CN112571445A - Articulated outer pipeline climbing robot - Google Patents

Abstract

The invention discloses an articulated outer pipeline climbing robot, and belongs to the technical field of climbing robots. The upper gripper and the lower gripper are symmetrically arranged at the upper end and the lower end of the body part respectively, the upper gripper and the lower gripper are identical in structure, the upper gripper comprises two clamping parts which are symmetrically arranged left and right, sliding rails II are arranged in the opening and closing directions of the clamping parts at the two sides in an extending mode, sliding blocks I matched with the sliding rails II are arranged at the two sides of the sliding rails II, the sliding blocks I at the two sides are connected with the clamping parts at the two sides respectively, and the sliding blocks I at the two sides slide along the sliding rails II under the control of a gripper steering engine; wherein the upper portion tongs and the lower portion tongs are connected with the steering wheel at the upper and lower both ends of body unit respectively, and the steering wheel is used for adjusting the angle between upper portion tongs and lower portion tongs and the pipeline. The robot has the advantages that the robot is low in flexibility and high in degree of freedom and can adapt to operation in complex environments, and the robot is used for climbing the outer pipelines in the prior art.

Description

Articulated outer pipeline climbing robot

Technical Field

The invention belongs to the technical field of climbing robots, and particularly relates to an articulated outer pipeline climbing robot.

Background

With the development of scientific technology and the improvement of the living standard of people, robots play an important role in many industries because the robots can replace human beings to complete tasks and have some characteristics which are not possessed by the human beings. In some special occasions and extreme environments, the robot can replace people to complete special tasks. Most of the existing pipeline detection equipment is that a climbing robot works by climbing a pipeline. The research of present outer pipeline climbing robot is more and more diversified, to under the environmental condition of difference, needs different climbing robot to carry out work, and the outer pipeline climbing robot of a section articulated of consequently research can freely climb and the upset is crossed the barrier and just has very important realistic meaning in the pipeline periphery.

Through retrieval, a great number of patents have been published on the joint type climbing manipulator technology, such as the Chinese patent application numbers: 2010105005342, the name of invention creation is: articulated iron tower climbing robot, this application discloses a robot for electric power iron tower climbing, mainly by a pair of arm, electronic jar, every single move mechanism to and can carry out the mechanical clamping device constitution of centre gripping to different specification angle steel. The upper ends of the two mechanical arms are connected through a mounting shaft, the electric cylinder motor support and the ejector rod are respectively connected with the two arms through pin columns, the electric cylinder drives the two arms to rotate around the mounting shaft at the upper ends of the two arms in a telescopic mode, the lower end of the mechanical arm is connected with the rotating shaft of the pitching mechanism, the mechanical arm can rotate around the rotating shaft, and the obstacle crossing function is achieved. The worm gear case of the pitching mechanism is fixedly connected with the mechanical wrist joint, so that the mechanical arm can rotate around the mechanical wrist joint to realize the turning function.

Also, for example, the Chinese patent application number is: 201911319439X, entitled: the invention discloses a transmission tower climbing robot, a system and a method, and discloses the transmission tower climbing robot, the system and the method, which comprise a frame body, wherein two sides of the frame body are respectively and symmetrically provided with a mechanical arm, and the end part of the mechanical arm and the lower end of the frame body are respectively provided with a paw; the mechanical arm comprises at least two large arms and small arms which are rotatably connected, the large arm is rotatably connected with the frame body, the small arm is rotatably connected with the paw, the paw comprises two paw parts with adjustable angles, each paw part is provided with an electromagnet, the magnetic adsorption force of the paw is changed by changing the electrifying condition of the electromagnet, the magnetic adsorption force of the paw is controlled, the rotation between the mechanical arm and the frame body is matched, the rotation between the large arms and the small arms is matched, the rotation between the small arms and the paws is matched, the angles of the paw parts are changed, the pose and motion control of the climbing robot is achieved, and the robot reaches an appointed target point.

The scheme is a good exploration for the joint type climbing manipulator technology, but a further optimization space still exists, and the exploration for the joint type climbing manipulator technology in the industry never stops.

