Climbing robot telescopic composite wheel leg based on circumferential autonomous tension cable clasping

Abstract

The invention relates to the technical field of robots, and discloses a climbing robot telescopic composite wheel leg based on circumferential autonomous tension cable clasping. The wheel leg comprises a carrier member, a climbing robot telescopic support assembly and a climbing robot telescopic climbing assembly. Climbing robot telescopic supporting legs and climbing robot telescopic crawling wheels are arranged on the carrier member in parallel. According to the technical scheme, the structure is simple, control is convenient, load bearing can be achieved in a climbing process, the wheel leg can be suitable for a large-section climbing robot, and the practical requirements of engineering construction and comprehensive maintenance are met.

Description

technical field [0001] The disclosure of the present invention relates to the technical field of robots, and in particular to a telescopic composite wheel leg of a climbing robot based on hoop-directed self-supporting drag cables. Background technique [0002] At present, there are already many climbing robots designed and formed for rod-shaped objects at home and abroad. Among them, some robots use the form of peristalsis to realize the pole-climbing action, but there is no special cross-section for large cross-sections such as bridge piers. Climbing robot: [0003] In summary, the problems in the prior art are: [0004] First, this robot crawls at a low speed and cannot climb with a load; [0005] Second, the magnetic adsorption scheme has relatively large limitations and cannot be used for non-ferromagnetic poles such as cement poles and outsourced fireproof coatings; [0006] Third, in order to be able to clamp and climb stably, the design principle is doomed to be un...

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Problems solved by technology

[0004] First, this robot crawls at a low speed and cannot climb with a load;

[0005] Second, the magnetic adsorption scheme has relatively large limitations and cannot be used for non-ferromagnetic poles such as cement poles and outsourced fireproof coatings;

[0006] Third, in order to be able to clamp and climb stably, the design principle is doomed to be unable to overcome obstacles (protrusions, depressions), etc., and even cannot adapt to changes in the diameter of the target pole, which greatly restricts the expansion of practicality. ;

[0007] Fourth, some pole-climbing robots have complex structures, heavy weight, and high energy consumption;

[0008] Fifth, some pole-climbing robots lack the posture correction function. Without similar functions, the center position of the pole-climbing robot does not coincide with the center of the target pole. When the eccentricity is serious, it will affect the stability of climbing and even threaten safety;

[0009] Sixth, some climbing robots can only solve single functions such as climbing, taking pictures, and inspections;

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