CN113513657A - A track type robot hinders running gear more for metal pipeline - Google Patents
A track type robot hinders running gear more for metal pipeline Download PDFInfo
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- CN113513657A CN113513657A CN202110506197.6A CN202110506197A CN113513657A CN 113513657 A CN113513657 A CN 113513657A CN 202110506197 A CN202110506197 A CN 202110506197A CN 113513657 A CN113513657 A CN 113513657A
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- crawler
- wheel
- obstacle crossing
- swing arm
- vehicle body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crawler-type robot obstacle crossing travelling mechanism for a metal pipeline, which comprises a vehicle body, a reducing rod group and an auxiliary obstacle crossing swing arm wheel, wherein two sides of the vehicle body are respectively provided with a group of motion systems, each group of motion systems comprises a magnetic crawler wheel device, the magnetic crawler wheel device comprises a magnetic crawler and a transmission mechanism arranged in the magnetic crawler wheel device, the magnetic crawler and a power-off electromagnet arranged at the bottom of the vehicle body generate magnetic attraction force on the metal pipeline, the magnetic crawler wheel device and the vehicle body are connected and combined by a pin and a spring, the angle is variable, the reducing rod group is arranged above the vehicle body, and the tail end of the reducing rod group is provided with the auxiliary obstacle crossing swing arm wheel. The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline, provided by the invention, has the functions of vertical obstacle crossing, butterfly valve obstacle crossing and vertical pipeline crawling, has the advantages of simple overall structure, easiness in control and the like, has a good application prospect, and is worthy of popularization.
Description
Technical Field
The invention belongs to the field of pipeline robots, and particularly relates to a crawler-type robot obstacle crossing walking mechanism for a metal pipeline.
Background
The crawler-type pipeline obstacle crossing travelling mechanism is equipment capable of moving in a metal pipeline and turning over obstacles, and is one of important automatic equipment for pipeline detection and cleaning. The existing crawler-type pipeline obstacle crossing robot product has the following defects: (1) the robot with the vertical pipeline crawling function has high power consumption, and cannot make complex deformation due to complex structure, so that vertical obstacles and butterfly valve obstacles in the pipeline cannot be crossed; (2) the robot which can climb over vertical obstacles and butterfly valve obstacles in the pipeline does not have the function of climbing the vertical pipeline; (3) the robot also has the defect of poor adaptability to the pipeline diameter, and cannot be applied to pipelines with specific sizes.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a crawler-type robot obstacle crossing travelling mechanism for a metal pipeline, provides equipment for meeting the work of pipeline detection, cleaning and the like, and innovatively designs an auxiliary obstacle crossing swing arm wheel structure and a magnetic attraction crawler wheel structure of the travelling mechanism.
In order to solve the problems, the invention specifically adopts the following technical scheme:
the utility model provides a crawler-type robot hinders running gear more for metal pipeline which characterized in that, includes automobile body, reducing pole group, supplementary obstacle-surmounting swing arm wheel, the both sides of automobile body are equipped with a set of moving system respectively, and every group moving system includes a magnetism and inhales the athey wheel device, it inhales to be equipped with in the athey wheel device and controls in two sets of moving systems track pivoted first drive mechanism and the control one side moving system track pivoted second drive mechanism to inhale, inside magnetism was inhaled to first drive mechanism locates the athey wheel device, second drive mechanism with first drive mechanism each other is the mirror image.
The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that the magnetic attraction crawler wheel device comprises a bearing wheel, a magnetic attraction crawler, a lateral connecting plate and a transmission mechanism, the transmission mechanism comprises a driving direct current motor, a bevel gear pair and a driving wheel driven by the direct current driving motor, and the first transmission mechanism comprises a first direct current driving motor, a first bevel gear pair and a first driving wheel driven by the first direct current driving motor.
The obstacle crossing travelling mechanism of the crawler-type robot for the metal pipeline is characterized in that the magnetic attraction crawler wheel device is connected with the vehicle body through a pin and a spring, and the angle between the magnetic attraction crawler wheel device and the vehicle body is variable.
