Variable-diameter walking mechanism of self-balancing and self-adapting robot for cleaning underground pipeline

Abstract

A variable-diameter walking mechanism of a self-balancing and self-adapting robot for underground pipeline cleaning comprises a walking mechanism body rotationally connected with a variable-diameter mechanism, the walking mechanism body can drive the variable-diameter mechanism body to generate angular displacement so as to achieve diameter changing, and the variable-diameter mechanism body comprises a plurality of variable-diameter units rotationally connected to the radial outer side of the walking mechanism body. The reducing unit abuts against the pipe wall and can move along the pipe wall. The variable-diameter mechanism can adapt to different pipe diameters in one operation area in an active variable-diameter mode driven by a connecting rod. Meanwhile, due to the fact that the first reducing mechanism assembly and the second reducing mechanism assembly are evenly distributed in the circumferential planes of the first reducing mechanism assembly and the second reducing mechanism assembly respectively, and the passive reducing mode driven by the spring is combined, when the pipeline robot works and walks, the stability of the pipeline robot is better, and the adaptability to the pipe shape is better. Meanwhile, based on the structural design and the working mode, the robot can keep self dynamic balance all the time when working.

Description

technical field [0001] The invention belongs to the technical field of pipeline cleaning equipment, and in particular relates to a variable-diameter walking mechanism for a self-balancing self-balancing self-adaptive robot for cleaning underground pipelines. Background technique [0002] With the development of human society, underground pipelines are becoming more and more complex. It plays a vital role in maintaining the daily life of human beings, especially in cities. Underground pipelines in different areas have large differences in pipe diameter and shape; for underground pipelines in the same area, due to long-term use, the deposition and adhesion of dirt on the inner wall of the pipeline and the corrosion damage to the pipeline will complicate the internal environment of the pipeline. [0003] For the current underground pipeline cleaning robot, in terms of its walking mode in the pipeline, the wheeled pipeline robot has a simple and reliable structure, simple opera...

AI Technical Summary

Problems solved by technology

However, the adhesion performance of the wheeled pipeline robot to the pipe wall is poor, while the crawler pipeline robot has good adhesion performance to the pipe wall, has a strong ability to overcome obstacles, can well adapt to changes in the pipeline, and has good maneuverability

But its disadvantages are complex structure, large volume, poor steering performance, easy instability and rollover, etc.

Therefore, the function of traditional pipeline robots is relatively single, and there are certain limitations in the way of walking in the pipeline and the way of changing diameters. It can only clean up a certain type of underground pipeline, and its universality is poor.

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