The invention discloses an umbrella-shaped supporting mechanism for a pipeline robot. The umbrella-shaped supporting mechanism for the pipeline robot is a mechanical mechanism similar to an umbrella stand structure in appearance, and can be used for enabling the robot to adapt to supporting of different pipeline diameters, and automatic adjustment of the stretching diameter is achieved by converting axial force and motion into radial force and motion. The mechanism comprises a main shaft, a stress plate, a pushing block, connecting rods, guide rails, sliding blocks, a guiding mechanism, a force transferring rods, sensors, a control system, air cylinders and a magnetic universal wheel. The mechanism can automatically adjust the maximum excircle radius to adapt to the inner diameters of pipes, can realize under-actuation, and has good positioning and supporting effects.

    本发明发明为一种管道机器人的伞状支撑机构。是一种外形类似伞架结构的机械机构。可用于使机器人自适应于不同管道直径的支撑,通过将轴向力和运动转换为径向力和运动,实现伸展直径的自动调节。机构包括主轴,受力板,推进块,连杆,导轨,滑块,导向机构,传力杆,传感器,控制系统,气缸,磁力万向轮。该机构能自动调整最大外圆半径以适应管内直径,能实现欠驱动,起到良好的定位和支撑作用。


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    Title :

    Umbrella-shaped supporting mechanism for pipeline robot


    Additional title:

    一种管道机器人的伞状支撑机构


    Contributors:
    WANG ZHIYUAN (author) / WANG GAOQI (author) / CHENG XIAOLING (author) / LI ZIHAN (author) / FAN YUHAO (author) / GAO HAIMING (author)

    Publication date :

    2020-09-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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