The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that the lateral connecting plate is installed on the inner side of the magnetic suction crawler wheel device, two ends of the lateral connecting plate are installed on bearings on the outer sides of the driving wheel shaft and the bearing wheel shaft, two coaxial lifting lugs are respectively arranged at the upper end and the lower end of the inner side of the lateral connecting plate, the left lifting lug and the right lifting lug are spaced by 100mm, and the upper lifting lug and the lower lifting lug are spaced by 40 mm.
The obstacle-crossing travelling mechanism of the crawler-type robot for the metal pipeline is characterized in that two coaxial lifting lugs are arranged at the upper end and the lower end of the side face of the vehicle body respectively, the left lifting lug and the right lifting lug are spaced by 100mm, and the upper lifting lug and the lower lifting lug are spaced by 50 mm.
The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that a lug at the upper end of the inner side of a lateral connecting plate is connected with a lug at the upper end of the side face of a vehicle body through a pin, a lug at the lower end of the inner side of the lateral connecting plate is connected with a lug at the lower end of the side face of the vehicle body through a spring, and the angle between the magnetic suction crawler wheel device and the vehicle body can be changed along the direction of supporting force generated by the pipeline wall face to the vehicle body.
The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that the magnetic track comprises a permanent magnet sheet, a track joint and a thin shaft connected with the track joint, and the permanent magnet sheet is embedded inside the track joint.
The obstacle-crossing travelling mechanism of the crawler-type robot for the metal pipeline is characterized in that four power-off electromagnets are mounted at the bottom of the vehicle body, the power-off electromagnets are uniformly arranged on one side close to the wall surface of the pipeline, and the magnetic attraction of the travelling mechanism to the metal pipeline is controllable within a certain range by controlling the power-on and power-off quantity of the power-off electromagnets.
The obstacle crossing travelling mechanism of the crawler-type robot for the metal pipeline is characterized in that the transmission ratio of the first bevel gear pair is 1: 1.
the obstacle crossing travelling mechanism of the crawler-type robot for the metal pipeline is characterized in that the reducing rod group is arranged above the vehicle body and comprises a reducing rod, a support rod, a lead screw nut and a lead screw motor; the lead screw motor is fixed on one side of the vehicle body shell through a lead screw motor fixing frame; the screw rod is integrally connected with the screw rod motor and rotates along with the rotation of the screw rod motor; the screw nut is arranged on the screw rod; the screw rod nut rotates along with the screw rod and moves linearly along the screw rod; one end of the supporting rod is connected with the screw nut; the middle part of the reducing rod is provided with a lifting lug; the support rod is connected with the reducing rod lifting lug; one end of the reducing rod is connected with the lead screw motor fixing frame; the other end of the reducing rod is provided with a swing arm wheel base;
the crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that an auxiliary obstacle crossing swing arm wheel is installed on a swing arm wheel base, the swing arm wheel device comprises a first steering engine, a second steering engine, a third swing arm crawler wheel and a third transmission mechanism for controlling the swing arm crawler wheel to rotate, the third transmission mechanism comprises a third direct-current driving motor, a third bevel gear pair and a third driving wheel driven by the third direct-current driving motor, and the third transmission mechanism is arranged inside the auxiliary obstacle crossing swing arm wheel.
The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that a first steering engine is installed at the rear end of a swing arm wheel base, an auxiliary swing arm crawler wheel is controlled to rotate in the axial direction of the pipeline, the range of the rotation angle can reach 360 degrees, a second steering engine is installed at the front end of the swing arm wheel base, the auxiliary swing arm crawler wheel is controlled to swing in the radial direction of the pipeline, and the range of the swing angle can reach 180 degrees.
Preferably, the third drive wheel is smaller in diameter than the first drive wheel; the diameter of the synchronous belt wheel is smaller than that of the third driving wheel; the diameter of the synchronous belt wheel is smaller than that of the bearing wheel of the magnetic attraction crawler wheel device; the whole size of the driving motor of the swing arm wheel device is smaller than that of the driving motor of the magnetic suction crawler wheel device; preferably, the swing arm wheel device transmission bevel gear pair is the same as the magnetic attraction crawler wheel device transmission bevel gear pair; preferably, the installation positions and forms of the swing arm wheel device transmission bevel gear pair and the magnetic attraction crawler wheel device transmission bevel gear pair are the same; preferably, the periphery of the swing arm wheel device is connected by a synchronous belt.
