The invention relates to the technical field of climbing robots. The invention aims to provide a pipeline climbing robot with parallel bodies, which is high in bearing capacity, good in obstacle crossing performance, simple in overall structure, easy to control and good in kinematics and dynamics performance. According to the technical scheme, the invention discloses a movement mechanism of a parallel body pipeline climbing robot. The climbing robot is characterized in that the climbing robot comprises a first clamping mechanism arranged on an upper platform and used for clamping a pipeline or a rod piece, and a parallel mechanism arranged between the upper platform and a lower platform; the second clamping mechanism is arranged on the lower platform and used for clamping a pipeline or a rod piece; and the rotating mechanism is arranged on the lower platform and used for providing rotational freedom.
本发明涉及攀爬机器人技术领域。目的是提供一种承载能力强、越障性能好、整体结构简单、控制简易且具有良好的运动学和动力学性能的并联本体的管道攀爬机器人。技术方案是一种并联本体管道攀爬机器人的运动机构,其特征在于:该攀爬机器人包括设置在上平台上以用于夹紧管道或杆件的第一夹紧机构、设置在上平台与下平台之间的并联机构、设置在下平台上以用于夹紧管道或杆件的第二夹紧机构以及设置在下平台用于提供转动自由度的转动机构。
Movement mechanism of parallel body pipeline climbing robot
一种并联本体管道攀爬机器人的运动机构
31.01.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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