CN206831052U - Deformable micro-pipe climbing robot - Google Patents
Deformable micro-pipe climbing robot Download PDFInfo
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- CN206831052U CN206831052U CN201720644369.5U CN201720644369U CN206831052U CN 206831052 U CN206831052 U CN 206831052U CN 201720644369 U CN201720644369 U CN 201720644369U CN 206831052 U CN206831052 U CN 206831052U
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- hoofing part
- climbing robot
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Abstract
The utility model discloses deformable micro-pipe climbing robot, including fuselage main frame, deformation driving slide block mechanism, multiple support hoofing part mechanisms, power take-off mechanism；Fuselage main frame is provided with sliding bar at center；Multiple support hoofing part mechanisms are circumferentially arranged around the outer wall of fuselage main frame；It is parallelogram shape to support hoofing part mechanism, and the support hoofing part mechanism of parallelogram like, wherein while being fixedly connected on the outer wall of fuselage main frame, three active edges junctions of remainder of the support hoofing part mechanism of parallelogram like are movably hinged；The support hoofing part deformation of deformation driving slide block mechanism driving parallelogram like；Power take-off mechanism drives timing belt to rotate.Deformable micro-pipe climbing robot provided by the utility model, it has the pipeline of deformable adaptation different tube diameters concurrently and independently drives the function of creeping.
Description
Technical field
It the utility model is related to intelligent robot equipment technology field, more particularly to deformable micro-pipe climbing robot.
Background technology
It is well known that robot is the automatic installations for performing work.Its task is assistance or substitution human work
Work, such as production industry, construction industry, or dangerous work.As the improvement of people's living standards, our daily life
Also increasingly us are helped to complete a few thing by robot, such as：The robot of job shop, the machine for performing task of taking photo by plane
Device people and anthropomorphic robot of simulation human body compound action etc.；
Robot all has a wide range of applications in many industry fields, and it not only can be in adverse circumstances such as poisonous, dust
Lower progress can also assist a physician and be performed the operation, while help the effective health of handicapped patients for people's operation, and in medical field
It is multiple, it is also of common occurrence in the field such as amusement and manual service in addition.Modern machines people is also more and more intelligent, can be preferably real
Existing interactive capability.
But under some specific work condition environments, the common robot of tradition still can not realize that normal work is made
Industry；Such as the operation in pipeline platform, it requires that robot will creep walking in pipeline, but also it is straight to adapt to pipeline
Footpath changes and realizes the deformation adapted to and creep action.
It will be apparent that ordinary robot does not adapt to pipe diameter change and realizes and creep freely in the prior art, directly
To the corresponding job requirements of completion.
Utility model content
The purpose of this utility model is to provide a kind of deformable micro-pipe climbing robot, to solve the above problems.
In order to achieve the above object, the technical solution of the utility model is realized in：
The utility model provides a kind of deformable micro-pipe climbing robot, including fuselage main frame, deformation driving are slided
Block mechanism, multiple support hoofing part mechanisms, power take-off mechanism；
Wherein, it is provided with sliding bar at the fuselage main frame center；
Multiple support hoofing part mechanisms are circumferentially arranged around the outer wall of the fuselage main frame；The support hoofing part
Mechanism is parallelogram shape, and the support hoofing part mechanism of parallelogram like is wherein while be fixedly connected on institute
On the outer wall for stating fuselage main frame, three active edges junctions of remainder of the support hoofing part mechanism of parallelogram like
It is movably hinged；
One end of the deformation driving slide block mechanism is slidably matched with the sliding bar, the deformation driving slide block mechanism
One in three active edges of the other end and the support hoofing part mechanism is be hinged and is used for the institute for driving parallelogram like
State support hoofing part deformation；
And the upper of support hoofing part mechanism is also socketed with timing belt；The power take-off mechanism is described for driving
Timing belt rotates.
Preferably, can embodiment as one kind；The support hoofing part mechanism is specially three groups, support described in three groups
Hoofing part mechanism is circumferentially arranged around the outer wall of the fuselage main frame.