The invention has the beneficial effects that: compared with other crawler-type traveling mechanisms, the crawler-type robot obstacle crossing traveling mechanism for the metal pipeline has the advantages that the crawler wheels have certain pipeline adaptability, the contact area of the crawler and the wall surface of the pipeline is large, and the crawler is stable in traveling, so that the traveling capacity of the crawler-type robot obstacle crossing traveling mechanism in the uneven pipeline is improved. When vertical obstacles such as a pore plate, a reducing pipeline and the like are encountered, the traveling mechanism contacts the reducing rod group and the auxiliary obstacle-crossing swing arm wheel to support the vehicle body, and meanwhile, the synchronous belt on the crawler belt of the traveling mechanism and the auxiliary obstacle-crossing swing arm wheel can still rotate, so that the traveling mechanism crosses the obstacles. When the robot turns or encounters obstacles such as a butterfly valve and the like, the rotating speeds output by the first direct current driving motor and the first direct current driving motor have a difference value, and the walking mechanism finishes the steering action. When running gear meets vertical pipeline, the whole outage of type electro-magnet of losing power obtains enough big magnetic attraction, and running gear is because magnetic attraction adheres to on vertical pipeline, and produced enough big frictional force between with the pipeline wall, can not make running gear freely fall down because of the effect of gravity, and the output torque of motor reaches the biggest, accomplishes vertical pipeline and crawls the action. Compared with the existing pipeline robot, the obstacle crossing walking mechanism of the crawler robot has the capability of passing through various obstacles in the pipeline, can adapt to pipelines of more types, has stronger universality, can meet the requirements of different types of pipeline operation on equipment, has good application prospect, and is worth popularizing.
Drawings
FIG. 1 is a schematic structural diagram of an obstacle crossing travelling mechanism of a crawler type robot for metal pipelines, which is disclosed by the invention;
FIG. 2 is a schematic view of a magnetic-attraction crawler wheel;
FIG. 3 is a schematic view of a connection structure of a vehicle body and a magnetic-attracting crawler wheel;
FIG. 4 is a schematic structural view of a variable diameter rod set and an auxiliary obstacle-crossing swing arm wheel;
fig. 5 is a schematic obstacle crossing diagram of the obstacle crossing travelling mechanism of the tracked robot, wherein fig. 5(a) shows that the travelling mechanism lifts the auxiliary obstacle crossing swing arm wheel in advance when meeting a vertical obstacle and contacts with the obstacle, fig. 5(b) shows that the reducing rod of the travelling mechanism is lifted, and the front end of the auxiliary obstacle crossing swing arm wheel is used for lifting the vehicle body, fig. 5(c) shows that the travelling mechanism moves forwards, the lifting angle of the vehicle body is increased, fig. 5(d) shows that the track of the travelling mechanism contacts with the obstacle, and fig. 5(e) shows that the travelling mechanism turns over the obstacle;
FIG. 6 is a schematic view of a connection structure of a power-off electromagnet and a vehicle body;
fig. 7 is a schematic view of the connection structure of the magnetic track.
