Outer pipeline climbing manipulator device

Abstract

The invention discloses an outer pipeline climbing manipulator device, and belongs to the technical field of manipulators. The outer pipeline climbing manipulator device comprises a body unit, whereinan upper gripper and a lower gripper are symmetrically arranged at the upper end and the lower end of the body unit respectively; the upper gripper and the lower gripper are the same in structure; anupper gripper steering engine and a lower gripper steering engine are arranged on the upper gripper and the lower gripper respectively; the upper gripper steering engine and the lower gripper steering engine are used for adjusting the opening and closing angles of the upper gripper and the lower gripper respectively; the upper gripper and the lower gripper are connected with the steering enginesat the upper end and the lower end of the body unit respectively; and the steering engines are used for adjusting the pipe holding angles of the upper gripper and the lower gripper. Aiming at the defect that in the prior art, an outer pipeline with a small pipe diameter generally needs to be climbed manually for detection and maintenance, the outer pipeline climbing manipulator device is high in degree of freedom, can adapt to operation in a complex environment, can detect outer pipelines and can also maintain the pipelines in a using state at regular intervals.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and more specifically relates to an outer pipe climbing manipulator device. Background technique [0002] Some of the existing pipeline inspection equipment, most of which are wheeled climbing robots, work by climbing into the pipeline to adapt to the working environment with a relatively large inner diameter of the pipeline, but the diameter of the gas pipeline is small, and internal inspection cannot be performed. , only external pipeline inspection can be performed. At present, most of this kind of work is carried out manually, with high risk factor, heavy workload and low efficiency. Therefore, it is extremely important to develop a manipulator that can climb along the outer pipeline with a smaller diameter. It can not only detect the outer pipeline, but also perform regular maintenance on the pipeline in use. [0003] After retrieval, a large number of patents have been published on t...

AI Technical Summary

Problems solved by technology

[0007] Aiming at the shortcomings in the prior art that external pipes with small diameters usually need to be manually climbed for inspection and maintenance, the present invention provides an external pipe climbing manipulator device, which has a high degree of freedom and can be adapted to work in complex environments. Not only can the external pipeline inspection be carried out, but also the regular maintenance of the pipeline in use can be carried out, which has high theoretical and practical significance

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