Disclosure of Invention

1. Problems to be solved

Aiming at the defect of low flexibility of an outer pipeline climbing robot in the prior art, the invention provides an articulated outer pipeline climbing robot which is high in degree of freedom, can adapt to operation in a complex environment, can detect an outer pipeline and can regularly maintain the pipeline in a use state.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The invention relates to an articulated outer pipeline climbing robot which comprises a body part, wherein an upper gripper and a lower gripper are symmetrically arranged at the upper end and the lower end of the body part respectively, the upper gripper and the lower gripper are of the same structure, the upper gripper comprises two clamping parts which are symmetrically arranged from left to right, a sliding rail II is arranged in the opening and closing direction of the clamping parts at two sides in an extending manner, sliding blocks I matched with the sliding rail II are arranged at two sides of the sliding rail II, the sliding blocks I at two sides are respectively connected with the clamping parts at two sides, and the sliding blocks I at two sides slide along the sliding rail II under the control of a gripper steering engine; wherein the upper portion tongs and the lower portion tongs are connected with the steering wheel at the upper and lower both ends of body unit respectively, and the steering wheel is used for adjusting the angle between upper portion tongs and lower portion tongs and the pipeline.

As a further improvement of the invention, the peripheries of two sides of the sliding rail II are respectively sleeved with a first sliding block fixing piece and a second sliding block fixing piece, the first sliding block fixing piece and the second sliding block fixing piece have the same structure, the first sliding block matched with the sliding rail is arranged inside the first sliding block fixing piece and the second sliding block fixing piece, one side of the first sliding block fixing piece is connected with a gripper steering engine through a first gripper connecting rod, and the other side of the first sliding block fixing piece is connected with a clamping part on the left side; and the other side of the sliding block fixing part II is connected with the clamping part on the right side.

As a further improvement of the invention, one sides of the first gripper connecting rod and the second gripper connecting rod, which are far away from the second sliding rail, are connected with a sliding block connecting plate, the bottom of the sliding block connecting plate is provided with a second sliding block matched with the first sliding rail, the sliding block connecting plate is connected with the gripper steering engine, the first sliding rail is positioned at the center of one side of the second sliding rail, and the first sliding rail and the second sliding rail are vertically distributed.

As a further improvement of the invention, the gripper steering engine is connected with the first steering engine connecting rod through the steering wheel, and one side of the first steering engine connecting rod, which is far away from the gripper steering engine, is connected with the slider connecting plate through the second steering engine connecting rod.

As a further improvement of the invention, the upper gripper also comprises a gripper mounting plate, a first sliding rail and a second sliding rail are mounted on one side, close to the body part, of the gripper mounting plate, an avoidance groove and a avoidance groove are respectively formed in positions, corresponding to the first sliding block fixing piece and the second sliding block fixing piece, of the gripper mounting plate, and one sides, far away from the body part, of the first sliding block fixing piece and the second sliding block fixing piece are respectively connected with the left side clamping part and the right side clamping part.

As a further improvement of the invention, the gripper steering engine is fixed on the gripper mounting plate through the steering engine mounting plate, wherein the steering engine mounting plate comprises a supporting plate for supporting the gripper steering engine, limiting plates are arranged at two ends of one side of the supporting plate close to the body part, the gripper steering engine is embedded between the limiting plates at two ends, and the other side of the supporting plate far away from the body part is connected with the gripper mounting plate.

As a further improvement of the invention, the two ends of the clamping part are oppositely and obliquely and inwardly extended to form clamping sections, an inwardly sunken mounting groove is formed between the clamping sections at the two sides, and an adsorption magnet is arranged in the mounting groove.

As a further improvement of the invention, the body part comprises a double-shaft steering engine II arranged at the central position, the upper end and the lower end of the double-shaft steering engine II are respectively provided with an upper linear joint and a lower linear joint, the upper linear joint and the lower linear joint are identical in structure and are symmetrically distributed, the upper linear joint comprises a body connecting piece I, the top of the body connecting piece I is rotatably connected with the double-shaft steering engine through a long U-shaped support I, and the top of the double-shaft steering engine I is connected with the upper hand grip through a short U-shaped support I.

As a further improvement of the invention, the lower linear joint comprises a second body connecting piece, the bottom of the second body connecting piece is rotatably connected with a third double-shaft steering engine through a third long U-shaped support, and the bottom of the third double-shaft steering engine is connected with a lower hand grip through a third U-shaped support.

As a further improvement of the invention, the clamping part is connected with the first sliding block fixing piece or the second sliding block fixing piece through the clamping fixing block, and the clamping fixing block is of an L-shaped structure.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) the upper gripper comprises two clamping parts which are bilaterally symmetrically arranged, a second sliding rail is arranged in the opening and closing direction of the clamping parts on two sides in an extending mode, first sliding blocks matched with the second sliding rail are arranged on two sides of the second sliding rail, the first sliding blocks on two sides are simultaneously connected with the gripper steering engine and slide along the length direction of the second sliding rail under the control of the gripper steering engine, and then the clamping parts on two sides are driven to move along the opening and closing direction of the upper gripper, so that the opening and closing angle of the upper gripper is controlled, the robot is convenient to grip pipelines with different sizes, the opening and closing movement of the upper gripper can be easily achieved through the matching of the sliding blocks and the sliding rails, the opening and closing angle of the upper gripper is convenient to adjust, the robot is more flexible and changeable to use, simple in structure.

