move relatively, so that the synchronism and the centrality of the movement of the clamping jaws 106 on two sides are ensured.
The rack 105 is connected with the connecting rod 107 through a guide assembly 108, the guide assembly 108 comprises a guide rail and a sliding block, the guide rail is fixed on the connecting rod 107, the sliding block is nested on the guide rail, the sliding block is fixedly connected with the rack 105, and the guide assembly 108 guides the movement of the rack 105 on one hand and supports the stability of the rack 105 on the other hand.
Two clamping jaws 106 are arranged at the lower part of the rack 105 on one side, one clamping jaw 106 is arranged at the lower part of the rack 105 on the other side, and the projections of the clamping jaws 106 on the two sides are not overlapped along the direction vertical to the horizontal axis of the connecting rod 107. The projections of the two side clamping jaws 106 along the horizontal axial direction of the connecting rod 107 are not overlapped, namely, the projections of the two side clamping jaws 106 along the axial direction of the pipe wall are not overlapped when climbing the wall. When the pipeline that the centre gripping pipe diameter is less, the both sides clamping jaw 106 is saturated to the pipe wall from both sides in first fixture 1, prevents that the front end of both sides clamping jaw 106 from contacting each other and leading to interfering to first fixture 1 can adapt to the pipeline of wideer pipe diameter scope.
The inside of the jaw 106 is provided with a V-shaped opening that can accommodate existing pipe shapes. The inboard of centre gripping 106 is equipped with the permanent magnet, utilizes the mutual adsorption affinity between permanent magnet and the pipeline to increase the pressure between first fixture 1, second fixture 4 and the pipe wall, thereby provide great frictional force, reduce the clamping-force between clamping jaw 106 and the pipe wall in first fixture 1, the second fixture 4, prevent that clamping jaw control motor 103 from transshipping and generating heat, guarantee the normal operating of pole-climbing robot.
The inboard of pole-climbing robot clamping jaw 106, the inside pressure sensor that sets up of clamping part of first fixture 1 and second fixture 4 promptly, the pressure value that real-time transmission read and carry out the feedback, and protection clamping jaw control motor 103 does not transship, guarantees pole-climbing robot's normal operating. The permanent magnet is arranged in the clamping jaw 106, so that the threshold value of the pressure sensor can be reduced, the output power of the clamping jaw control motor 103 is reduced, the closed-loop control of the clamping jaw control motor 103 is realized, and the harm caused by the excessive clamping jaw control motor 103 can be effectively relieved. When the pressure sensor reaches a certain value, the friction force of pressure conversion balances the gravity of the pole-climbing robot, and therefore the balance of the pole-climbing robot is achieved.
The power adopts direct current output power, and second slewing mechanism 5, first slewing mechanism 6 and third slewing mechanism 7 all adopt direct current motor to drive, and first fixture 1 and second fixture 4 all adopt direct current motor to drive, and the clamping part of first fixture 1 and second fixture 4 all sets up pressure sensor, through setting for the pressure sensor threshold value, the clamping-force of adjustable clamping jaw 106. The hardware control system takes STM32F103ZET6 as a core device, and a power supply of the system converts 12V into 5V and 3.3V respectively to supply power to a direct current motor and a control chip; adopt direct current motor and direct current output power, reduce the weight of power and motor self to reduce the dead weight of pole-climbing robot, improve the flexibility of motion.
As shown in fig. 4 and 5, the pole-climbing robot has two motion modes, i.e., a peristalsis motion mode and a crossing motion mode, and the action process of the crossing motion mode is as follows: in an initial state, the first arm 2 and the intermediate connecting arm 3 are parallel to each other, when the first clamping mechanism 1 is located at the front part along the crawling movement direction, the second clamping mechanism 4 releases the pipe wall, the first clamping mechanism 1 clamps the pipe wall, the first rotating mechanism 5 drives the first clamping mechanism 1 to rotate 180 degrees relative to the intermediate connecting arm 3 towards the direction away from the pipe wall, meanwhile, the third rotating mechanism 7 drives the first arm 2 to rotate relative to the first clamping mechanism 1 towards the direction away from the pipe wall, the second clamping mechanism 4 is driven to move to the front of the first clamping mechanism 1 along the crawling direction, when the first arm 2 rotates to be parallel to the pipe wall, the third rotating mechanism 7 drives the first arm 2 to rotate relative to the first clamping mechanism 1 towards the direction close to the pipe wall, and the second clamping mechanism 4 clamps the pipe wall. The distance between the rotating shaft in the first rotating mechanism 6 and the rotating shaft in the second rotating mechanism 5 is set to be L1, the distance between the rotating shaft in the first rotating mechanism and the rotating shaft in the third rotating mechanism is set to be L2, and in the crossing motion mode, the distance of a single step of crossing is L3= L2+ L1. The clamping mechanism on the front part of the crawling direction and the clamping position of the pipe wall can be adjusted through the peristaltic motion mode adjustment, namely, the clamping mechanism on the upper part is located when the crawling mechanism crawls upwards, and the clamping mechanism on the lower part is located when the crawling mechanism crawls downwards. Thereby changing the position of the falling point of the other clamping mechanism, avoiding the bulge of the pipeline and preventing the crawling robot from falling.
