The invention discloses a pipe rod inspection robot with climbing and obstacle crossing functions, which belongs to the technical field of pipe rod inspection robots and comprises a mechanical arm, a tool box, a control box, a visual sensor, a driving clamping mechanism, a driven clamping mechanism, a climbing mechanism, a connecting steering mechanism and an auxiliary claw mechanism. The two clamping mechanisms are connected with the climbing mechanisms through sliding plates fixed through screws, the two climbing mechanisms are connected with the connecting steering mechanism through a push rod, a push cylinder and four hinges, the auxiliary claw mechanism is installed on the connecting steering mechanism through a rotating pair, and the tool box is installed on the climbing mechanism at the upper end through screws and bolts in a connected mode. The mechanical arm is connected with a base arranged on the tool box through a rotating pair. Compared with the prior art, the invention has the following beneficial effects: multiple walking mechanisms are integrated and specifically comprise stepping walking, axial wheel driving and transverse wheel driving;

    本发明公开一种具有攀爬和越障功能的管杆巡检机器人,属于管杆巡检机器人技术领域,包括机械臂、工具箱、控制箱、视觉传感器、驱动夹持机构、从动夹持机构、爬升机构、连接转向机构、辅助爪机构,两处夹持机构通过螺钉固定的滑动板与爬升机构相连接,两处爬升机构通过推杆、推动缸以及四处铰接与连接转向机构相连接,辅助爪机构通过转动副安装在连接转向机构上,工具箱通过螺钉螺栓连接安装在上端爬升机构上,机械臂通过转动副与工具箱上设置的底座相连接。与现有技术相比,本发明的有益效果是,多行走机构集成,具体包括迈步行走、轴向轮驱动、横向轮驱动。


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    Title :

    Pipe pole inspection robot with climbing and obstacle crossing functions


    Additional title:

    一种具有攀爬和越障功能的管杆巡检机器人


    Contributors:
    HE TAO (author) / HE CHUANXIN (author) / LI BO (author) / LUO GANG (author) / ZHANG QIAO (author) / DING QINGTIAN (author) / ZHENG HAO (author)

    Publication date :

    2022-07-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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