The invention discloses a joint type outer pipeline climbing robot, and belongs to the technical field of climbing robots. The joint type outer pipeline climbing robot comprises a body part, wherein an upper gripper and a lower gripper are symmetrically arranged at the upper end and the lower end of the body part respectively; the upper gripper and the lower gripper are the same in structure; theupper gripper comprises two clamping parts which are arranged in a bilaterally symmetric mode; a sliding rail II is arranged in the opening and closing directions of the clamping parts on the two sides in an extending mode; sliding blocks I matched with the second sliding rail are arranged on the two sides of the second sliding rail; the sliding blocks I on the two sides are connected with the clamping parts on the two sides respectively; the sliding blocks I on the two sides slide along the sliding rail II under the control of gripper steering engines; the upper gripper and the lower gripperare connected with the steering engines at the upper end and the lower end of the body unit respectively; and the steering engines are used for adjusting the angles between the upper gripper and a pipeline and between the lower gripper and the pipeline. Aiming at the defect that an outer pipeline climbing robot in the prior art is low in flexibility, the joint type outer pipeline climbing robot ishigh in degree of freedom, and can work in a complex environment.

    本发明公开了一种关节式外管道攀爬机械人,属于攀爬机械人技术领域。本发明包括躯体部分,躯体部分的上、下两端分别对称设置有上部抓手和下部抓手,上部抓手和下部抓手结构相同,上部抓手包括左右对称设置的两个夹持部,两侧夹持部的开合方向延伸设置有滑轨二,滑轨二的两侧设置有与滑轨二相配合的滑块一,两侧的滑块一分别与两侧的夹持部相连,且两侧的滑块一在抓手舵机的控制下沿滑轨二进行滑行;其中上部抓手和下部抓手分别与躯体单元上下两端的舵机相连,舵机用来调节上部抓手和下部抓手与管道之间的角度。针对现有技术中外管道攀爬机械人灵活度较低的不足,其自由度高,能够适应在复杂的环境下进行作业。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Joint type outer pipeline climbing robot


    Weitere Titelangaben:

    一种关节式外管道攀爬机械人


    Beteiligte:
    YE ZENGLIN (Autor:in) / WANG YUBING (Autor:in) / SUN SA (Autor:in) / LIN BIYI (Autor:in) / LU SHENG (Autor:in) / GUO XIAOMING (Autor:in) / CHEN HUA (Autor:in)

    Erscheinungsdatum :

    2021-03-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



    Wheel type outer pipeline climbing manipulator device

    SUN SA / YE ZENGLIN / LIN BIYI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Grabbing equipment for pipeline climbing and pipeline climbing robot

    FAN JIZHUANG / YAO KE / XING ZHENMING et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Two-section wheel foot type pipeline climbing robot

    HOU YU / LI HAONAN / JIANG YIWEI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Telescopic pipeline wall-climbing robot

    SHAO WEIWEI / ZHANG DONGHONG | Europäisches Patentamt | 2020

    Freier Zugriff

    Joint type self-adaptive pipe climbing robot

    HOU YU / JIN ZIHAN / WANG QIANG | Europäisches Patentamt | 2021

    Freier Zugriff