An outer pipeline crawling robot comprises a front vehicle body, a rear vehicle body, a vehicle body connecting piece and driving devices, wherein the structures of the front vehicle body and the rearvehicle body are the same; the vehicle body connecting piece is connected with the front vehicle body and the rear vehicle body; and the driving devices are arranged on the front vehicle body and therear vehicle body; the front vehicle body comprises a chassis, and universal wheels, a mechanical arm, a connecting disc and a power mechanism which are arranged on the chassis; and the mechanical arm comprises a base, a six-connecting-rod mechanism and a wheel set mechanism. Motion and output force of the three sets of driving systems is used as motion and force input; pipeline grabbing is achieved through the mechanical arm of the six-rod mechanism; and through innovative wheel set design, the robot can be adjusted adaptively to the radius, and the robot has multiple motion functions of moving linearly along a pipe, rotating around the pipe, overcoming right-angle turning obstacles and the like, is simple in structure, easy to manufacture and low in cost, can move on pipelines with different diameters, can carry various pipeline detection devices according to needs, greatly reduces manpower and material resources of monitoring work, and has wide application prospects.

    一种外管道爬行机器人,包括:结构相同的前车体、后车体以及车体连接件和驱动装置,其中:车体连接件分别与前车体和后车体相连,驱动装置设置于前车体和后车体上;前车体包括:底盘和设置于底盘上的万向轮、机械臂、连接圆盘、动力机构;机械臂包括:基座、六连杆机构和轮组机构。本发明利用三套驱动系统的运动和输出力作为运动和力输入,通过六杆机构的机械臂实现管道抓握,通过创新的轮组设计,可实现适应半径可调,沿管直线运动、绕管转动以及克服直角拐弯障碍等多种运动功能,结构简单、制造容易、成本低廉,同时能够在不同直径的管道上实现运动,可根据需要搭载各种管道检测装置,大大降低了监测工作的人力物力,具有广阔的运用前景。


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    Title :

    Outer pipeline crawling robot with six-connecting-rod mechanism


    Additional title:

    具有六连杆机构的外管道爬行机器人


    Contributors:
    ZHUANG ZEXIN (author) / CHEN YIN (author) / HE GANG (author) / TAN ZEHAO (author) / GUO WEIZHONG (author)

    Publication date :

    2020-10-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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