一种自适应管道移动机构

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	一种自适应管道移动机构
	马书根; 李斌; 李鹏; 叶长龙; 龚海里; 张国伟
	2008-07-30
专利国别	中国
专利号	CN201093144Y
专利类型	实用新型
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Self-adaption pipe mobile mechanism
中文摘要	一种自适应管道移动机构,属于管道机器人工程领域技术领域。其结构包括支撑机构、前进驱动机构和后退驱动机构三部分,前进驱动机构通过第一传动机构与后退驱动机构连接,并通过第二传动机构与支撑机构内的电动机连接。在第一传动机构置于前进驱动机构内,在前进驱动机构与第一传动机构间还安装有联动机构及锁紧机构。本实用新型在管道内可自动调整前进和后退,不需要外界控制。其中一个前进驱动臂遇到障碍物而向中心收缩时,通过联动机构联动,其余的前进驱动的臂也将向中心收缩,实现驱动臂同步运动。同时锁紧机构限制了前进驱动臂的转动,此时动力输出转换路径,后退驱动臂旋转并产生向后的驱动力,这是机器人向相反方向移动。其适应性强。
是否PCT专利	否
英文摘要	The utility model relates to a self-adapting pipeline shifting mechanism and belongs to the field of pipeline robot engineering technology. The structure consists of a supporting mechanism, an advancing drive mechanism and a receding mechanism. The advancing drive mechanism is connected with the receding mechanism through a first transmission mechanism and connected with an electric motor inside the supporting mechanism through a second transmission mechanism. The first transmission mechanism is arranged inside the advancing drive mechanism, and a linking mechanism and a locking mechanism are arranged between the advancing drive mechanism and the first transmission mechanism. The utility model can adjust advancing and receding automatically inside the pipeline without any external control. When running up against an obstacle and receding towards the center, one of the advancing drive arm is linked through the linking mechanism and the rest of advancing drive arms also recede towards the center to realize a synchronized motion of the drive arms. Simultaneously, the locking mechanism restricts the rotation of the advancing drive arm, and then the power output transforms the path and then the receding drive arm rotates and generates a backward driving force, which forces the robot to move in the opposite direction. The self-adapting pipeline shifting mechanism has strong adaptability.
公开日期	2008-07-30
申请日期	2007-11-16
语种	中文
专利申请号	CN200720015938.6
专利代理	沈阳科苑专利商标代理有限公司
内容类型	专利
源URL	[http://ir.sia.ac.cn/handle/173321/13640]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	马书根,李斌,李鹏,等. 一种自适应管道移动机构. CN201093144Y. 2008-07-30.