Multi-dimensional adjustable manipulator

Abstract

The invention belongs to the technical field of robots, and particularly discloses a multi-dimensional adjustable manipulator. The multi-dimensional adjustable manipulator comprises a joint part, a bending unit, a rotating unit and an angle adjusting unit; the joint part comprises multiple joints hinged in sequence, and an avoiding gap is formed between every two adjacent joints; the bending unit comprises a power rope and a first driving mechanism; the rotating unit comprises a first connecting joint, a second connecting joint, a rotating piece and a second driving mechanism, the rotating piece is fixedly connected with the second connecting joint, a lead wire sleeve is fixedly connected to the middle of the rotating piece, a first wire hole is formed in the lead wire sleeve, and the power rope penetrates through the first wire hole to be connected to the joint part of the manipulator; the joint at the inner end of the joint part is rotationally connected with the second connecting joint; and the angle adjusting unit comprises a fixed piece and a third driving mechanism, and the first connecting joint is fixedly connected with the fixed piece. The manipulator has the multi-dimensional adjusting capacity so that a robot provided with the manipulator can adapt to complex and changeable pipeline conditions, and universality is good.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-dimensional adjustable manipulator. Background technique [0002] Many existing gas and liquid pipelines are in use, and the pipelines need to be regularly inspected or the instrumentation should be read. Due to the complexity of the pipelines, some pipelines are even located relatively high, while others are buried underground. This just makes it difficult to carry out the detection of the pipeline or the reading of the instrument. In order to solve this problem, someone designed a robot that can move on the outer wall of the pipeline to complete the work of pipeline inspection or instrument reading. [0003] The pipeline robot attached to the outside of the pipeline and walking along the pipeline generally clamps the pipeline with its grippers. The problem is that the grippers often cannot effectively clamp the pipeline, resulting in unstable climbing force,...

AI Technical Summary

Problems solved by technology

[0003] The pipeline robot attached to the outside of the pipeline and walking along the pipeline generally clamps the pipeline with its grippers. The problem is that the grippers often cannot clamp the pipeline effectively, resulting in unstable climbing force, and the pipeline robot cannot walk stably along the pipeline.

Although the climbing claws of this solution can ensure that the robot crawls stably on the pipeline, because it can only hold or loosen the pipeline as a whole, the robot can only crawl on pipes with a specific diameter, which has poor versatility, and the climbing claws cannot Folding can only be completed by other means when passing through narrow passages or crossing obstacles, and cannot adapt to complex and changeable pipeline conditions

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