Drive running mechanism of pipeline robot

Abstract

The present invention relates to a drive running mechanism of a pipeline robot, which mainly solves the problems of the existing drive running mechanism of the pipeline robot that the pulling force is smaller, the pipe diameter adaptability is poorer, the ability of surmounting obstacles is insufficient and the like. The present invention is characterized in that the drive running mechanism also comprises a wheel leg regulating motor arranged in a first body, three running drive units arranged outside the first body, three elastic wheel leg support units formed by combining a front support connecting rod, a rear support connecting rod and a regulating connecting rod, and a pipe diameter adaptation adjustment unit; and the first body, the front support connecting rod, the rear support connecting rod and running drive units form a parallelogram wheel leg structure; after sensing the pressure from pipe walls, the pipe diameter adaptation adjustment unit regulates the front support connecting rod and the rear support connecting rod so as to adapt to the pipe diameter changes; and each running drive unit is driven by two motors so that larger pulling force can be ensured. The mechanism of the invention has larger pulling force, larger pipe diameter regulating range and better ability of surmounting the obstacles; and compared with the prior art, the mechanism has high transmission efficiency.

Description

technical field [0001] The invention relates to a driving traveling mechanism applied in the field of pipeline robots, in particular to a driving traveling mechanism of a pipeline robot working in a relatively large-diameter pipeline. Background technique [0002] With the development of economy and the advancement of science and technology, pipeline transportation technology has been widely used in various aspects such as oil, natural gas, chemical raw materials and domestic water. Years of application have made the corrosion and blockage of the pipeline more and more serious, which can easily cause various dangers such as low transmission efficiency and pipeline damage. In order to solve the above problems, the pipeline robot is a crawling carrier developed by scientific researchers, which is used to drag the detection and cleaning instruments in the pipeline to complete various operations in the pipeline. In recent years, with the rapid development of computer technology...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of the existing pipeline robot-driven walking mechanism such as small drag force, poor pipe diameter adaptability, and insufficient obstacle-surmounting ability, the present invention proposes a new pipeline robot-driven walking mechanism. The mechanism can generate a large drag force, and has a large diameter adjustment range and good obstacle surmountability

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