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

A walking mechanism and four-track technology, which is applied to tracked vehicles, steering mechanisms, 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

Inactive Publication Date: 2003-11-19
DONGHUA UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a walking mechanism for a four-track foot-pipe robot with autonomous displacement, so as to overcome the difficulty in adapting to changes in pipes of different shapes, changes in pipe diameters, and crawler belts and pipe walls in the prior art during walking. Defects such as poor contact state

Method used

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

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Embodiment Construction

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] As shown in the figure, the present invention includes a machine body 1, a crawler foot 2, a lateral swing mechanism 3, and a pipe diameter detection device 4. 8. The swing arm 9 is composed of the track 6 hanging on the track wheel 5 and the track support 7. The track feet 2 are symmetrically arranged along the longitudinal axis of the machine body 1, with a pair at the front and back. The lower end of the swing arm 9 is hinged on the support shaft 8. Each Each crawler foot can swing autonomously around their respective support shafts; there are two sets of said lateral swing mechanism 3, which are respectively arranged at the front and rear ends of the body 1, and each set consists of a traverse motor 10, a turbine 11, a worm screw 12, a transverse shaft 13. Two pairs of meshing bevel gears 14, 15, short swing shaft 16, and swing sha...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J11/00B62D11/00B62D55/065B62D55/08
Inventor 毛立民蒯冬宝孙志宏陈革过玉清陈瑞琪陈旻邬蕴杰邢兰停
Owner DONGHUA UNIV
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