Preferably, can embodiment as one kind；Hoofing part mechanism is supported to include three connecting rods and two described in every group
Individual base；Three mutual hinge connections of connecting rod form three work of the support hoofing part mechanism of parallelogram like
Dynamic side, two base orders are fixedly connected on the support that parallelogram like is formed on the fuselage main frame outer wall
One fixed edge of hoofing part mechanism.
Preferably, can embodiment as one kind；Four sides of the support hoofing part mechanism of parallelogram like
A synchromesh gear is provided with angle；The timing belt is specifically socketed four edges of the support hoofing part mechanism
On the synchromesh gear, and the timing belt engages cooperation with the synchromesh gear.
Preferably, can embodiment as one kind；The support hoofing part mechanism also includes four jointed shafts；Wherein two
Jointed shaft described in root is arranged between three connecting rods, i.e., is hinged between adjacent two connecting rods by the jointed shaft；And two
One root jointed shaft is set respectively on individual base；And the synchromesh gear be four, four jointed shafts with four it is described together
Walk gear and correspond setting；The synchromesh gear is rotatably assorted on the jointed shaft.
Preferably, can embodiment as one kind；The deformation driving slide block mechanism includes sliding block and multiple connecting rods；
The sliding block is specifically slidably matched with sliding bar；One end of the connecting rod is specifically hinged with the sliding block, and the connecting rod
The other end be specifically hinged with the support hoofing part mechanism.
Preferably, can embodiment as one kind；The connecting rod supports hoofing part mechanism quantity 1 a pair with described
Should.
Preferably, can embodiment as one kind；The power take-off mechanism includes motor and drive gear；The electricity
The output shaft of machine is connected with the drive gear, and the drive gear engages with the synchromesh gear.
Preferably, can embodiment as one kind；Multiple protection textures are provided with the outer surface of the timing belt.
Preferably, can embodiment as one kind；The protection texture includes protection dimpled grain or protection burr.
Compared with prior art, it is the advantages of the utility model embodiment：
A kind of deformable micro-pipe climbing robot provided by the utility model, analysis the utility model embodiment provide
The primary structure of deformable micro-pipe climbing robot is understood：
Above-mentioned deformable micro-pipe climbing robot mainly includes fuselage main frame, deformation driving slide block mechanism, Duo Gezhi
Support a few big structure parts such as hoofing part mechanism, power take-off mechanism；
Wherein, it is provided with sliding bar at fuselage main frame center；Multiple support hoofing part mechanisms surround fuselage main frame
Outer wall be circumferentially arranged；
At the same time, it is parallelogram shape to support hoofing part mechanism, and the support walking of parallelogram like is driven
Motivation structure is while be fixedly connected on the outer wall of fuselage main frame；The remainder three of the support hoofing part mechanism of parallelogram like
Bar active edges junction is movably hinged；It is activity because there are three sides in the support hoofing part mechanism with parallelogram shape
Side, so it can (i.e. deformation driving slide block mechanism be used for the support hoofing part machine for driving parallelogram like with random variation
Structure deforms), so as to increase or shorten the height of support hoofing part mechanism, and because multiple support hoofing part mechanisms surround
The outer wall of fuselage main frame is circumferentially arranged, and such comprehensive function is got off, and can be both located at by changing support hoofing part mechanism
The circumferential height of the outer wall of fuselage main frame, and then change support hoofing part mechanism outermost end outreach (that is, changing
Become the size of deformable micro-pipe climbing robot most external diameter) so as to having adapted to the pipeline of different tube diameters size；
Therefore, above-mentioned support hoofing part mechanism is a kind of structure for supporting and adapting to pipe diameter, while itself is also
A kind of hoofing part structure；The upper of hoofing part mechanism is supported also to be socketed with timing belt；Power take-off mechanism is used to drive together
Step band rotates.
