Wheel-legged type reducing pipeline inner wall crawling robot

Abstract

The invention discloses a wheel-legged type reducing pipeline inner wall crawling robot which comprises a carrier vehicle body, a driving mechanism and a walking mechanism. The driving mechanism is used for driving the walking mechanism, and the end, away from the driving mechanism, of the walking mechanism is tightly attached to the inner wall of an external pipeline and can circumferentially rotate around the center line of the driving mechanism. The walking mechanism comprises a reducing assembly and a walking wheel assembly, wherein one end of the reducing assembly is fixedly connected with a driven assembly, the other end of the reducing assembly is fixedly connected with the walking wheel assembly, and the reducing assembly is used for enabling the reducing assembly to freely rotate so that the walking wheel assembly can be tightly attached to the inner wall of the external pipeline. The walking mechanism adopts a wheel-leg combined mode, the driving capacity, obstacle crossing performance, curve passing performance, movement reliability and pipe diameter adaptive capacity of the walking mechanism are improved, the stretching length of the walking mechanism can be changed by adjusting the angle between a connecting piece and a steering engine according to different pipeline diameters, the purpose of passing in the reducing pipeline is achieved, and flexible turning can be achieved through a connecting rod movably connected with a power vehicle body and a carrier vehicle body.

Description

technical field [0001] The invention belongs to the field of pipeline robots, in particular to a wheel-leg crawling robot on the inner wall of variable-diameter pipelines. Background technique [0002] Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. system. In the case of smooth, safe and efficient passage in the pipeline, it can be equipped with non-destructive testing and other devices to ensure the safety and smooth flow of the pipeline. The moving mechanism of the pipeline robot is currently divided into seven categories according to the difference of the mechanical structure: fluid drive type, wheel type, crawler type, support type, walking type, peristaltic type, and screw drive type. [0003] Fluid-driv...

AI Technical Summary

Problems solved by technology

[0004] However, the existing pipeline robot moving mechanism has a single function, an old-fashioned mechanism, and a complex structure, which cannot meet the needs of most situations.

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