Pipeline automatic telescoping self-adaptive walking robot

Abstract

The invention belongs to the technical field of pipeline robots, and discloses a pipeline automatic telescoping self-adaptive walking robot which comprises a main supporting support, large hinge arms, small hinge arms and walking mechanisms. Each driving support comprises driving side plates and fixing connecting shafts between the two driving side plates, driving wheel assemblies are installed at the front end and the rear end of each driving support correspondingly, a main driving wheel is installed between every two belt wheel side plates, and the two ends of every two belt wheel side plates are each provided with a set of walking wheels. The driving supports are connected with the main supporting frame through the large hinge arms and the small hinge arms. The driving supports are installed on three guide rods of the main supporting support, baffles are installed at the front end and the rear end of a middle fixing shaft, a middle fixing plate is installed in the middle of the middle fixing shaft, the guide rods are installed at the three corners of the baffles, sliding blocks and springs are installed at the outer ends of the guide rods, and the two ends of the sliding blocks are hinged to the large hinge arms. The pipeline automatic telescoping self-adaptive walking robot is simple and compact in structure, the hinge size can be adjusted according to the inner wall diameter range of a pipeline in actual operation, operation requirements are met, and application and popularization are convenient.

Description

technical field [0001] The invention belongs to the technical field of pipeline robots, in particular to a pipeline automatic telescopic self-adaptive walking robot. Background technique [0002] The pipeline robot is a kind of automatic walking along the inside or outside of the small pipeline, carrying one or more sensors and operating machinery. As an effective pipeline inspection equipment, the pipeline robot has been used more and more. Most institutions purchase cylinders and other similar components for control, which have high requirements for control. Most of the travel drives are single drives, and the travel part is a fixed structure with low adaptability. Contents of the invention [0003] In order to solve the technical problems existing in the prior art, the present invention provides a pipeline automatic telescopic self-adaptive walking robot, which includes a main support bracket, a large articulated arm, a small articulated arm, and a walking mechanism. Th...

AI Technical Summary

Problems solved by technology

[0002] The pipeline robot is a kind of automatic walking along the inside or outside of the small pipeline, carrying one or more sensors and operating machinery. As an effective pipeline inspection equipment, the pipeline robot has been used more and more. Most institutions purchase cylinders and other similar components for control, which have high requirements for control. Most of the travel drives are single drives, and the travel part is a fixed structure, which has low adaptability.

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