The invention provides a joint type self-adaptive pipe climbing robot which comprises a left upper limb, a right upper limb, an upper trunk, a lower trunk and feet, the structures of the left upper limb and the right upper limb are completely identical, the left upper limb and the right upper limb are symmetrically arranged, and the left upper limb and the right upper limb are movable mechanical arms with mechanical grippers at the tail ends and are connected with the upper trunk through left and right shoulder joints respectively; the lower trunk and the upper trunk are connected through a pin shaft to form a revolute pair, and a waist mechanism of the lower trunk is a mechanism capable of enabling the two trunks to rotate relatively and composed of a direct-current motor, a harmonic reducer, a belt wheel, a flange bearing and an inclined support. The tail fixing plate of the feet is fixedly connected with the lower trunk through screws, and an electric push rod, a telescopic fixing block, two legs, a telescopic rod and an elastic block form a mechanism with two legs capable of being opened and closed at the same time. Under the action of movement of the waist mechanism, the leftupper limb, the right upper limb and the feet, the pipe climbing robot has good climbing capacity and self-adaptive capacity.

    本发明公开了一种关节式自适应爬管机器人,包括结构完全相同并且对称设置的左上肢和右上肢、上部躯干、下部躯干和足部,左上肢和右上肢均为末端带机械手爪的活动机械臂,并且分别通过左右肩关节与上部躯干相连;下部躯干和上部躯干之间通过销轴连接形成转动副,下部躯干的腰部机构由直流电机、谐波减速器、带轮、法兰轴承、斜支架组成一个可使两个躯干之间发生相对转动的机构;足部的尾部固定板与下部躯干之间通过螺钉固定连接在一起,由电动推杆、伸缩固定块、两条腿、伸缩杆以及弹性块来组成一个两条腿可以同时张开和闭合的机构。在腰部机构、左上肢、右上肢以及足部的运动作用下,本发明的爬管机器人具有良好的攀爬能力自适应能力。


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    Titel :

    Joint type self-adaptive pipe climbing robot


    Weitere Titelangaben:

    一种关节式自适应爬管机器人


    Beteiligte:
    HOU YU (Autor:in) / JIN ZIHAN (Autor:in) / WANG QIANG (Autor:in)

    Erscheinungsdatum :

    2021-01-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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