The specific walking process for analyzing above-mentioned deformable micro-pipe climbing robot is understood：First deformable micro-pipe is creeped
Robot is positioned at entrance, and driving deformation driving sliding block moves to one end of fuselage main frame.The branch of parallelogram
Support hoofing part mechanism will be pulled or promote implementation to deform, the support in deformation process with parallelogram shape
Hoofing part mechanism height can gradually increase (i.e. multiple to support the synergy realization of hoofing part mechanisms gradually to strut laterally
Effect), tube wall (realizing that first step deformation is adapted to and supported) props up in final multiple support hoofing part mechanisms.Then
Power take-off mechanism (rotate especially by motor driven driving fluted disc and acted on by transmission parts) is final to be driven synchronously
Band is rotated, and (second step driving row is realized to drive deformable micro-pipe climbing robot to advance along inner-walls of duct
Walk).
It will be apparent that deformable micro-pipe climbing robot provided by the utility model, has deformable adaptation different tube diameters concurrently
Pipeline and autonomous driving the function such as creep, while it also has reasonable in design ingenious, strong adaptability, has a wide range of application
General and Stability Analysis of Structures, all many technical advantages such as highly reliable.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the three-dimensional knot that the deformable micro-pipe climbing robot that the utility model embodiment provides is under a visual angle
Structure schematic diagram；
Fig. 2 is the solid that the deformable micro-pipe climbing robot that the utility model embodiment provides is under another visual angle
Structural representation；
Fig. 3 is the main structure diagram for the deformable micro-pipe climbing robot that the utility model embodiment provides；
Fig. 4 is the forward sight structural representation for the deformable micro-pipe climbing robot that the utility model embodiment provides；
Fig. 5 is the backsight structural representation for the deformable micro-pipe climbing robot that the utility model embodiment provides；
Fig. 6 is the concrete structure schematic diagram for the deformable micro-pipe climbing robot that Fig. 1 the utility model embodiments provide；
Fig. 7 is the concrete structure schematic diagram for the deformable micro-pipe climbing robot that Fig. 2 the utility model embodiments provide；
Fig. 8 is that the deformation in the deformable micro-pipe climbing robot that the utility model embodiment provides drives slide block mechanism
With timing belt partial assembled structural representation；
Fig. 9 is that the deformation in the deformable micro-pipe climbing robot that the utility model embodiment provides drives slide block mechanism
Design of part schematic diagram；
Figure 10 is the part knot of the timing belt in the deformable micro-pipe climbing robot that the utility model embodiment provides
Structure schematic diagram.
Label：
1- fuselage main frames；
2- deformation driving slide block mechanisms；21- sliding blocks；22- connecting rods；
3- support hoofing parts mechanism；31- connecting rods；32- bases；33- synchromesh gears；34- jointed shafts；
4- power take-off mechanisms；
5- sliding bars；
6- timing belts.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of deformable micro-pipe that the utility model embodiment provides is creeped
Robot, including fuselage main frame 1, deformation driving slide block mechanism 2, multiple support hoofing part mechanisms 3, power take-off mechanism 4；
Wherein, it is provided with sliding bar 5 at the center of fuselage main frame 1；
Multiple support hoofing part mechanisms 3 are circumferentially arranged around the outer wall of the fuselage main frame 1；The support walking is driven
Motivation structure 3 is parallelogram shape, and the support hoofing part mechanism 3 of parallelogram like is wherein while be fixedly connected
On the outer wall of the fuselage main frame 1；Three active edges of remainder of the support hoofing part mechanism 3 of parallelogram like
Junction is movably hinged；
One end of the deformation driving slide block mechanism 2 is slidably matched with the sliding bar 5, the deformation driving slide block mechanism
One in 3 three active edges of 2 other end and the support hoofing part mechanism is be hinged and for driving parallelogram like
The support hoofing part mechanism 3 deform；
And the upper of support hoofing part mechanism 3 is also socketed with timing belt 6；The power take-off mechanism 4 is used to drive
The timing belt 6 rotates.
