The invention relates to a four-leg parallel pipeline robot which comprises a posture control mechanism, a walking mechanism, a rotating platform, a function module and a center frame. The four identical posture control mechanisms are evenly distributed on the center frame, and each posture control mechanism is composed of a lead screw nut, a ball foot, a universal joint and a stepping motor. The four posture control mechanisms are connected through the three connecting rods respectively to form a parallel system, the sliding blocks slide by controlling rotation of the lead screw nuts, then the posture of the machine is controlled, and then the functions of reducing and passing through the special-shaped pipe are achieved. The tail end of each posture control mechanism is connected with the corresponding walking mechanism, and the walking mechanisms rotate by a certain angle through connection of the wheel clutches so that the obstacle crossing function can be achieved. And four rotating platforms are uniformly distributed on the central frame in a staggered manner and are connected with functional modules. The robot has the advantages of flexible obstacle avoidance, reducing and special pipe passing, can adapt to more pipelines with complex shapes and different pipe diameters, realizes target functions, and greatly improves the working efficiency.
本发明涉及一种四腿并联管道机器人,包括姿态控制机构、行走机构、转动平台、功能模块以及中心框架;四个相同的姿态控制机构均布在中心框架上,姿态控制机构由丝杆螺母、球脚、万向节和步进电机组成。四个姿态控制机构间分别由三根连接杆连接,组成一个并联系统,通过控制丝杆螺母的转动,使滑块滑动进而控制机器姿态,进而实现变径、过异型管的功能。每个姿态控制机构末端连接行走机构,通过轮子离合器的接合,使行走机构旋转一定角度以此实现越障功能。中心框架上错开均布四个转动平台,其上连接功能模块。本发明具有灵活避障,变径和过异型管的优点,能够适应更多形状复杂、管径不同的管道,实现目标功能,极大提高了工作效率。
High-trafficability four-leg parallel pipeline robot
一种高通过性四腿并联管道机器人
2024-06-14
Patent
Electronic Resource
Chinese
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