A pipeline disinfection robot comprises a main body rack, driving mechanisms, auxiliary mechanisms, spraying mechanisms and slider-crank mechanisms, the slider-crank mechanisms are arranged on the front portion and the rear portion of the upper plane of the main body rack in the length direction respectively, and each slider-crank mechanism is connected with the two driving mechanisms and the corresponding auxiliary mechanism. The auxiliary mechanism is arranged on the upper portion of the slider-crank mechanism, the driving mechanisms are arranged on the left side and the right side of the lower portion of the slider-crank mechanism respectively, and the spraying mechanism is arranged on the lower plane of the body rack. Passive diameter changing is achieved through the wheel leg mechanism composed of the scissors difference mechanism, the crank sliding block mechanism and the spring, self-adaption to the wall face in the advancing process is achieved through the under-freedom-degree design of the hinged position of the wheel legs, the pure passive diameter changing scheme is adopted, a complex electric control system is not needed, and the structure is simple. Real-time control over the radial size is achieved only through a simple and reliable mechanical device, the control difficulty is greatly reduced, and the adaptability to the complex pipe wall environment is improved.
一种管道消毒机器人,包括:主体机架、主动机构、辅助机构、喷洒机构和曲柄滑块机构,其中:主体机架上平面沿长度方向前后各设置一个曲柄滑块机构,每个曲柄滑块机构分别与两个主动机构和一个辅助机构相连,辅助机构设置于曲柄滑块机构的上部,主动机构分别设置于曲柄滑块机构的下部左右两侧,喷洒机构设置于主体机架的下平面上;本发明通过由剪刀差机构、曲柄滑块机构和弹簧组成的轮腿机构实现被动变径,通过轮足铰接处的欠自由度设计实现及其在行进过程中对壁面的自适应,采取的纯被动变径方案,不需依靠复杂的电控系统,仅依靠简单可靠的机械装置实现对径向尺寸的实时控制,大大降低了控制难度,提高了对于复杂管壁环境的适应能力。
Wheel type pipeline disinfection robot capable of self-adapting to pipe diameter
自适应管径的轮式管道消毒机器人
2023-09-19
Patent
Elektronische Ressource
Chinesisch
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