The invention discloses an outer pipeline crawling robot which comprises three layers of annular bases arranged in sequence in the longitudinal direction, every two adjacent layers of annular bases are connected through a lifting telescopic cylinder arranged in the longitudinal direction, the center of each annular base is provided with a through hole allowing a pipeline to penetrate through in the longitudinal direction, and a plurality of climbing foot assemblies are arranged around the circumference of each through hole in an array mode; each climbing foot assembly comprises a foot rod, a friction foot pad, an elastic piece and a foot lifting telescopic cylinder, the foot rod is transversely pivoted to the annular base and forms a first supporting arm downwards and obliquely extending from the pivoted position to the through hole, the friction foot pad is fixed to the tail end of the first supporting arm, and the elastic piece is arranged between the foot rod and the annular base and drives the foot rod to swing through elastic force; one end of the foot lifting telescopic cylinder is fixed to the annular base, the other end of the foot lifting telescopic cylinder is used for pushing the foot rod to swing and rotate, and the first supporting arm swings downwards to move the friction foot pad away from the outer wall of the pipeline. Climbing along the outer wall of the pipeline is achieved through a simpler, more efficient and more stable structure.

    本发明公开一种外管道爬行机器人,包括纵向依次设置的三层环形基座,相邻两层环形基座间通过纵向设置的举升伸缩缸连接,各环形基座中央均设置有用于供管道纵向穿过的通孔,并绕通孔圆周阵列布置有多个爬升足组件;各爬升足组件均包括足杆、摩擦足垫、弹性件和抬足伸缩缸,足杆横向枢接在环形基座上,并形成有由枢接处朝向通孔向下倾斜延伸的第一支臂,第一支臂末端固定有摩擦足垫,弹性件设置在足杆与环形基座之间,利用弹力带动足杆摆转,以使第一支臂上摆将摩擦足垫压在管道外壁,抬足伸缩缸一端与环形基座固定,另一端用于推抵足杆摆转,使第一支臂下摆将摩擦足垫移开管道外壁。本发明利用更加简洁、高效且稳定的结构实现沿管道外壁的攀爬。


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    Titel :

    Outer pipeline crawling robot


    Weitere Titelangaben:

    一种外管道爬行机器人


    Beteiligte:
    SUN HU'ER (Autor:in)

    Erscheinungsdatum :

    2023-03-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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