Four-claw type humanoid pipe climbing robot

Abstract

The invention discloses a four-claw type humanoid pipe climbing robot. The four-claw type humanoid pipe climbing robot comprises four arms arranged symmetrically, an upper part trunk and a lower part trunk, wherein the upper trunk and the lower trunk connect the four arms into one; the four arms are all movable mechanical arms with mechanical claws at the tail ends, and are a left upper arm, a right upper arm, a left lower arm and a right lower arm respectively, the left upper arm and the right upper arm are connected to the left and right ends of the upper part trunk respectively, and the left lower arm and the right lower arm are connected to the left and right ends of the lower part trunk respectively; the four arms are connected to the two ends of the upper part trunk and the lower part trunk respectively through an extruding slide block and extruding spring mechanism, the lower part trunk and the upper part trunk are connected through a waist mechanism, the waist mechanism is a mechanism which is composed of an upper part driving steering engine, a first waist connecting frame, a middle driving steering engine, a second waist connecting frame and a lower part driving steering engine and can conduct multi-degree-of-freedom motion, and under the action of the waist mechanism and the motion of the four arms, the four-claw type humanoid pipe climbing robot can simulate the four arms of a person to achieve the requirement of pipe climbing of different types. The four-claw type humanoid pipe climbing robot is good in work stability and high in terrain adaptability.

Description

technical field [0001] The invention relates to a pipe climbing robot in the field of robots, in particular to a four-claw humanoid pipe climbing robot. Background technique [0002] With the development of modern society, more and more working environments are gradually turning to robots instead of labor. Pipelines are indispensable for factories or enterprises, but due to the intricate arrangement of pipelines, the fluid medium conveyed may be high temperature, high pressure, poisonous, and radiation. Once a leak occurs, it will cause heavy casualties and property losses. It is difficult for people to operate under such working conditions to ensure their personal safety. [0003] At present, there are many studies on pipeline robots in pipes. The movement methods of climbing rods outside pipes mainly include peristaltic, spiral, rolling, and alternate climbing, etc., but the following shortcomings are common: they cannot cross obstacles on pipes, it is difficult to Throu...

AI Technical Summary

Problems solved by technology

Pipelines are indispensable for factories or enterprises, but due to the intricate arrangement of pipelines, the fluid medium conveyed may be high temperature, high pressure, poisonous, and radiation. Once a leak occurs, it will cause heavy casualties and property losses. It is difficult for people to work under such working conditions to ensure their personal safety.

[0003] At present, there are many studies on pipeline robots in pipes. The movement methods of climbing rods outside pipes mainly include peristaltic, spiral, rolling, and alternate climbing, etc., but the following shortcomings are common: they cannot cross obstacles on pipes, it is difficult to Through curved pipes or cross pipes, the load capacity is poor and it is impossible to carry a certain weight of working equipment, and it is prone to unstable operation during movement, etc.

For example, the patented technology of "two-stage pole climbing robot" (CN 202693567 U), in which the robot climbs the pipeline through a rack and pinion mechanism installed in the middle. Although the structure is simple, the robot can only climb straight poles and Unable to climb over obstacles such as flanges

Another example is the patented technology of "clamping, telescopic and flipping integrated climbing robot" (CN 102631605 A). The robot described in this technology adopts the principle of screw screw transmission to design the telescopic mechanism, and the claw clamping mechanism does not have self-locking performance. Low work efficiency and poor load carrying capacity

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