The invention relates to the technical field of robots, and provides a wheel-foot type pipeline adaptability climbing robot which comprises a robot body, two sets of symmetrically-arranged wheel-foot composite mechanisms and three sets of magnetic adsorption mechanisms evenly distributed in a rectangular array. During use, the robot can effectively lift the front-end magnetic adsorption mechanism through rotation of a front-end lead screw motor and a lifting mechanism of a threaded rod, it is ensured that the robot cannot collide with obstacles such as a flange plate in the obstacle crossing process, and the structural integrity of the robot is protected; rotation of the foot driving motor enables the foot mechanism to execute a forward crossing gait, the obstacle crossing ability of the robot is further enhanced, the robot is not limited by the wheel diameter, the robot can easily cross larger obstacles such as a flange plate, the robot can rapidly enter a barrier-free operation state after crossing the obstacles, and the obstacle crossing efficiency of the robot is improved. And the detection task in the pipeline is continuously and efficiently completed.

    本发明涉及机器人技术领域,提出了一种轮足式管道适应性攀爬机器人,包括机身、两组呈对称布置的轮足复合机构以及三组呈矩形阵列均布的磁吸附机构,通过轮足复合机构等结构的设置,在使用的时候首先通过前端丝杠电机的旋转和螺纹杆的上升机制,机器人能够有效地提升前端磁力吸附机构,确保在越障过程中不会与法兰盘等障碍物发生碰撞,保护了机器人的结构完整性,足部驱动电机的旋转使得足部机构能够执行向前跨越的步态,进一步增强了机器人的越障能力,使得机器人不再受限于轮径大小,能够轻松越过如法兰盘等较大的障碍物,机器人在越过障碍物后能够迅速进入无障碍运行状态,继续高效地完成管道内部的检测任务。


    Access

    Download


    Export, share and cite



    Title :

    Wheel foot type pipeline adaptability climbing robot


    Additional title:

    一种轮足式管道适应性攀爬机器人


    Contributors:
    HOU YU (author) / XIONG NIAN (author) / LIU JUN (author)

    Publication date :

    2024-11-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Two-section wheel foot type pipeline climbing robot

    HOU YU / LI HAONAN / JIANG YIWEI et al. | European Patent Office | 2021

    Free access

    Wheel foot type wall-climbing robot

    REN JINYAO / WEI ZHONG / LIU JIA et al. | European Patent Office | 2024

    Free access

    Wheel foot type wall-climbing robot

    FANG JIGEN / XU MINGZHE | European Patent Office | 2021

    Free access

    Wheel foot type wall-climbing robot

    GAO HAICHAO / WEI XINHUA / LYU WANWAN et al. | European Patent Office | 2022

    Free access

    Six foot wheel leg type climbing biomimetic robot

    MA TINGTING / CAO PINGGUO / KAN HONGLIN et al. | European Patent Office | 2015

    Free access