Adaptive diameter pipeline robot walking device

Abstract

The invention discloses a pipeline robot walking device capable of being automatically adapted to diameters. A variable-diameter mechanism of the pipeline robot walking device is structurally characterized in that a lead screw driven by a variable-diameter motor is installed on the axis of a barrel body, a nut of a crisscross moving frame is matched with the lead screw in a screwed mode, the end of the crisscross moving frame extends out of the barrel body, parallelogram connecting rod assemblies are arranged on positions, corresponding to ends of the crisscross moving frame, outside the barrel body, one end of each parallelogram connecting rod assembly is hinged to the barrel body, and variable-diameter elastic supporting rods are hinged to the ends of the parallelogram connecting rod assemblies and the ends of the crisscross moving frame respectively. A walking mechanism of the pipeline robot walking device is structurally characterized in that wheel cages are arranged corresponding to the parallelogram connecting rod assemblies respectively and are hinged to the other ends of the parallelogram connecting rod assemblies, a plurality of walking wheel assemblies are installed on walking wheel frames, the walking wheel frames elastically stretch out of the wheel cages in the radial direction, and guide wheel assemblies are arranged at the two ends of the walking wheel assemblies respectively. The pipeline robot walking device can walk in a square pipeline as well as a circular pipeline, can successfully pass through corners of the pipelines and can be used for welding, installing, detecting and maintaining the pipelines and carrying out other operations after being additionally provided with relevant auxiliary tools.

Description

(1) Technical field: [0001] The invention relates to a walking mechanism in a pipeline, in particular to a walking device for a self-adapting diameter pipeline robot. (2) Background technology: [0002] With the development of society, there are various pipelines, large and small, in people's daily life, such as: oil pipelines, natural gas pipelines, central air-conditioning pipelines, tap water pipelines used in daily life, and pipelines used in nuclear power plants. and many more. These pipes are big or small, square or round in shape. It can be said that people’s life is inseparable from pipes, and some of these pipes are elevated in the air and some are buried deep underground. Therefore, once a leak occurs, it is difficult to accurately determine the location of the leak. , and difficult to maintain and detect. [0003] However, most of the existing pipe robots correspond to pipes with a fixed diameter, so that every time a pipe of a different specification is changed...

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