The deformable micro-pipe climbing robot primary structure that the utility model embodiment provides is analyzed to understand：This is deformable
Micro-pipe climbing robot mainly include fuselage main frame, deformation driving slide block mechanism (wherein, the deformation driving slide block mechanism tool
Body includes sliding block and connecting rod not only), (it is specific but also including multiple connecting rods and base, hinge for multiple support hoofing part mechanisms
The structures such as spindle), (concrete structure on said mechanism is detailed for a few big structure parts such as power take-off mechanism (it includes motor etc.)
See below continue it is bright)；
Wherein, it is provided with sliding bar at fuselage main frame center；Multiple support hoofing part mechanisms surround fuselage main frame
Outer wall be circumferentially arranged；Meanwhile it is parallelogram shape to support hoofing part mechanism, and the support of parallelogram like is walked
Drive mechanism is while be fixedly connected on the outer wall of fuselage main frame；The remainder of the support hoofing part mechanism of parallelogram like
Three active edges junction is movably hinged；It is living because there are three sides in the support hoofing part mechanism with parallelogram shape
Dynamic side, so it can (i.e. deformation driving slide block mechanism be used for the support hoofing part for driving parallelogram like with random variation
Deformation), so as to increase or shorten the height of support hoofing part mechanism, and because multiple support hoofing part mechanisms enclose
Outer wall around fuselage main frame is circumferentially arranged, and such comprehensive function is got off, both can be by changing support hoofing part mechanism position
In the circumferential height of the outer wall of fuselage main frame, so change support hoofing part mechanism outermost end outreach (that is,
Change the size of deformable micro-pipe climbing robot most external diameter) so as to having adapted to the pipeline of different tube diameters size；
Therefore, above-mentioned support hoofing part mechanism is a kind of structure for supporting and adapting to pipe diameter, while itself is also
A kind of hoofing part structure；The upper of hoofing part mechanism is supported also to be socketed with timing belt；Power take-off mechanism is used to drive together
Step band rotates.
The specific walking process for analyzing above-mentioned deformable micro-pipe climbing robot is understood：First deformable micro-pipe is creeped
Robot is positioned at entrance, (can also be by stepper motor and lead screw linkage mode) driving deformation driving sliding block to
One end movement of fuselage main frame.The support hoofing part mechanism of parallelogram will be pulled or promote implementation to deform,
The support hoofing part mechanism height with parallelogram shape can gradually increase (i.e. multiple support rows in deformation process
Walk drive mechanism synergy and realize the effect gradually strutted laterally), tube wall props up in final multiple support hoofing part mechanisms
(realizing that first step deformation is adapted to and supported).Subsequent power take-off mechanism (drives driving fluted disc to rotate and pass through
Transmission parts act on) finally drive timing belt to rotate, to drive deformable micro-pipe climbing robot to advance along inner-walls of duct
(realizing second step driving walking).
The concrete structure of the deformable micro-pipe climbing robot provided below the utility model embodiment and specific
Technique effect, which is done, to be described in detail：
In the concrete scheme of the utility model embodiment, referring to Fig. 6 and Fig. 7 (in combination with Fig. 1 and Fig. 2), institute
It is specially three groups to state support hoofing part mechanism 3, and hoofing part mechanism 3 is supported described in three groups around the fuselage main frame 1
Outer wall is circumferentially arranged.
Hoofing part mechanism 3 is supported to include three connecting rods 31 and two bases 32 described in every group；Three connecting rods 31
Mutual hinge connections form three active edges of the support hoofing part mechanism 3 of parallelogram like, two bases
32 orders are fixedly connected on the support hoofing part mechanism 3 that parallelogram like is formed on the outer wall of fuselage main frame 1
A fixed edge.
It should be noted that first, the deformable micro-pipe climbing robot in the utility model embodiment, it supports row
It can be multigroup to walk drive mechanism, such as：Two groups, three groups or five groups etc., this utility model embodiment is not done specifically
Limit；But most preferred technical scheme is used as, above-mentioned support hoofing part mechanism can preferably use three groups, on the one hand three groups
Support hoofing part mechanism coordinated and quantity is small, weight is with regard to slim and graceful；Three groups of support hoofing part mechanism collaborations are to machine simultaneously
Body main frame 1 is supported, and can be formed supported at three point (i.e. supported at three point is more stable) and be formed stable support protection.
