The invention provides a tube plate crawling robot, comprising: a main body part comprising a base, the bottom of the base is provided with a plurality of first fastening toes, and the top of the base is connected with a first rotating joint through a vertical moving joint; the positioning part comprises a connecting piece, one end of the connecting piece is connected with the first rotating joint, the other end of the connecting piece is connected with a supporting leg assembly through a second rotating joint, the supporting leg assembly is fixedly connected with the detection part, a through hole is formed in the detection part, and the probe can enter the pipe hole through the through hole; a plurality of second fastening toes are arranged at the bottom of the supporting leg assembly, and the first fastening toes and the second fastening toes can expand or contract in the pipe holes to be fastened with or separated from the pipe holes. The invention further provides a control method of the tube plate crawling robot. The geometrical relationship between the fastening toes is designed according to the distribution rule of the tube holes in the tube plate, and accurate and reliable positioning between the robot and the tube plate is achieved. The structure is simple and compact, and the detection coverage rate of the pipe hole can be effectively improved.
本发明提供了一种管板爬行机器人,包括:主体部,包括底座,底座的底部设有多个第一紧固脚趾,底座的顶部通过竖向移动关节与第一转动关节相连接;定位部,包括连接件,连接件的一端与第一转动关节相连接,另一端通过第二转动关节与支腿组件相连接,支腿组件与检测部固定连接,检测部中设有通孔,探头可通过通孔进入管孔中;支腿组件的底部设有多个第二紧固脚趾,第一紧固脚趾和第二紧固脚趾可在管孔中膨胀或收缩,实现与管孔之间的紧固或分离。本发明还提供了一种前述管板爬行机器人的控制方法。本发明根据管板上管孔的分布规律来设计紧固脚趾之间的几何关系,实现机器人与管板之间的精准可靠定位。其结构简单紧凑,可有效提高对管孔的检测覆盖率。
Tube plate crawling robot and control method thereof
一种管板爬行机器人及其控制方法
2023-01-24
Patent
Electronic Resource
Chinese
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