The invention discloses a deformable crawler-type spherical pipeline robot. The robot comprises a shell and a control part arranged in the shell, the shell comprises a left hemisphere shell, a middleconnecting piece and a right hemisphere shell, the left hemisphere shell and the right hemisphere shell are connected through the middle connecting piece and are symmetrical by taking the middle connecting piece as the center, a left crawler belt is arranged at the inner end of the left hemisphere shell, and a right crawler belt is arranged at the inner end of the right hemisphere shell. Accordingto the invention, various related detectors can be carried into a complex pipeline; manual detection can be replaced, an original spherical structure is changed into a long-strip-shaped caterpillar band structure through deformation of the structure of the spherical robot, obstacles in the pipeline can be passed conveniently, in addition, forward deformation and reverse deformation of the spherical shell of the spherical robot are completely reversible, the control process is simple, the number of mechanisms participating in deformation is small, and movement and deformation can be achieved fast and conveniently.
本发明公开了一种可变形履带式球形管道机器人,该机器人包括壳体和设于其内的控制部件,壳体包括左半球壳、中间连接件和右半球壳,左半球壳通过中间连接件与右半球壳相连,关于中间连接件对称,左半球壳位于内端处设有左侧履带,右半球壳位于内端处设有右侧履带。本发明能够搭载各种相关探测器进入复杂的管道内部,可代替人工检测,通过对自身结构的变形,将本来的球形结构变为长条形的履带结构,便于通过管道内的障碍,此外,该球形机器人的球壳正向、逆向变形完全可逆,控制过程简单,参与变形的机构少,能够较快而且方便地实现运动与变形。
Deformable crawler-type spherical pipeline robot
可变形履带式球形管道机器人
2020-07-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |