The diameter-variable pipe climbing robot comprises a left upper limb, a right upper limb, a main trunk and a lower clamping mechanism, the left upper limb and the right upper limb are identical in structure and symmetrically arranged, the left upper limb and the right upper limb are movable mechanical arms with mechanical claws at the tail ends, and the left upper limb and the right upper limb are connected with the main trunk through a left shoulder joint and a right shoulder joint respectively; the main trunk is arranged between the upper limbs and the lower clamping mechanism, the middle parts of the main trunk are connected through pin shafts to form a revolute pair, and the main trunk and the lower clamping mechanism form a mechanism capable of achieving middle relative rotation through a driving motor; and an operable platform of the lower clamping mechanism is fixedly connected with the lower half part of the main trunk, and the pipeline is clamped through a telescopic rod and climbed through a fourth driving motor. The middle main trunk is matched with the left and right upper limbs, the lower clamping mechanism, the driving mechanism and the like, so that the robot can climb on a straight pipeline and a bent pipeline, and has certain adaptive capacity to the diameter of the pipeline.
本发明公开了一种可变径式爬管机器人,包括结构完全相同并且对称设置的左上肢和右上肢、主躯干和下夹紧机构,左上肢和右上肢均为末端带机械手爪的活动机械臂,并且分别通过左右肩关节与主躯干相连;主躯干,其设置在上肢和下夹紧机构之间,中间部分通过销轴连接形成转动副,通过驱动电机使其组成一个可实现中间相对转动的机构;下夹紧机构的可操作平台与主躯干的下半部分固定连接,通过伸缩杆夹紧管道并通过第四驱动电机实现管道的攀爬。本发明通过中间主躯干配合左右上肢、下夹紧机构以及驱动机构等,能够实现在笔直管道和弯曲管道上爬升,并且对于管道直径具有一定的适应能力。
Variable-diameter pipe climbing robot
一种可变径式爬管机器人
2024-09-03
Patent
Electronic Resource
Chinese
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