The invention discloses a wheel type outer pipeline climbing manipulator device, and belongs to the technical field of manipulators. The manipulator device comprises a body part, an upper gripper anda lower gripper are symmetrically arranged at the upper end and the lower end of the body part correspondingly, the upper gripper comprises a right side clamping unit and a left side clamping unit which are arranged in a bilateral symmetry mode, and the right side clamping unit and the left side clamping unit are driven by a motor to be opened outwards or drawn close inwards, a right side clampingwheel and a left side clamping wheel are arranged at the front ends of the right side clamping unit and the left side clamping unit correspondingly, and the right side clamping wheel and the left side clamping wheel are driven by a right side steering engine and a left side steering engine to rotate correspondingly; wherein the upper gripper and the lower gripper are respectively connected with steering engines at the upper end and the lower end of the body part. Directed at the defect that a wheel type outer pipeline climbing manipulator in the prior art is low in flexibility, outer pipelinedetection and regular maintenance of a pipeline in a using state can be carried out, obstacle crossing actions can be flexibly executed, and the degree of freedom is high.
本发明公开了一种轮式外管道攀爬机械手装置,属于机械手技术领域。本发明包括躯体部分,躯体部分的上、下两端分别对称设置有上部抓手和下部抓手,上部抓手包括左右对称设置的右侧夹持单元和左侧夹持单元,右侧夹持单元和左侧夹持单元在电机的驱动下向外张开或向内靠拢,且右侧夹持单元和左侧夹持单元的前端分别设置有的右侧夹持轮和左侧夹持轮,右侧夹持轮和左侧夹持轮分别在右侧舵机和左侧舵机的驱动下进行转动;其中上部抓手和下部抓手分别与躯体部分上下两端的舵机相连。针对现有技术中轮式外管道攀爬机械手灵活度较低的不足,不仅能够进行外管道检测和对在使用状态下的管道进行定期维护,还能够灵活执行越障动作,自由度高。
Wheel type outer pipeline climbing manipulator device
一种轮式外管道攀爬机械手装置
2021-03-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |