Joint type self-adaptive pipe climbing robot

Abstract

The invention provides a joint type self-adaptive pipe climbing robot which comprises a left upper limb, a right upper limb, an upper trunk, a lower trunk and feet, the structures of the left upper limb and the right upper limb are completely identical, the left upper limb and the right upper limb are symmetrically arranged, and the left upper limb and the right upper limb are movable mechanical arms with mechanical grippers at the tail ends and are connected with the upper trunk through left and right shoulder joints respectively; the lower trunk and the upper trunk are connected through a pin shaft to form a revolute pair, and a waist mechanism of the lower trunk is a mechanism capable of enabling the two trunks to rotate relatively and composed of a direct-current motor, a harmonic reducer, a belt wheel, a flange bearing and an inclined support. The tail fixing plate of the feet is fixedly connected with the lower trunk through screws, and an electric push rod, a telescopic fixing block, two legs, a telescopic rod and an elastic block form a mechanism with two legs capable of being opened and closed at the same time. Under the action of movement of the waist mechanism, the leftupper limb, the right upper limb and the feet, the pipe climbing robot has good climbing capacity and self-adaptive capacity.

Description

technical field [0001] The invention relates to the technical field of construction robots, in particular to a joint-type self-adaptive pipe climbing robot. Background technique [0002] With the rapid development of modern society, the robot industry has gradually penetrated into various fields, and more and more manual operations are replaced by robot operations. Various types of high-altitude pipelines or transmission lines usually have a high risk factor when maintaining and cleaning up debris, and accidents are prone to occur, resulting in loss of life and property. At present, the moving modes of pipe climbing robots mainly include peristaltic, spiral, rolling, and alternate climbing, etc., but there are generally some disadvantages, such as: poor ability to overcome obstacles, difficult to pass crossing pipes and bends, and poor load capacity , Unstable movement, poor adaptability, and too high requirements for pipe diameter. [0003] In the prior art, the Chinese p...

AI Technical Summary

Problems solved by technology

Various types of high-altitude pipelines or transmission lines usually have a high risk factor when maintaining and cleaning up debris, and accidents are prone to occur, causing loss of life and property

At present, the moving modes of pipe climbing robots mainly include peristaltic, spiral, rolling, and alternate climbing, etc., but there are generally some disadvantages, such as: poor ability to overcome obstacles, difficult to pass crossing pipes and bends, and poor load capacity , unstable movement, poor adaptability and too high requirements for pipe diameter, etc.

[0003] In the prior art, the Chinese patent application CN 105729487 A discloses an inspection robot for a hugging mining hoist, which drives the upper and lower mechanical claws to alternately hold the pipeline tightly through the crank slider mechanism of the trunk. Although the structure is simple, the The robot can only climb straight pipes and cannot climb over obstacles such as flanges, and has poor adaptability; another example is the Chinese patent application CN108583713 A which discloses a bionic standing tree climbing robot. The mechanical claws can climb, but the structure of the mechanical claws is simple, and the stability of the whole mechanism is poor, so it cannot adapt to complex and changeable pipeline conditions

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