Meanwhile in the concrete structure of hoofing part mechanism is supported described in every group；Hoofing part mechanism 3 is supported described in every group
Including three connecting rods 31 and two bases 32；Three 31 mutual hinge connections of connecting rod form the described of parallelogram like
Three active edges of hoofing part mechanism 3 are supported, two orders of base 32 are fixedly connected on the outer wall of fuselage main frame 1
One fixed edge of the upper support hoofing part mechanism 3 for forming parallelogram like.
Above-mentioned support hoofing part mechanism 3 make use of the characteristic that parallelogram is easily deformed, and pass through connecting rod 31 and bottom
Seat 32 etc. constitutes the support hoofing part mechanism of parallelogram like, and it is the important mechanism for realizing deformation.
In the concrete scheme of the utility model embodiment, referring to Fig. 6 and Fig. 7, the support of parallelogram like
A synchromesh gear 33 is provided with four corners of hoofing part mechanism 3；The timing belt 6 is specifically socketed the support row
Walk on the synchromesh gear 33 of four edges of drive mechanism 3, and the timing belt 6 is nibbled with the synchromesh gear 33 respectively
Close and coordinate.
It should be noted that it is provided with one on four corners of the support hoofing part mechanism 3 of parallelogram like
Synchromesh gear 33；The synchromesh gear 33 be with the coordinated of timing belt 6, it is to realize the direct organization creeped of walking.
In the concrete scheme of the utility model embodiment, referring to Fig. 6 and Fig. 7, the support hoofing part mechanism 3 is also
Including four jointed shafts 34；Wherein two jointed shafts 34 are arranged between three connecting rods, i.e., adjacent two connecting rods 31
Between it is be hinged by the jointed shaft 34；And a root jointed shaft 34 is set respectively on two bases 32；And the synchromesh gear
33 be four, and four jointed shafts 34 and four synchromesh gears 33 are corresponded and set；The synchromesh gear 33 rotates
Coordinate on the jointed shaft 34.
It should be noted that the support hoofing part mechanism 3 with parallelogram shape also includes four jointed shafts 34；
Four main functions of jointed shaft 34 are four synchromesh gears 33 corresponding to support phase；Each synchromesh gear 33 is rotatably assorted
On the corresponding jointed shaft 34.So, synchromesh gear 33 can freely be have rotated with being realized on jointed shaft 34.
In the concrete scheme of the utility model embodiment, referring to Fig. 8 and Fig. 9, the deformation driving slide block mechanism 2 wraps
Include sliding block 21 and multiple connecting rods 22；The sliding block 21 is specifically slidably matched with sliding bar 5；One end tool of the connecting rod 22
Body is be hinged with the sliding block 21, and the other end of the connecting rod 22 is specifically be hinged with the support hoofing part mechanism 3.It is described
Connecting rod 22 corresponds with the quantity of support hoofing part mechanism 3.
It should be noted that above-mentioned deformation driving slide block mechanism 2 and composite component mechanism, deformation driving slide block mechanism
2 include sliding block 21 and multiple connecting rods 22；Sliding block 21 therein is specifically slidably matched with sliding bar 5.Meanwhile the connecting rod
22 one end is specifically be hinged with the sliding block 21, and the other end of the connecting rod 22 specifically supports hoofing part mechanism with described
3 is be hinged.
In the concrete scheme of the utility model embodiment, the power take-off mechanism 4 include motor (not shown) and
Drive gear；The output shaft of the motor is connected with the drive gear, and the drive gear engages with the synchromesh gear.
It should be noted that above-mentioned power take-off mechanism 4 includes motor and drive gear, pass through motor driven sliding tooth
Wheel rotates, while drives synchromesh gear to rotate after drive gear rotation, and because synchromesh gear engages cooperation with timing belt,
The rotation of timing belt finally is realized, and then realizes that the walking of robot is creeped action.