(2) According to the articulated outer pipeline climbing robot, the upper gripper and the lower gripper are respectively connected with the steering engines at the upper end and the lower end of the body part, the steering engines are used for adjusting the angle between the upper gripper and the lower gripper and a pipeline, namely, the body part and the pipeline are adjusted to be kept in a parallel state, so that the upper gripper and the lower gripper are kept in a vertical state with the pipeline, the upper gripper and the lower gripper can be guaranteed to be better gripped at the periphery of the pipeline, a better holding effect is achieved, the adjustment angles of the upper gripper and the lower gripper are flexible, and the robot is more convenient to use.

(3) According to the joint type outer pipeline climbing robot, the first slider fixing piece and the second slider fixing piece are respectively sleeved on the peripheries of the two sides of the second sliding rail, the first slider matched with the second sliding rail is arranged inside the first slider fixing piece and the second slider fixing piece, and the first slider fixing piece and the second slider fixing piece are connected with the clamping parts on the two sides and the gripper steering engine, so that the first slider is prevented from being influenced in movement, the structural strength of the whole device can be improved, and later maintenance is facilitated.

(4) According to the joint type outer pipeline climbing robot, the clamping sections are arranged at the two ends of the clamping part in the oppositely inwards inclined extending mode, the clamping sections at the two sides are designed in the inclined mode, the clamping parts can be attached to pipelines better, the clamping parts are in point or line contact with the pipelines, the inner inclined planes of the clamping sections at the two sides are in contact with the pipelines, the contact area is increased, and the clamping stability is guaranteed. Wherein be provided with inside sunken mounting groove between the centre gripping section bottom of both sides, the mounting groove does not run through the whole thickness of clamping part, and is provided with adsorption magnet in the mounting groove, and adsorption magnet can effectively increase the stiction between clamping part and the pipeline, further guarantees the laminating effect of upper portion tongs and pipeline.

(5) According to the joint type outer pipeline climbing robot, one sides, away from the slide rails, of the first gripper connecting rod and the second gripper connecting rod are connected with the slide block connecting plate, the slide blocks matched with the slide rails are arranged at the bottom of the slide block connecting plate, the slide block connecting plate is connected with the gripper steering engine, the slide blocks move back and forth on the slide rails to drive the first gripper connecting rod and the second gripper connecting rod to move back and forth, the slide blocks on the two sides are driven to slide left and right along the slide rails to realize opening and closing angle adjustment of the upper grippers, the two slide rails and the slide blocks are matched with each other, so that the robot is smoother in movement, more flexible in angle adjustment range, higher in degree of freedom and wider in.

(6) According to the joint type outer pipeline climbing robot, due to the design of the connecting rod structures, the installation area of the whole device can be effectively reduced, the opening and closing angle of the upper hand grip can be accurately adjusted within a limited position range, the flexibility is high, and the joint type outer pipeline climbing robot can be suitable for operation in a complex environment.

Drawings

FIG. 1 is a schematic structural diagram of an articulated outer pipe climbing robot according to the present invention;

FIG. 2 is a schematic view of the upper hand grip of the present invention;

FIG. 3 is a schematic structural view of the upper gripper of the present invention after removing the gripper web;

FIG. 4 is a schematic structural view of a gripper mounting plate according to the present invention;

FIG. 5 is a schematic structural view of a gripper connecting plate according to the present invention;

FIG. 6 is a schematic structural diagram of a steering engine mounting plate according to the present invention;

FIG. 7 is a schematic view of the structure of the clamping portion of the present invention;

fig. 8 is a schematic view of the structure of the body part according to the present invention.

