The invention relates to the technical field of robots, and provides a self-adaptive pipe climbing robot based on a metamorphic gripper, the self-adaptive pipe climbing robot comprises an upper rack, a lower rack, a waist mechanism, an arm component, an arm steering mechanism and a gripper mechanism, the upper rack and the lower rack are oppositely arranged; the waist mechanism is arranged between the upper rack and the lower rack and is used for changing an angle formed between the upper rack and the lower rack; the number of the arm assemblies is four, and every two arm assemblies are arranged on the upper rack and the lower rack correspondingly. The number of the arm steering mechanisms is the same as that of the arm assemblies, the arm steering mechanisms and the arm assemblies are fixed to the upper rack and the lower rack respectively, and the arm steering mechanisms are in transmission connection with the arm assemblies in a one-to-one correspondence mode and used for changing the relative postures of the arm assemblies and the upper rack or the lower rack. According to the self-adaptive pipe climbing robot based on the metamorphic paws, actions such as creeping pipe climbing and walking pipe climbing are carried out, so that operations such as obstacle crossing, bent pipe climbing and pipeline transferring are achieved, and compared with a pipe climbing robot in the prior art, the self-adaptive pipe climbing robot is more flexible.

    本发明涉及机器人技术领域,并提出了一种基于变胞手爪的自适应式爬管机器人,包括上机架、下机架、腰部机构、臂部组件、臂部转向机构与手爪机构,上机架与下机架相对设置;腰部机构设置在上机架与下机架之间,用于改变上机架与下机架之间所形成的角度;臂部组件的数量为四个,且两两分别设置在上机架与下机架上;臂部转向机构与臂部组件的数量相同,并分别固定在上机架与下机架上,所述臂部转向机构与臂部组件一一对应的传动连接,用于改变臂部组件与上机架或下机架的相对姿态。该基于变胞手爪的自适应式爬管机器人,进行蠕动爬管、行走爬管等动作,以实现越障、弯管爬行、管路转移等操作,相对于现有技术中的爬管机器人,更为灵活。


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    Title :

    Self-adaptive pipe climbing robot based on metamorphic paws


    Additional title:

    一种基于变胞手爪的自适应式爬管机器人


    Contributors:
    HOU YU (author) / YOU CHANG (author) / LI JIARUI (author) / ZHANG JIE (author)

    Publication date :

    2023-11-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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