In the concrete scheme of the utility model embodiment, Figure 10 is see also, is set on the outer surface of the timing belt 6
There are multiple protection textures；The protection texture includes protection dimpled grain or protection burr.
It should be noted that it is provided with one on four corners of the support hoofing part mechanism 3 of parallelogram like
Synchromesh gear 33；The synchromesh gear 33 be with the coordinated of timing belt 6, timing belt 6 its be realize walking creep it is direct with
The structure of inner-walls of duct contact.Therefore, in order to ensure the roughness of the outer surface of timing belt 6, frictional force when it is creeped is ensured
Bigger, grasp is stronger, can be processed on the outer surface of timing belt 6 multiple protection textures (such as：Protect dimpled grain or
Protect burr), and then realize stable advance of creeping on inner-walls of duct.
The deformable micro-pipe climbing robot that the utility model embodiment provides has the technical advantage of following aspect：
First, the deformable micro-pipe climbing robot that the utility model embodiment provides, it is mainly by fuselage main frame, change
Shape driving slide block mechanism (wherein, deformation driving slide block mechanism is specifically again including sliding block and connecting rod), multiple support walkings
Drive mechanism (it specifically includes the structures such as multiple connecting rods and base, jointed shaft), power take-off mechanism (it include motor and
Drive gear etc.) etc. a few big structure parts form, each of which mechanism section all has a special structure design, and concrete mechanism it
Between connection, layout etc. all have cleverly design；Therefore, the deformable micro-pipe crawling machine that the utility model embodiment provides
People, its design is more reasonable, and system architecture is more novel, function is more perfect.
2nd, the deformable micro-pipe climbing robot that the utility model embodiment provides, it is reasonable in design ingenious, wherein
Support hoofing part mechanism be that (the characteristics of it can be easily deformed using parallelogram implements to become for important core texture
Shape), deformation driving slide block mechanism its be driving support hoofing part mechanism structure；Being coordinated by both above-mentioned mechanisms can be real
The change of existing robot outermost end external diameter；Meanwhile power take-off mechanism is main power section, it can by the effect of synchronization
To drive support hoofing part mechanism for implementing to creep, and then realize the advance of creeping of robot.To sum up, the utility model embodiment
The deformable micro-pipe climbing robot provided, it has the pipeline of deformable adaptation different tube diameters concurrently and independently drives what is creeped
Function.
3rd, the deformable micro-pipe climbing robot that the utility model embodiment provides, it is adapted to different tube diameters
Pipeline, crawling structure is stable, and speed is fast, and operating efficiency is higher, while has filled up the technological gap in relevant art field.
4th, the deformable micro-pipe climbing robot that the utility model embodiment provides, it has Stability Analysis of Structures, structure longevity
Life is long, highly reliable, and accommodation is extensive, safe, all many technical advantages such as function is more perfect.The utility model
The deformable micro-pipe climbing robot that embodiment provides, can be applicable to the pipeline of a variety of industries and Various Complex work condition environment
Interior use.
Many significant technical advantages based on more than, the deformable micro-pipe crawling machine that the utility model embodiment provides
People will bring good market prospects and economic benefit.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. deformable micro-pipe climbing robot, it is characterised in that including fuselage main frame, deformation driving slide block mechanism, Multiple support hoofing part mechanisms, power take-off mechanism；Wherein, it is provided with sliding bar at the fuselage main frame center；Multiple support hoofing part mechanisms are circumferentially arranged around the outer wall of the fuselage main frame；The support hoofing part mechanism For parallelogram shape, and the support hoofing part mechanism of parallelogram like is wherein while be fixedly connected on the machine On the outer wall of body main frame, three active edges junction activities of remainder of the support hoofing part mechanism of parallelogram like It is be hinged；One end of the deformation driving slide block mechanism is slidably matched with the sliding bar, and the deformation drives the another of slide block mechanism One in three active edges in end and the support hoofing part mechanism is be hinged and is used for the branch for driving parallelogram like Support hoofing part deformation；And the upper of support hoofing part mechanism is also socketed with timing belt；The power take-off mechanism is used to drive the synchronization Band rotates.
