Chassis structure of walking robot in pipeline

Abstract

The invention belongs to the technical field of mechanical mechanism design, and particularly relates to a chassis structure of a walking robot in a pipeline. The chassis structure comprises power units, a supporting unit and walking units, the two sides of the support unit are each provided with one walking unit, and the power units are arranged on the walking units. The power units are used fordriving the walking units and enabling a chassis to move forwards or backwards, the lower ends of the walking units can swing outwards and are matched with the inner diameter of the pipeline where thewalking units are located, and the supporting unit is used for being provided with detection equipment and can drive the detection equipment to ascend or descend. Besides the chassis structure has the waterproof and dustproof functions, colliding and other hazards caused by the situation that the position of a motor is low in the prior art can be avoided; and when the water level in the pipelineis high, after two electrodes are immersed, a control unit obtains signals, the control unit drives a lifting mechanism to act, a platform plate is lifted until the electrodes of the platform plate are lifted to the position above the water surface, and therefore the detection equipment is actively prevented from being immersed in water.

Description

technical field [0001] The invention belongs to the technical field of mechanical mechanism design, and in particular relates to a chassis structure of a walking robot in a pipeline. Background technique [0002] The pipeline walking robot is a commonly used detection equipment for the state in the pipeline. It includes a chassis and detection equipment. The detection equipment includes cameras, manipulators, sensors and other equipment. The chassis has a structure that adapts to the inner diameter of the pipeline. [0003] For example, the Chinese patent No. "2015210094607" discloses a robot chassis structure that adapts to the inner diameter of the pipeline. The patent includes two implementations: [0004] A swing beam is installed on the front and rear of the upper end face of each crawler seat, and the upper ends of the two swing beams are hinged in the hinge seat of the bending beam installed on the side of the base on the same side through hinge shafts. A torsion spr...

AI Technical Summary

Problems solved by technology

[0008] 1. The motor is placed under the coaxial setting with the driving wheel of the track, which makes the motor vulnerable to collision with debris in the pipeline or soaked by water in the pipeline

[0009] 2. There is a swing beam at the front and back of each side of the base, the structure is too complicated, and the installation and maintenance are cumbersome

[0010] 3. When the water level in the pipeline is high, the water avoidance treatment of the detection equipment cannot be carried out

[0011] 4. The distance between the crawlers is not easy to adjust, which is not conducive to the use in pipes with different inner diameters

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