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Danger rescue and pipe parallel robot

A robot and parallel technology, applied in the direction of manipulators, life-saving equipment, respiratory protection containers, etc., can solve the problems of insufficient traction ability of long-distance sealed pipelines, poor crawling ability of pipeline robots, poor direct rescue ability, etc., to achieve dredging and obstacle removal The effect of strong ability, strong digging and rescue ability, and fast crawling speed

Inactive Publication Date: 2012-05-23
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problems of poor direct rescue ability of existing rescue robots, poor crawling ability of pipeline robots in vertical pipelines, inflexible operation in pipelines with variable diameters and steep bends, and insufficient traction ability in long-distance sealed pipelines, the present invention Provide a emergency rescue and pipeline parallel robot, the invention can automatically walk, turn, climb, turn over the body and other operations, when the function of the hand / foot operating device is exchanged through the control system, the robot can realize the reverse operation

Method used

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Embodiment

[0017] figure 1 It is an embodiment disclosed by the present invention. The emergency rescue and pipeline parallel robot includes a 3-DOF parallel waist mechanism, a hand operating device, a foot operating device, and a monitoring and driving control system. The monitor is fixed on the hand operating device. Front bracket 1, where:

[0018] The 3-DOF parallel waist mechanism is composed of a front bracket 1, a rear bracket 2, three retractable first main drive rods 3-1, a second main drive rod 3-2 and a third main drive rod 3-3, One end of the above-mentioned three main driving rods is connected with the rotating pair of the front bracket 1, and the other end is connected with the rear bracket 2 spherical hinges.

[0019] The hand-operated device includes a group of front swing link mechanisms, the front swing link mechanism is composed of the front bracket 1, the first swing link 4-1, the second swing link 4-2, the third swing link 4-3, Three retractable first auxiliary dri...

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Abstract

The invention relates to a danger rescue and pipe parallel robot, comprising a 3 degree of freedom (DOF) parallel waist mechanism, a hand operating device and a foot operating device. The robot can realize integral 3-free swinging and peristaltic expansion along the forward direction. The hand operating device can realize forward moving, forward grabbing, excavating, dredging, obstacle-eliminating and the like of the robot via a group of rocker mechanisms. The foot operating device can realize forward moving, anchoring, hacking or non-returning of the robot via a group of rocker mechanisms. Comprehensive utilization of the parallel waist mechanism, the hand and foot operating devices, supporting wheels and a control device can realize automatic walking, turning, climbing, turning over andthe like of the robot. The robot is suitable for star probing, military reconnaissance, probing and eliminating of dangerous goods, earthquake field rescue and cable traction, dredging, obstacle-eliminating and the like in the straight / bend pipes for oil transport and pollution discharge and the variable diameter and vertical pipes.

Description

technical field [0001] The invention relates to the field of special robots, in particular to a emergency rescue and pipeline parallel robot. Background technique [0002] Distress rescue and pipeline robots are a kind of special robots developed based on general robot technology. They are used to do things that humans cannot do, to perform operations and rescue in small spaces that humans cannot enter (gaps caused by pipes and collapsed buildings), and to perform dangerous operations in environments that humans cannot adapt to. They are also used to do what a person would not do, to rescue or relieve a person from a situation that is dangerous, toxic, harmful, complicated and repetitive. A pipeline robot is a machine that can walk along the inner wall of a pipeline. It can carry one or more sensors and operating devices, and perform a series of pipeline inspection and maintenance operations under the remote control of the operator. Over the years, countries all over the w...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00A62B99/00
Inventor 路懿毛秉毅
Owner YANSHAN UNIV
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