In the vertical crawling process, the first clamping mechanism 1 and the second clamping mechanism 4 are alternately positioned below, the clamping mechanism positioned below loosens the pipe wall, then rotates towards the direction far away from the pipe wall relative to the other clamping mechanism, the upper clamping mechanism rotates relative to the connecting arm rotationally connected with the upper clamping mechanism, the lower clamping mechanism is turned over to the upper side of the other clamping mechanism, and therefore one-step crawling on the pipe wall is achieved. The process of movement down the tube wall is the reverse of the above process.
The control method of the peristaltic motion mode is as follows: the pipe wall is clamped by the first clamping mechanism 1, the pipe wall is loosened by the second clamping mechanism 4, the first arm 2 is driven by the second rotating mechanism 6 to rotate towards the direction close to the pipe wall, the included angle between the first arm 2 and the intermediate connecting arm 3 is reduced, the pipe wall is clamped by the second clamping mechanism 5, the pipe wall is loosened by the first clamping mechanism 1, the intermediate connecting arm 3 of the second rotating mechanism 6 rotates towards the direction far from the pipe wall, the included angle between the first arm 2 and the intermediate connecting arm 3 is increased, the pipe wall is clamped by the first clamping mechanism 1, the relative angle between the first arm 2 and the intermediate connecting arm 3 is changed by the first rotating mechanism 6, the rotating range of the first rotating mechanism 6 is 0-180 degrees, preferably 0-90 degrees, and the similar insects crawl on branches. In the peristaltic motion mode, the motion process is a peristaltic single step, and the distance of the peristaltic single step is small. When the first fixture 1 is located at the front part of the crawling direction, the first fixture 1 is mainly adjusted, namely the clamping position of the fixture at the upper part of the crawling direction on the pipe wall.
The combination of the climbing movement mode and the creeping movement mode can ensure the creeping efficiency, and can effectively avoid obstacles and realize the creeping continuity.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. The utility model provides a pole-climbing robot, a serial communication port, including the power, first arm (2) and intermediate link arm (3), install respectively at the both ends of intermediate link arm (3) first slewing mechanism (6) and second slewing mechanism (5), the one end of first arm (2) and the one end of intermediate link arm (3) link to each other through first slewing mechanism (6), the one end of first fixture (4) and the other end of first arm (2) link to each other through second slewing mechanism (5), the one end of second fixture (1) and the other end of intermediate link arm (3) link to each other through third slewing mechanism (7), the pivot of first slewing mechanism (6), second slewing mechanism (5), third slewing mechanism (7) is parallel to each other, the middle part at first arm (2) is installed to power and control element.
2. The climbing robot according to claim 1, wherein the first arm (2) comprises an upper connection frame (201) and a lower connection frame (202), the upper connection frame (201) and the lower connection frame (202) are fixedly connected, and the first rotating mechanism (6) and the second rotating mechanism (5) are both installed between the upper connection frame (201) and the lower connection rod (107).
3. The climbing robot according to claim 1, wherein the first clamping mechanism (4) comprises two rocker arms (401), one ends of the two rocker arms (401) are symmetrically installed at two ends of the output end of the third rotating mechanism (7), the third rotating mechanism (7) drives the rocker arms (401) to rotate around the axis of one end of the rocker arms, the lower portions of the two rocker arms (401) are respectively installed at two sides of the motor installation plate (402), the clamping jaw control motor (403) is installed at the upper end face of the motor installation plate (402) and located between the two rocker arms (401), the two connecting rods (407) are respectively and symmetrically fixed at two ends of the lower portion of the motor installation plate (402), the two racks (405) are respectively and slidably installed at the opposite inner sides of the two connecting rods (407), the gear (404) is installed at the lower end face of the motor installation plate (402), the clamping jaw control motor (403) drives the gear (404), two sides of the gear (404) are respectively meshed with the two racks (405), and the upper part of the clamping jaw (406) is fixedly connected with the racks (405).
