The invention discloses a two-section wheel foot type pipeline climbing robot. According to the technical scheme, a front climbing robot (1) and a rear climbing robot (3) are connected through a robot connecting piece (2), and the front climbing robot (1) and the rear climbing robot (3) are the same in structure. Auxiliary wheels (4) are respectively mounted on two sides of the front end of the front climbing robot (1) through symmetrically fixed auxiliary brackets (5); and wheel-foot composite mechanisms (8) and magnetic adsorption devices (10) are symmetrically arranged on the two sides of the front climbing robot (1). Two coding motors of the wheel-foot composite mechanisms (8) are connected with corresponding Mecanum wheels through couplings; the two coding motors are respectively controlled to realize the rotation of the corresponding Mecanum wheels according to a specific rotation direction, so that the front climbing robot (1) can move in front, back, left and right directions. A damping device (20) of each wheel-foot composite mechanism (8) is connected to a climbing connecting frame (6), so that the two-section wheel-foot type pipeline climbing robot can stably move on the outer wall of a pipeline. The robot has the advantages of being high in obstacle crossing capacity, high in stability and wide in application range.
本发明公开了一种两节轮足式管道攀爬机器人。其技术方案是:前攀爬机器人(1)与后攀爬机器人(3)通过机器人连接件(2)连接而成,前攀爬机器人(1)与后攀爬机器人(3)结构相同。前攀爬机器人(1)前端两侧通过对称固定的辅助支架(5)分别装有辅助轮(4);前攀爬机器人(1)两侧对称地装有轮足复合机构(8)和磁吸附装置(10)。轮足复合机构(8)的2个编码电机通过联轴器与对应的麦克纳姆轮连接;分别控制2个编码电机能实现对应的麦克纳姆轮按特定转向转动,从而实现前攀爬机器人(1)前后左右方向的运动。轮足复合机构(8)的减震装置(20)连接在攀爬连接架(6)上,能使两节轮足式管道攀爬机器人在管道外壁平稳运动。本发明具有越障能力强、稳定性高和适应范围广的特点。
Two-section wheel foot type pipeline climbing robot
一种两节轮足式管道攀爬机器人
2021-11-09
Patent
Electronic Resource
Chinese