The reference numbers in the figures are:

100. an upper gripper; 110. the gripper connecting plate; 111. connecting columns; 112. a first connecting section; 113. a support section; 114. a limiting section; 115. a second connecting section; 120. a gripper mounting plate; 121. a first slide rail; 11. a slider connecting plate; 122. a second slide rail; 12. A first slide block fixing piece; 13. a second slide block fixing part; 123. avoiding the first groove; 124. avoiding the second groove; 130. a gripper steering engine; 131. A rudder wheel; 132. a steering engine mounting plate; 101. a support plate; 102. a limiting plate; 103. a connecting plate; 141. a first steering engine connecting rod; 142. a steering engine connecting rod II; 143. the first gripper connecting rod; 144. a second gripper connecting rod; 151. clamping a fixed block; 152. A clamping portion; 51. a clamping section; 52. mounting grooves; 153. adsorbing a magnet;

200. a body part; 201. a short U bracket I; 202. a double-shaft steering engine I; 203. a long U bracket I; 204. a first body connecting piece; 205. a second long U-shaped bracket; 206. a double-shaft steering engine II; 207. a second short U-shaped bracket; 208. a second body connecting piece; 209. A long U-shaped bracket III; 210. a double-shaft steering engine III; 211. a third short U-shaped bracket; 300. a lower hand grip.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The present invention will be further described with reference to the following examples.

Example 1

The articulated outer pipeline climbing robot combined with the figures 1-1 in the embodiment comprises a body part 200, wherein an upper hand grip 100 and a lower hand grip 300 are symmetrically arranged at the upper end and the lower end of the body part 200 respectively, the upper hand grip 100 and the lower hand grip 300 are identical in structure, and the upper hand grip 100 and the lower hand grip 300 are arranged on the same side of the body part 200, so that the pipeline can be conveniently gripped up and down, and the pipe gripping strength is ensured. As shown in fig. 2, in this embodiment, the upper gripper 100 includes two clamping portions 152 symmetrically arranged left and right, two sliding rails two 122 are extended in the opening and closing direction of the clamping portions 152 on two sides, two sliding blocks one matched with the sliding rails two 122 are arranged on two sides of the sliding rails two 122, the sliding blocks one on two sides are respectively connected with the clamping portions 152 on two sides, and the sliding blocks one on two sides slide along the sliding rails two 122 under the control of the gripper steering engine 130, that is, the sliding blocks one on two sides are simultaneously connected with the gripper steering engine 130 and slide along the length direction of the sliding rails two 122 under the control of the gripper steering engine 130, so as to drive the clamping portions 152 on two sides to move along the opening and closing direction of the upper gripper 100, so as to control the opening and closing angle of the upper gripper 100, and be convenient for gripping pipes with different sizes, the opening and closing movement of the upper gripper 100 can be easily realized through the matching of the sliding blocks and, the use is more nimble changeable, and simple structure, the later maintenance of being convenient for. The upper hand grip 100 and the lower hand grip 300 are respectively connected with steering gears at the upper end and the lower end of the body part 200, the steering gears are used for adjusting the angle between the upper hand grip 100 and the lower hand grip 300 and a pipeline, namely, the body part 200 and the pipeline are adjusted to be kept in a parallel state, so that the upper hand grip 100 and the lower hand grip 300 and the pipeline are kept in a vertical state, the upper hand grip 100 and the lower hand grip 300 can be better clamped at the periphery of the pipeline, a better clamping effect is achieved, the angle adjustment of the upper hand grip 100 and the lower hand grip 300 is flexible, and the use is more convenient.

As shown in fig. 2, in this embodiment, the peripheries of the two sides of the second sliding rail 122 are respectively sleeved with a first slider fixing piece 12 and a second slider fixing piece 13, the first slider fixing piece 12 and the second slider fixing piece 13 have the same structure, and a first slider matched with the second sliding rail 122 is arranged inside the first slider fixing piece 12 and the second slider fixing piece 13, and is connected with the clamping portions 152 on the two sides and the gripper steering engine 130 through the first slider fixing piece 12 and the second slider fixing piece 13, so that not only is the movement of the first slider prevented from being influenced, but also the structural strength of the whole device can be improved, and the later maintenance is facilitated. Specifically, in this embodiment, one side of the first slider fixing piece 12 is connected to the gripper steering engine 130 through the first gripper connecting rod 143, and the other side of the first slider fixing piece 12 is connected to the clamping portion 152 on the left side; the second sliding block fixing piece 13 is connected with the gripper steering engine 130 through the second gripper connecting rod 144, and the other side of the second sliding block fixing piece 13 is connected with the clamping part 152 on the right side. The first slider fixing piece 12 and the second slider fixing piece 13 are designed to be U-shaped structures, two sides of a U-shaped opening of the first slider fixing piece 12 are connected with the left clamping part 152, and one side end face, away from the opening, of the first slider fixing piece 12 is connected with the first gripper connecting rod 143; two sides of the U-shaped opening of the second slider fixing piece 13 are connected with the right clamping part 152, and one side end face, far away from the opening, of the second slider fixing piece 13 is connected with the second gripper connecting rod 144. As shown in fig. 2, in this embodiment, the first gripper connecting rod 143 is connected to one side of the second gripper connecting rod 144, which is far away from the second slide rail 122, and then connected to the gripper steering engine 130, and the first gripper connecting rod 143 and the second gripper connecting rod 144 are driven by the same gripper steering engine 130 to drive the first sliders on the two sides of the second slide rail 122 to slide along the length direction of the second slide rail 122, so that not only can steering engine equipment be saved, but also the movement synchronization of the first sliders on the two sides of the second slide rail 122 can be ensured, the clamping portions 152 on the two sides can be close to or far away from each other, and further the opening and closing angle. The steering engine drives the connecting rod structure to move, the upper portion gripper 100 is opened and closed by matching with the sliding rail sliding block, the gripping and closing of the pipeline are completed, the whole structure is simple, and the movement is flexible.

