The invention provides a climbing robot structure used for a downpipe flyover crossing pipeline and a motion planning method. The robot structure comprises a clamping mechanism, lifting mechanisms, asteering mechanism and a walking mechanism; the lifting mechanisms comprise first lead screw nut mechanisms; the walking mechanism comprises a second lead screw nut mechanism, the two ends of the second lead screw nut mechanism are connected with the two lifting mechanisms correspondingly, nuts of the lifting mechanisms are connected with the clamping mechanism; the steering mechanism comprises aflange coupler, a steering motor and a mounting plate of the steering motor; the steering mechanism is connected with the walking mechanism and two middle mechanical arms; and the clamping mechanism comprises a gear and rack mechanism and a tail end paw, and opening and closing of the mechanical arms are achieved through the gear and rack mechanism. According to the actual pipeline layout condition, different flyover crossing pipeline climbing robot motion planning methods are adopted, climbing robot control on different occasions can be achieved, and the method is used for corresponding operation tasks.

    本发明提供一种用于落水管立体交叉管道攀爬机器人结构及运动规划方法,机器人结构包括夹持机构、升降机构、转向机构和行走机构;升降机构包括第一丝杆螺母机构;行走机构包括第二丝杆螺母机构,第二丝杆螺母机构的两端分别连接两个升降机构,升降机构的螺母连接夹持机构;转向机构包括法兰联轴器和转向电机及其安装板,转向机构连接行走机构和中间两个机械手。夹持机构包括齿轮齿条机构和末端手爪,通过齿轮齿条机构实现机械手的开合。根据实际的管道布局情况,采用不同立体交叉管道攀爬机器人运动规划方法,可实现不同场合的攀爬机器人操控,并用于相应的作业任务中。


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    Titel :

    Climbing robot structure used for downpipe flyover crossing pipeline and motion planning method


    Weitere Titelangaben:

    用于落水管立体交叉管道攀爬机器人结构及运动规划方法


    Beteiligte:
    ZHANG XINGGUO (Autor:in) / LU JINXIA (Autor:in) / HU XIAOTONG (Autor:in) / LUO YANG (Autor:in)

    Erscheinungsdatum :

    2020-09-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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