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Barrier-free constant speed creeping robot

A crawling robot, barrier-free technology, applied in the field of robotics, can solve the problem that the robot is difficult to adapt, and achieve the effect of uniform motion

Inactive Publication Date: 2009-07-22
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The former can only complete the processing of magnetic materials, while the latter can only realize the processing automation in a structured environment with high dimensional and assembly precision
For the processing operations on the surface of semi-structured environmental components such as large and super large aluminum alloy materials, non-metallic materials, uneven surfaces of structural parts, and local obstacles, the existing robots of these two mobile modes are both Difficult to adapt

Method used

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  • Barrier-free constant speed creeping robot
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  • Barrier-free constant speed creeping robot

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing:

[0027] The structure of the crawling robot with a vacuum adsorption frame type and a load moving at a constant speed in this embodiment is as follows: figure 2 As shown, it consists of five parts: an outer frame 1, an inner frame 2, a linear motion mechanism 11, a rotary mechanism 3 and a linear motor 4. In the present invention, the main body of the robot adopts a frame-type multi-sucker vacuum adsorption structure, a rotating mechanism is installed between the inner and outer frames, the outer frame carries a linear motor, the actuator is fixed on the linear motor mover, and the legs adopt a pop-up mechanism. The four corners of the outer frame are respectively equipped with ejection mechanism of the outer suction cup, the end of the ejection mechanism is connected with the outer suction cup through the outer suction cup fixing plate, the linear motor is installed above ...

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Abstract

The invention provides a barrier-free constant-speed crawling robot and belongs to the technical field of robots. The robot comprises an outer frame, an inner frame, a rotating mechanism, a linear-motion mechanism fixed on the upper surface of the outer frame and a linear motor for fixing an actuating mechanism. The rotating mechanism is connected with the linear-motion mechanism and is capable of performing linear motion along the outer frame under the drive of the linear-motion mechanism. The inner frame is connected with the output shaft of the rotating mechanism and is capable of rotating relative to the outer frame under the drive of the rotating mechanism. The linear motor is arranged on the upper surface of the outer frame. The robot can go across barriers with a certain height, the rotating mechanism between the inner and outer frames can realize the turning of the robot, and the constant-speed motion of the actuating mechanism during operation can be realized through the resultant of the dynamic speed vectors of the motions of the linear motor relative to the inner and outer frames.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a barrier-free constant-speed crawling robot. Background technique [0002] At this stage, the main goal of scientific researchers' research on mobile robots is to replace humans in dangerous or harsh environments to complete certain tasks, such as lunar exploration, nuclear power plant detection, detonation, etc.; service robots and agriculture, forestry, animal husbandry, etc. aspect. [0003] At home and abroad, there are two types of mobile robots used in the processing and testing of large components. The first one is mainly for magnetic materials such as steel, such as the trackless all-position crawling arc welding robot of Tsinghua University. The second one is for magnetic materials such as steel. The second is to crawl using guide rails, such as the portable welding robot of Servo-robot Company. The former can only complete the processing of magnetic materi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 张㑇宋永伦闫志鸿陈志翔张军
Owner BEIJING UNIV OF TECH
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