Articulated-type rod climbing detection robot

Abstract

An articulated-type rod climbing detection robot comprises a robot body, an image detection system and a remote control system. The remote control system is connected with the robot body through a cable. The robot body comprises a first climbing mechanism and a second climbing mechanism, the first climbing mechanism and the second climbing mechanism are both of a cylindrical structure formed by connecting two semicircular cylinders, one sides of the two semicircular cylinders of each climbing mechanism are connected in a hinged mode, and the other sides of the two semicircular cylinders of each climbing mechanism are connected through a bolt. Flexible wheels used for preventing collision are evenly installed in the cylinders of the first climbing mechanism and the second climbing mechanism along the circumference, the flexible wheels are supported by support rods hinged to the inner walls of the climbing mechanisms, the cantilever end of each support rod is connected with one end of a spring, and the other end of each spring is fixed to the inner wall of the corresponding cylinder. The first climbing mechanism and the second climbing mechanism are connected through a foldable articulated-type mechanical arm. According to the articulated-type rod climbing detection robot, a detected metal rod is adsorbed, locked and climbed through symmetrical arc-shaped electromagnets by adopting the axial symmetry structure, and then the condition that the robot is likely to rotate around the detected rod under the action of self weight to damage the rod is avoided.

Description

technical field [0001] The invention relates to the field of robots, in particular to an articulated pole climbing detection robot. Background technique [0002] Large metal rods have been used in many key load-bearing occasions, typically, such as hydraulic piston rods for the opening and closing of large gates in hydropower stations with a length of more than ten meters, tie rods for cable-stayed bridges, straight metal utility poles, etc. These rods are placed in the air or rainwater environment for a long time during the service process, which will easily cause defects such as surface corrosion and interlayer, which will affect the use of equipment. For example, when the hydraulic rod expands and contracts, the seal of the hydraulic cylinder will be damaged; In-service inspection and maintenance are required. At present, the detection of these rods is mainly carried out by manually carrying detection equipment for climbing and detection. The working environment of worke...

AI Technical Summary

Problems solved by technology

However, when the rod to be detected is placed obliquely, the robot not only needs to provide power and clamping force for climbing along the rod, but also overcomes the torque of the robot rotating along the rod due to its own gravity during crawling, which may easily cause the robot to fall off, or cause the robot to fall off due to rotation. Make the surface of the detected rod scratched, resulting in new defects

Therefore, when designing a climbing rod robot, the structure and function of the robot should be considered reasonably, especially when detecting large-diameter rods, the size and weight of the robot itself will increase. If the structure and function are unreasonable, it will cause the robot to wrap around the rod. Rotate, fall off, or scratch the detected rod

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