As shown in fig. 7, in the present embodiment, both ends of the clamping portion 152 are inclined inward relatively and extend to form the clamping sections 51, and the inclined design of the clamping sections 51 on both sides facilitates better fitting with the pipeline, so as to ensure that the clamping sections are not only in point or line contact with the pipeline, but also in contact with the pipeline by the inner inclined surfaces of the clamping sections 51 on both sides, so that the contact area is increased, and the clamping stability is ensured. Wherein be provided with inside sunken mounting groove 52 between the both sides centre gripping section 51 bottom, mounting groove 52 does not run through the whole thickness of clamping part 152, and is provided with adsorption magnet 153 in the mounting groove 52, and adsorption magnet 153 can effectively increase the static friction between clamping part 152 and the pipeline, further guarantees the laminating effect of upper portion tongs 100 and pipeline. Wherein the height of the top of the adsorption magnet 153 is not more than the height of the bottom of the clamping sections 51 at the two sides, thereby avoiding influencing the clamping effect. Clamping part 152 links to each other with slider mounting 12 or slider mounting two 13 through centre gripping fixed block 151 in this embodiment, and centre gripping fixed block 151 is L type structure, and a side of the L type structure of centre gripping fixed block 151 links to each other with the bottom plane of clamping part 152, and the opposite side perpendicular of the L type structure of centre gripping fixed block 151 links to each other with slider mounting 12 or slider mounting two 13, has guaranteed connection structure's intensity, has further guaranteed the stability of motion.

In this embodiment, the lower hand grip 300 and the upper hand grip 100 have the same structure and are symmetrically distributed, and detailed description of the structure of the lower hand grip 300 is omitted here.

As shown in fig. 6, in this embodiment, the body part 200 includes a second double-shaft steering engine 206 disposed at the center, and the upper and lower ends of the second double-shaft steering engine 206 are connected to the upper linear joint and the lower linear joint through a second long U bracket 205 and a second short U bracket 207, respectively, and the upper linear joint and the lower linear joint have the same structure and are symmetrically distributed. The upper linear joint comprises a first body connecting piece 204, the top of the first body connecting piece 204 is rotatably connected with a first double-shaft steering engine 202 through a first long U-shaped support 203, the top of the first double-shaft steering engine 202 is connected with the upper hand grab 100 through a first short U-shaped support 201, the first double-shaft steering engine 202 can swing up and down and is used for adjusting the angle between the upper hand grab 100 and a pipeline, namely, the upper hand grab 100 and the pipeline are adjusted to be in a vertical state, and the grabbing force between the upper hand grab 100 and the pipeline is the best in the state. The lower linear joint comprises a second body connecting piece 208, the bottom of the second body connecting piece 208 is rotatably connected with a third double-shaft steering engine 210 through a third long U support 209, the bottom of the third double-shaft steering engine 210 is connected with a lower gripper 300 through a third U support 211, and the third double-shaft steering engine 210 can swing up and down and is used for adjusting the angle between the lower gripper 300 and a pipeline, namely, the lower gripper 300 and the pipeline are adjusted to be kept in a vertical state, and the gripping force between the whole device and the pipeline can be ensured. The upper portion and the lower portion of the body part 200 can be bent by the double-shaft steering engine two 206 located at the center of the body part 200 to form a V-shaped structure, a space is reserved for an obstacle outside a pipeline at the center of the body part 200, obstacle crossing climbing is achieved, the degree of freedom is high, climbing and obstacle crossing under the complex environment can be adapted, the body part 200 is simple in structure, operation is convenient and fast, and later maintenance is convenient.