- 2. deformable micro-pipe climbing robot as claimed in claim 1, it is characterised in thatThe support hoofing part mechanism is specially three groups, supports hoofing part mechanism to surround the fuselage main frame described in three groups Outer wall be circumferentially arranged.
- 3. deformable micro-pipe climbing robot as claimed in claim 2, it is characterised in thatHoofing part mechanism is supported to include three connecting rods and two bases described in every group；Three mutual hinge connections of connecting rod Three active edges of the support hoofing part mechanism of parallelogram like are formed, two base orders are fixedly connected on A fixed edge of the support hoofing part mechanism of parallelogram like is formed on the fuselage main frame outer wall.
- 4. deformable micro-pipe climbing robot as claimed in claim 3, it is characterised in thatA synchromesh gear is provided with four corners of the support hoofing part mechanism of parallelogram like；It is described same Step band is specifically socketed on the synchromesh gear of four edges of the support hoofing part mechanism, and the timing belt and institute Synchromesh gear engagement is stated to coordinate.
- 5. deformable micro-pipe climbing robot as claimed in claim 4, it is characterised in thatThe support hoofing part mechanism also includes four jointed shafts；Wherein two jointed shafts be arranged on three connecting rods it Between, i.e., it is hinged between adjacent two connecting rods by the jointed shaft；And a root jointed shaft is set respectively on two bases； And the synchromesh gear is four, four jointed shafts and four synchromesh gears are corresponded and set；The synchronous gear Wheel is rotatably assorted on the jointed shaft.
- 6. deformable micro-pipe climbing robot as claimed in claim 1, it is characterised in thatThe deformation driving slide block mechanism includes sliding block and multiple connecting rods；The sliding block is specifically slidably matched with sliding bar； One end of the connecting rod is specifically hinged with the sliding block, and the other end of the connecting rod specifically with the support hoofing part Mechanism is hinged.
- 7. deformable micro-pipe climbing robot as claimed in claim 6, it is characterised in thatThe connecting rod and the support hoofing part mechanism quantity one-to-one corresponding.
- 8. deformable micro-pipe climbing robot as claimed in claim 5, it is characterised in thatThe power take-off mechanism includes motor and drive gear；The output shaft of the motor is connected with the drive gear, The drive gear engages with the synchromesh gear.
- 9. deformable micro-pipe climbing robot as claimed in claim 4, it is characterised in thatMultiple protection textures are provided with the outer surface of the timing belt.
- 10. deformable micro-pipe climbing robot as claimed in claim 9, it is characterised in thatThe protection texture includes protection dimpled grain or protection burr.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720644369.5U CN206831052U (en) | 2017-06-05 | 2017-06-05 | Deformable micro-pipe climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720644369.5U CN206831052U (en) | 2017-06-05 | 2017-06-05 | Deformable micro-pipe climbing robot |
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| CN206831052U true CN206831052U (en) | 2018-01-02 |
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| CN201720644369.5U Expired - Fee Related CN206831052U (en) | 2017-06-05 | 2017-06-05 | Deformable micro-pipe climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662353A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline robot |
| CN108662352A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline detection robot |
| CN108758165A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of steering tapered pipeline robot |
| CN120819713A (en) * | 2025-09-17 | 2025-10-21 | 山东大学 | A micro-climbing tube actuator based on stacked piezoelectric ceramic drive and a driving method thereof |
-
2017
- 2017-06-05 CN CN201720644369.5U patent/CN206831052U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662353A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline robot |
| CN108662352A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline detection robot |
| CN108758165A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of steering tapered pipeline robot |
| CN108758165B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Steering reducing pipeline robot |
| CN108662352B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | A variable-diameter pipeline detection robot |
| CN108662353B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | A variable-diameter pipeline robot |
| CN120819713A (en) * | 2025-09-17 | 2025-10-21 | 山东大学 | A micro-climbing tube actuator based on stacked piezoelectric ceramic drive and a driving method thereof |
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