Moving mechanism of robot in pipe with self position changing four caterpillar feet

A walking mechanism and four-track technology, which is applied to steering mechanisms, tracked vehicles, manipulators, etc., can solve problems such as poor contact between the track and the pipe wall of different shapes of pipelines, and achieve the effect of improving flexibility and adaptability
CN1159183CInactive Publication Date: 2004-07-28DONGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
DONGHUA UNIV
Publication Date
2004-07-28
Estimated Expiration
Not applicable · inactive patent

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Abstract

An autonomously changing walking mechanism of the robot with 4 caterpillar legs for walking in pipeline with variable diameter is composed of main body, caterpillar leg, transverse swinging unit, and pipe diameter measuring unit. Said caterpillar leg consists of caterpillar wheels, caterpillar belt and its supporter, bearing axle and swinging arm. Said transverse swinging unit comprises motor, worm couple, transverse axle, two pairs of bevel gears, swinging axle and supporter. Its advantages are simple structure, high power, automatic regulation, and smooth walking in pipeline.
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Description

technical field

[0001] The invention relates to a walking device of a four-crawler-legged vehicle or a robot, in particular to a walking mechanism of an autonomously shifting four-crawler-footed inner tube robot. Background technique

[0002] Among the existing in-pipe robot walking mechanisms, wheel type and crawler type are the two most widely used walking mechanisms, among which the crawler type in-pipe robot walking mechanism has the advantages of good adhesion and large traction, such as: the double crawler of Canadian INUKTUN company In-pipe robot walking mechanism, the crawler adopts a rigid support structure, and the angle between the two crawlers can be adjusted to suit different working pipe diameters. When the two crawlers are adjusted to parallel positions, they can walk on flat ground or in rectangular pipes, but this rigid support The angle between the two crawlers of the walking mechanism of the double-crawler type in-pipe robot cannot be changed during the wa...

Claims

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