Rigid-flexible coupled climbing robot

Abstract

The invention discloses a rigid-flexible coupled climbing robot. The robot comprises at least two annular air bags used for surrounding a climbed object, two surrounding roller driving modules fixed to one ends of the two annular air bags in a one-to-one correspondence mode, two telescopic roller driving modules fixed to the two surrounding roller driving modules in a one-to-one correspondence mode and a long-strip-shaped air bag connected between the two telescopic roller driving modules. The surrounding roller driving modules are provided with a roller pair I which enables the annular air bag penetrating through the surrounding roller driving modules to move relatively; the telescopic roller driving module is provided with a roller pair II which enables the long-strip-shaped air bag penetrating through the telescopic roller driving module to move relatively. The modular design and the rigid-flexible coupling principle are adopted, the overall design of the robot is achieved by designing the surrounding mechanism and the telescopic mechanism through the air bag with a certain shape, due to the fact that the inflatable air bag has certain rigidity, the loading capacity of the robot can be improved to a certain degree, meanwhile, the size of the robot is reduced, and the portable design is achieved; through the combination of the lengths of the air bags, rod-shaped objects with different rod diameters and shapes can be adapted.

Description

technical field [0001] The patent of the present invention relates to the field of robot research, especially the field of climbing robots, and specifically relates to a portable modular rigid-flexible coupling climbing robot that can be used for climbing rods, detecting and repairing pipelines and cables. Background technique [0002] The maintenance and operation of pipelines, cables, and trusses are difficult and high-risk tasks for humans. Using climbing robots instead of manual operations has obvious advantages in terms of safety, stability, and accuracy. [0003] In the 1980s, the United States, Japan and other developed countries successively carried out research work on climbing robots. In the early days, Waseda University in Japan successfully developed the woody-1 tree climbing robot. The trunk moves up and down. Based on this, a large number of rigid pole-climbing robots (such as the literature "Design of a micro pole-climbing robot") have been researched, mainly...

AI Technical Summary

Problems solved by technology

However, this type of soft robot usually needs to be driven by an air pump, which brings challenges to the portability of the robot.

At the same time, the insufficient stiffness and poor load of the soft robot itself also hinder its development.

In addition, the above-mentioned pole-climbing robots have very limited adaptability. Usually, they can only climb a small number of poles with a single size or shape, and it is difficult to meet the adaptability requirements of poles with different diameters and shapes at the same time.

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