The invention provides a robot structure capable of adapting to a complex pipeline. The robot structure is divided into three parts, the front part and the rear part are supporting driving modules which are the same in structure and are arranged in a mirror image manner. The middle part is a power control module. A hinged rotation driving mechanism is arranged at the hinged position of the modules and can freely control the hinged angle of the power control module and the supporting driving modules; and central rotation driving mechanisms are arranged at the two ends of the power control module and can drive the supporting driving modules to rotate around the central axis. The robot structure mainly achieves the technical aim that the pipeline robot can smoothly pass through a structural form when the inner diameter of a pipeline is changed, and the robot is located in an S-shaped pipeline, a T-shaped pipeline, a Y-shaped pipeline, a pipeline joint and a pipeline flow limiting ring, and the novel robot structure is provided so as to adapt to various conditions in the pipeline and improve the trafficability and adaptability.

    本发明提供了一种可适应复杂管道的机器人结构,本发明的机器人结构分三部分,前后两部分是结构相同、镜像布置的支撑驱动模块;中间部分是动力控制模块。模块铰接处设有铰接转动驱动机构,能自由控制动力控制模块和支撑驱动模块的铰接角度;动力控制模块两端设有中心旋转驱动机构,可驱动支撑驱动模块绕中心轴线旋转。本发明主要解决的技术问题是管道机器人在管道内径发生变化、S型管道、T型管道、Y型管道、管道连接处及管道限流环处时能够顺利通过的结构形式,发明了一种新的机器人结构,从而适应管道内各种情况,提高管道机器人的通过性和适应性。


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    Title :

    Robot structure capable of adapting to complex pipeline


    Additional title:

    一种可适应复杂管道的机器人结构


    Contributors:
    HUANG QIANG (author) / WANG XIANG (author) / MARCO SECARELLI (author) / LI HUI (author) / JIANG ZHIHONG (author) / WANG PINGLI (author) / WANG SANLIANG (author) / LIU XIAO (author) / ZHENG TAO (author) / ZHAO CHUAN (author)

    Publication date :

    2021-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B62D MOTOR VEHICLES , Motorfahrzeuge



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