Example 2

The basic structure of the articulated outer pipeline climbing robot of this embodiment is the same as that of embodiment 1, further, as shown in fig. 2 and fig. 3, in this embodiment, one sides of the first gripper connecting rod 143 and the second gripper connecting rod 144 away from the second slide rail 122 are both connected to the slider connecting plate 11, a second slider matched with the first slide rail 121 is disposed at the bottom of the slider connecting plate 11, and the slider connecting plate 11 is connected to the gripper steering engine 130, wherein the first slide rail 121 is located at a central position of one side of the second slide rail 122, and the first slide rail 121 and the second slide rail 122 are vertically distributed, the second slider moves back and forth on the first slide rail 121 to drive the first gripper connecting rod 143 and the second gripper connecting rod 144 to move back and forth, and further drive the first sliders on both sides to slide left and right along the second slide rail 122, so as to realize the adjustment of the opening and closing angle of the upper gripper, the angle adjusting range is more flexible, the degree of freedom is higher, and the application range is wider.

In this embodiment, the gripper steering engine 130 is connected to the first steering engine connecting rod 141 through the rudder plate 131, and one side of the first steering engine connecting rod 141, which is far away from the gripper steering engine 130, is connected to the slider connecting plate 11 through the second steering engine connecting rod 142. Specifically, in this embodiment, one sides of the first gripper connecting rod 143 and the second gripper connecting rod 144, which are far away from the second sliding rail 122, are all sleeved on the driven shaft, the driven shaft sequentially passes through the first gripper connecting rod 143 and the second gripper connecting rod 144 and fixes the first gripper connecting rod 143 and the second gripper connecting rod 144 on the slider connecting plate 11, one side of the slider connecting plate 11, which is close to the gripper steering gear 130, is connected with the second steering gear connecting rod 142, the other side of the second steering gear connecting rod 142 is connected with the first steering gear connecting rod 141, the other side of the first steering engine connecting rod 141, which is far away from the second steering engine connecting rod 142, is connected with the hand grip steering engine 130, through the design of a plurality of connecting rod structures, not only can effectively reduce the installation area of whole device, can also guarantee to carry out more accurate regulation to the angle of opening and shutting of upper portion tongs 100 in limited position range, the flexibility ratio is higher, can adapt to and carry out the operation under the environment of complicacy.

Example 3

The basic structure of the articulated outer pipeline climbing robot of this embodiment is the same as that of embodiment 1, and further, as shown in fig. 2 and 3, in this embodiment, the upper hand grip 100 further includes a hand grip mounting plate 120, a first sliding rail 121 and a second sliding rail 122 are mounted on the hand grip mounting plate 120 near one side of the body portion 200, and a first avoiding groove 123 and a second avoiding groove 124 are respectively formed in positions of the hand grip mounting plate 120 corresponding to the first slider fixing member 12 and the second slider fixing member 13, the first avoiding groove 123 and the second avoiding groove 124 are used for avoiding inner sides of U-shaped openings of the first slider fixing member 12 and the second slider fixing member 13, specifically, as shown in the figure, the second sliding rail 122 is located at one side edge of the hand grip mounting plate 120, outer sides of the U-shaped openings of the first slider fixing member 12 and the second slider fixing member 13 are located at outer sides of the hand grip mounting plate 120, and inner sides of the U-shaped openings of the first slider fixing member 12 and the first groove 123 is connected with the clamping fixing blocks 151 on the two sides, so that the influence on the normal sliding motion of the first sliding block is avoided, wherein the extension lengths of the avoidance groove 124 and the avoidance groove 123 are matched with the sliding range of the first sliding block fixing piece 12 and the second sliding block fixing piece 13. Wherein, the sides of the first slider fixing member 12 and the second slider fixing member 13 far away from the body part 200 are respectively connected with the left side clamping part 152 and the right side clamping part 152. The outer edge of the gripper mounting plate 120 is further provided with a pressure sensor for detecting the pressure between the clamping parts 152 on the two sides and the pipeline, when the pressure sensor detects that the pressure between the clamping parts 152 on the two sides and the pipeline reaches a set value, a signal is transmitted to the control center, and the control center controls the gripper steering engine 130 to stop moving, so that the pipeline is gripped.

In this embodiment, the hand grip steering gear 130 is fixed on the hand grip mounting plate 120 through the steering gear mounting plate 132, wherein the steering gear mounting plate 132 includes a supporting plate 101 for supporting the hand grip steering gear 130, both ends of one side of the supporting plate 101 close to the body portion 200 are provided with limiting plates 102, the hand grip steering gear 130 is embedded between the limiting plates 102 at both ends, and the other side of the supporting plate 101 far away from the body portion 200 is connected with the hand grip mounting plate 120.