4. The climbing robot according to claim 3, wherein the rack (105) is connected with the connecting rod (107) through a guide assembly (108), the guide assembly (108) comprises a guide rail and a sliding block, the guide rail is fixed on the connecting rod (107), the sliding block is nested on the guide rail, and the sliding block is fixedly connected with the rack (105).
5. A pole-climbing robot as claimed in claim 3, characterized in that two clamping jaws (106) are arranged under the rack (105) on one side, one clamping jaw (106) is arranged under the rack (105) on the other side, and the projections of the clamping jaws (106) on the two sides do not coincide along the direction perpendicular to the horizontal axis of the connecting rod (107).
6. A bar-climbing robot according to claim 3, characterized in that the inner sides of the clamping jaws (106) are arranged as V-shaped openings.
7. A bar-climbing robot according to any one of claims 3, 5 and 6, characterized in that the inner side of the gripping jaw (106) is provided with permanent magnets.
8. The control device of the pole-climbing robot according to claim 1, wherein the power supply is a direct current output power supply, the first rotating mechanism (6), the second rotating mechanism (5) and the third rotating mechanism (7) are all driven by direct current motors, the first clamping mechanism (4) and the second clamping mechanism (1) are all driven by direct current motors, pressure sensors are arranged at clamping parts of the first clamping mechanism (4) and the second clamping mechanism (1), and the clamping force of the clamping jaws can be adjusted by setting threshold values of the pressure sensors.
9. The method of controlling a pole-climbing robot as claimed in claim 1, wherein the pole-climbing robot has two motion modes, a creeping motion mode and a climbing motion mode, and the control method of the creeping motion mode is as follows: the pipe wall clamping device is characterized in that a first clamping mechanism (4) clamps the pipe wall, a second clamping mechanism (1) loosens the pipe wall, a second rotating mechanism (5) drives a first arm (2) to rotate towards the direction close to the pipe wall, the included angle between the first arm (2) and an intermediate connecting arm (3) is reduced, a second clamping mechanism (5) clamps the pipe wall, the first clamping mechanism (4) loosens the pipe wall, the intermediate connecting arm (3) of the second rotating mechanism (5) rotates towards the direction far away from the pipe wall, the included angle between the first arm (2) and the intermediate connecting arm (3) is enlarged, and the first clamping mechanism (4) clamps the pipe wall; the control method of the crossing movement mode comprises the following steps: the pipe wall is clamped by the first clamping mechanism (4), the pipe wall is loosened by the second clamping mechanism (1), the first rotating mechanism (6) drives the first clamping mechanism (4) to rotate 180 degrees relative to the direction of the middle connecting arm (3) facing away from the pipe wall, meanwhile, the third rotating mechanism (7) drives the first arm (2) to rotate relative to the direction of the first clamping mechanism (4) facing away from the pipe wall, the second clamping mechanism (1) is driven to move to the front of the first clamping mechanism (4) along the wall climbing direction, the first arm (2) rotates to be parallel to the pipe wall, meanwhile, the third rotating mechanism (7) drives the first arm (2) to rotate relative to the direction of the first clamping mechanism (4) facing towards the direction close to the pipe wall, and the pipe wall is clamped by the second clamping mechanism (1).
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| CN202110364064.XA CN113119162A (en) | 2021-04-03 | 2021-04-03 | Pole-climbing robot |
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| CN202110364064.XA CN113119162A (en) | 2021-04-03 | 2021-04-03 | Pole-climbing robot |
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Cited By (9)
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| CN113479269A (en) * | 2021-07-23 | 2021-10-08 | 广东电网有限责任公司 | Stepping tree climbing robot |
| CN113911225A (en) * | 2021-10-18 | 2022-01-11 | 杭州电子科技大学 | Pipeline outer wall crawling robot and driving method thereof |
| CN114083320A (en) * | 2021-12-02 | 2022-02-25 | 山东金润德新材料科技股份有限公司 | Replacement-free clamping device for stainless steel pipeline beveling machine |
| CN114161439A (en) * | 2021-11-30 | 2022-03-11 | 清华大学 | Pole-climbing device |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114735101A (en) * | 2022-04-02 | 2022-07-12 | 哈尔滨工程大学 | Robot is strideed across in intertube climbing |
| CN115012317A (en) * | 2022-07-08 | 2022-09-06 | 广州城建职业学院 | Climbing device for bridge erecting machine |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
| CN117864267A (en) * | 2024-03-08 | 2024-04-12 | 西安热工研究院有限公司 | Water-cooled wall pipe climbing mechanism |
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