Crawler-type magnetic adsorption detection robot walking mechanism

Abstract

The invention discloses a crawler-type magnetic adsorption detection robot walking mechanism which can walk on an overhead rail in an underground comprehensive pipe gallery and comprises a shell and crawler belts arranged on the two sides of the shell. The crawler belts on the same sides are connected through crawler wheels, the crawler wheels arranged on the two transverse sides are fixedly connected with the shell through power output shafts, the crawler belts are in a magnetic attraction walking mode, and the whole walking mechanism is tightly attracted to a pipe gallery overhead rail through a plurality of permanent magnets fixed to the crawler belts on the two sides. A motor is arranged in the shell and drives the walking mechanism to walk. A base is arranged at the top of the shell,and a sensor and a detection mechanism are borne on the base, so that when the robot walking mechanism walks on an overhead rail of the underground comprehensive pipe gallery, the robot walking mechanism can achieve detection operation on the underground comprehensive pipe gallery by carrying the corresponding detection device. The robot walking mechanism is simple in structure, and problems thata traditional detection mode is high in labor intensity, and detection risks exist are solved.

Description

technical field [0001] The invention belongs to the technical field of detection devices for underground comprehensive pipe corridors, and relates to a crawler-type magnetic adsorption detection robot walking mechanism. Background technique [0002] The underground integrated pipe gallery is a large underground tunnel space that integrates power, communication, water supply and drainage, and gas pipelines in the same pipe gallery. Once a leak occurs, the consequences may be unimaginable. Looking around the world, due to the chemical corrosion of the conveying medium, force majeure natural disasters and its own defects, it is very likely that serious accidents such as environmental pollution, flammable material explosion, energy waste and other serious accidents caused by the leakage of conveyed materials, such as in recent years Pipeline leakage or equipment failure incidents have occurred in many countries, which have brought huge losses to the country and the people. There...

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Problems solved by technology

[0003] The traditional detection method is through manual detection. Manual operation is time-consuming and labor-intensive. To obtain accurate values, multiple measurements are required, which is inefficient and labor-intensive; The manual detection method has detection risks and dead spots in high-altitude or narrow environments, so the detection effect is very unsatisfactory

[0004] At present, there are few researches on the walking mechanism of the intelligent detection device of the underground comprehensive pipe gallery in my country. First of all, the existing underground comprehensive pipe gallery detection walking mechanism or robot basically enters the inside of the pipe gallery for detection, and according to the internal walking Innovate and improve the obstacles. For example, CN109229221A discloses a pipeline running mechanism that can go up and down steps and its working method. The pipeline running mechanism that can go up and down steps is mainly used on the cross-well robot, and the crawler is driven by the motor and the speed reduction mechanism. , which can realize the functions of the mechanism such as straight-line walking, turning, and up and down steps inside the pipeline

Secondly, the existing detection robot walking mechanism cannot realize self-power supply and has a complicated structure. In addition, for vertical pipelines, it cannot guarantee to walk close to the pipeline wall.

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