In this embodiment, the upper hand grip 100 is connected to the top of the trunk portion 200 through a hand grip connecting plate 110, and the hand grip connecting plate 110 is connected to the hand grip mounting plate 120 through a connecting column 111. Specifically, as shown in fig. 5, in this embodiment, the hand grip connecting plate 110 includes a first connecting section 112 connected to the body portion 200, a steering engine fixing section having a U-shaped structure is disposed on one side of the first connecting section 112 facing the body portion 200, one side of the hand grip steering engine 130 away from the steering engine mounting plate 132 is clamped into a U-shaped opening of the steering engine fixing section, the steering engine fixing section includes two limiting sections 114 parallel to each other, top portions of the two limiting sections 114 are connected to a supporting section 113, a bottom portion of the left limiting section 114 is connected to the first connecting section 112, the left limiting section 114 and the first connecting section 112 are vertically distributed, a second connecting section 115 is horizontally extended outward from a bottom portion of the right limiting section 114, and the first connecting section 112 and the second connecting section 115 are both connected to the hand grip mounting plate 120 through a connecting column 111.

When the pipe clamping device is used specifically in this embodiment, firstly, the angle adjustment is performed through the two-shaft steering engine 206 of the body part 200, so that the body part 200 and a pipe are kept in a parallel state, then the pipe clamping angles of the upper hand grip 100 and the lower hand grip 300 are respectively adjusted through the two-shaft steering engine 202 and the three-shaft steering engine 210, so that the upper hand grip 100 and the lower hand grip 300 are kept in a perpendicular state, the openings at the inner sides of the clamping parts 152 at the two sides of the upper hand grip 100 and the lower hand grip 300 are aligned to the pipe, and finally, the sizes of the openings of the upper hand grip 100 and the lower hand grip 300 are adjusted through the mutual matching of the hand steering engine 130, the multiple connecting rod structures and the sliding rail sliding blocks, so that the upper hand grip 100 and the lower hand grip 300 are tightly attached to the periphery of the pipe, a good gripping success rate is achieved, climbing detection and regular maintenance treatment on the outer pipe are conveniently achieved, and when the set value is reached, the gripper steering engine 130 is controlled to stop moving. The manipulator device of this embodiment can also freely scramble and overturn on the pipeline, when needs scramble on the pipeline, loosen lower part tongs 300 earlier, the realization of the three biax steering wheel of rethread body unit 200 is adjusted body unit 200, make lower part tongs 300 grip the pipeline once more after rising a section distance, loosen upper portion tongs 100 back of rising corresponding distance again this moment, accomplish the ascending motion, the descending motion principle is with the ascending principle, no longer describe here, the wriggling like worm rises or the wriggling descends on the pipeline promptly, thereby realize upwards or climbing the pipeline downwards. When the obstacle is crossed in the overturning in the embodiment, the upper hand grab 100 is firstly loosened, then the body unit 200 is twisted by the three double-shaft steering engines of the body unit 200, finally the body unit 200 forms a V-shaped structure, so that a space is reserved for an obstacle, the upper hand grab 100 can cross the obstacle and can be used for grabbing the obstacle on an upper pipe of the obstacle, the overturning and the obstacle crossing are realized, the degree of freedom is high, and the obstacle crossing device can adapt to climbing and crossing under a complex environment.

The examples of the present invention are only for describing the preferred embodiments of the present invention, and not for limiting the concept and scope of the present invention, and various modifications and improvements of the technical solution of the present invention made by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides an articulated outer pipeline climbing robot which characterized in that: the upper end and the lower end of the body part (200) are symmetrically provided with an upper gripper (100) and a lower gripper (300) respectively, the upper gripper (100) and the lower gripper (300) have the same structure, the upper gripper (100) comprises two clamping parts (152) which are symmetrically arranged from left to right, sliding rails (122) are arranged in the opening and closing directions of the clamping parts (152) at the two sides in an extending mode, sliding blocks (I) matched with the sliding rails (122) are arranged at the two sides of the sliding rails (122), the sliding blocks (I) at the two sides are connected with the clamping parts (152) at the two sides respectively, and the sliding blocks (I) at the two sides slide along the sliding rails (122) under the control of a gripper steering engine (130); wherein the upper part grab handle (100) and the lower part grab handle (300) are respectively connected with the steering gears at the upper end and the lower end of the body unit (200), and the steering gears are used for adjusting the angles between the upper part grab handle (100) and the lower part grab handle (300) and the pipeline.

