The invention relates to a crawler-type pipeline outer wall crawling robot. According to the technical scheme, a first crawler-type crawling main body (1) and a third crawler-type crawling main body (3) are symmetrically arranged at the two ends of a second crawler-type crawling main body (2). In the first crawler-type crawling body (1), first crawler moving devices (5) are symmetrically arranged on the two sides of a first connecting frame (6), and two swing arm mechanisms (9) are symmetrically and movably connected with the corresponding first crawler moving devices (5) respectively. The lower ends of two first electric push rods (8) are symmetrically hinged to the inner sides of the corresponding first crawler belt moving devices (5), and the upper ends of the two first electric push rods (8) are symmetrically hinged to the top of the first connecting frame (6). A first magnetic force adjusting mechanism (7) is vertically installed in the middle of the first connecting frame (6). The first crawler-type crawling main body (1) and the second crawler-type crawling main body (2) are similar in structure. And a camera (11) and a first motion control panel (12) are correspondingly arranged at the top and the bottom of the front side of the first connecting frame (6). The robot is high in obstacle crossing ability, good in stability and wide in adaptive capacity.
本发明涉及一种履带式管道外壁爬行机器人。其技术方案是:在第二履带式爬行主体(2)的两端对称设有第一履带式爬行主体(1)和第三履带式爬行主体(3)。第一履带式爬行主体(1)中:第一连接架(6)两侧对称设有第一履带移动装置(5),两个摆臂机构(9)分别对称地与各自对应的第一履带移动装置(5)活动连接;两个第一电动推杆(8)的下端对称地铰接在各自对应的第一履带移动装置(5)的内侧,上端对称地铰接在第一连接架(6)的顶部;第一磁力调节机构(7)垂直地安装在第一连接架(6)的中间位置处。第一履带式爬行主体(1)和第二履带式爬行主体(2)的结构类似。第一连接架(6)前侧的顶部和底部对应装有摄像头(11)和第一运动控制板(12)。本发明越障能力强、稳定性好和适应能力广。
Crawler-type pipeline outer wall crawling robot
一种履带式管道外壁爬行机器人
2021-11-09
Patent
Electronic Resource
Chinese
Outer pipeline crawling robot with six-connecting-rod mechanism
European Patent Office | 2020
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