2. The articulated external pipe climbing robot of claim 1, wherein: the periphery of the two sides of the second sliding rail (122) is respectively sleeved with a first sliding block fixing piece (12) and a second sliding block fixing piece (13), the structures of the first sliding block fixing piece (12) and the second sliding block fixing piece (13) are the same, a first sliding block matched with the second sliding rail (122) is arranged inside the first sliding block fixing piece (12) and the second sliding block fixing piece (13), one side of the first sliding block fixing piece (12) is connected with a gripper steering engine (130) through a gripper connecting rod I (143), and the other side of the first sliding block fixing piece (12) is connected with a clamping part (152) on the left side; the second sliding block fixing piece (13) is connected with the gripper steering engine (130) through a second gripper connecting rod (144), and the other side of the second sliding block fixing piece (13) is connected with the clamping part (152) on the right side.

3. The articulated external pipe climbing robot of claim 2, wherein: one sides, far away from the second sliding rail (122), of the first gripper connecting rod (143) and the second gripper connecting rod (144) are connected with a sliding block connecting plate (11), a second sliding block matched with the first sliding rail (121) is arranged at the bottom of the sliding block connecting plate (11), the sliding block connecting plate (11) is connected with the gripper steering engine (130), the first sliding rail (121) is located at the center of one side of the second sliding rail (122), and the first sliding rail (121) and the second sliding rail (122) are vertically distributed.

4. The articulated external pipe climbing robot of claim 3, wherein: the gripper steering engine (130) is connected with a first steering engine connecting rod (141) through a steering wheel (131), and one side, far away from the gripper steering engine (130), of the first steering engine connecting rod (141) is connected with the sliding block connecting plate (11) through a second steering engine connecting rod (142).

5. The articulated external pipe climbing robot of claim 4, wherein: the upper gripper (100) further comprises a gripper mounting plate (120), a first sliding rail (121) and a second sliding rail (122) are mounted on one side, close to the body part (200), of the gripper mounting plate (120), avoidance grooves (123) and avoidance grooves (124) are formed in positions, corresponding to the first slider fixing piece (12) and the second slider fixing piece (13), of the gripper mounting plate (120), and one side, far away from the body part (200), of the first slider fixing piece (12) and the second slider fixing piece (13) is connected with the left side clamping part (152) and the right side clamping part (152) respectively.

6. The articulated external pipe climbing robot of claim 5, wherein: the hand grip steering gear (130) is fixed on the hand grip mounting plate (120) through the steering gear mounting plate (132), wherein the steering gear mounting plate (132) comprises a supporting plate (101) used for supporting the hand grip steering gear (130), two ends of one side, close to the body part (200), of the supporting plate (101) are respectively provided with a limiting plate (102), the hand grip steering gear (130) is embedded between the limiting plates (102) at two ends, and the other side, far away from the body part (200), of the supporting plate (101) is connected with the hand grip mounting plate (120).

7. The articulated external pipe climbing robot of claim 6, wherein: the two ends of the clamping part (152) extend inwards in a relatively inclined mode to form clamping sections (51), an inwards concave mounting groove (52) is formed between the clamping sections (51) on the two sides, and an adsorption magnet (153) is arranged in the mounting groove (52).

8. The articulated outer pipe climbing robot of any one of claims 1-7, wherein: the body part (200) comprises a double-shaft steering engine II (206) arranged at the center, the upper end and the lower end of the double-shaft steering engine II (206) are respectively provided with an upper linear joint and a lower linear joint, the upper linear joint and the lower linear joint are identical in structure and are symmetrically distributed, the upper linear joint comprises a body connecting piece I (204), the top of the body connecting piece I (204) is rotatably connected with the double-shaft steering engine I (202) through a long U support I (203), and the top of the double-shaft steering engine I (202) is connected with the upper grab handle (100) through a short U support I (201).

9. The articulated external pipe climbing robot of claim 8, wherein: the lower linear joint comprises a second body connecting piece (208), the bottom of the second body connecting piece (208) is rotatably connected with a third double-shaft steering engine (210) through a third long U-shaped support (209), and the bottom of the third double-shaft steering engine (210) is connected with a lower gripper (300) through a third U-shaped support (211).

10. The articulated external pipe climbing robot of claim 2, wherein: the clamping part (152) is connected with the first sliding block fixing piece (12) or the second sliding block fixing piece (13) through a clamping fixing block (151), and the clamping fixing block (151) is of an L-shaped structure.

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