The reference numerals have the following meanings:
1: a vehicle body; 2. 3: magnetically attracting the crawler wheel; 4: a variable diameter rod group; 5: auxiliary obstacle-crossing swing arm wheels; 6. 7: the first transmission mechanism and the second transmission mechanism; 8: a third transmission mechanism; 9: magnetically attracting the caterpillar; 10: a load-bearing wheel; 11: a roller bearing; 12: a load bearing axle; 13: a lateral connection plate; 14: a DC drive motor base; 15: a DC drive motor; 16. 17: a first bevel gear pair; 18: a first drive wheel; 19: lifting lugs; 24: a pin; 25: a spring; 29: a vehicle body shell; 30: a lead screw motor base; 31: a lead screw motor; 32: a lead screw motor bearing; 33: a lead screw motor fixing frame; 34: a lead screw rod; 35: a lead screw nut; 36: a lead screw fixing seat; 37: a support bar; 38: a reducer bar; 39: a swing arm wheel base; 40: a first steering engine; 41: a second steering engine; 42: a synchronous pulley; 43: a synchronous pulley bearing; 44: a synchronous belt; 45: the swing arm wheel is laterally connected with the plate; 46: a third DC drive motor base; 47: a third DC drive motor; 48. 49: a third bevel gear pair; 50: a third drive wheel; 51: a magnetic plate connecting rod; 52: a magnetic plate; 53: a power-off electromagnet; 54: permanent magnet pieces; 55: a track link; thin shaft: 56.
Detailed Description
As shown in fig. 1 and 2, a crawler-type robot obstacle-crossing traveling mechanism for a metal pipeline comprises a vehicle body 1, wherein the vehicle body 1 is a vehicle body of the traveling mechanism, the vehicle body 1 is used for storing a control chip and a communication power supply interface of the traveling mechanism and is also used as a reducing rod group and a base support of an auxiliary obstacle-crossing swing arm wheel, two sides of the vehicle body 1 are respectively provided with a group of motion systems, the movement of the traveling mechanism is realized by the mutual matching motion of the motion systems on the two sides of the vehicle body 1, each group of motion system comprises a magnetic crawler wheel device 2, the magnetic crawler wheel device comprises a magnetic crawler belt 9, a bearing wheel 10, a lateral connecting plate 13 and a transmission mechanism, a first transmission mechanism 6 for controlling the rotation of the crawler belt 9 in the two groups of motion systems and a second transmission mechanism 7 for controlling the rotation of the crawler belt in the one side motion system are arranged in the magnetic crawler wheel device, the first transmission mechanism 6 is arranged in the magnetic attraction crawler wheel device 2, and the second transmission mechanism 7 and the first transmission mechanism 6 are mirror images.
In detail, the first transmission mechanism 6 includes a first dc driving motor 15, a first bevel gear pair 16, 17 and a first driving wheel 18 driven by the first dc driving motor 15, and the transmission ratio of the first bevel gear pair 16, 17 is 1: the magnetic attraction crawler belt device comprises a first direct current driving motor 15, a first driving wheel 18, a magnetic attraction crawler belt 9, a bearing wheel 10, roller bearings 11, a lateral connecting plate 13 and roller bearings 11, wherein the first direct current driving motor 15 provides power to drive the first driving wheel 18 to rotate, the magnetic attraction crawler belt 9 and the bearing wheel 10 are driven to rotate, the roller bearings 11 are arranged on shafts of the driving wheel 18 and the bearing wheel 10, the lateral connecting plate 13 is arranged on the inner side of the magnetic attraction crawler belt wheel device 2, and two ends of the lateral connecting plate are arranged on the roller bearings 11 on the outer sides of a driving wheel shaft and a bearing wheel shaft.
As shown in fig. 3, in the obstacle crossing travelling mechanism of the crawler-type robot for the metal pipeline, a magnetic attraction crawler wheel device 2 is connected with a vehicle body 1 through a pin and a spring, and the angle between the magnetic attraction crawler wheel device and the vehicle body is variable.
In detail, the inboard upper end of side direction connecting plate 13 and lower extreme are equipped with two with axle center lug 19, 20 respectively, control interval 100mm between the lug, interval 40mm between the upper and lower lug, 1 side upper end of automobile body and lower extreme are equipped with two with axle center lug 21, 22 respectively, control interval 100mm between the lug, interval 50mm between the upper and lower lug, the inboard upper end lug 19 of side direction connecting plate with automobile body side upper end lug 21 adopts round pin 24 to connect, the inboard lower extreme lug 20 of side direction connecting plate with automobile body side lower extreme lug 22 adopts spring 25 to connect, the angle can change along with the holding power direction that the pipeline wall produced to the automobile body between crawler wheel device 2 and the automobile body 1 of magnetism.
In detail, the track is inhaled to magnetism includes permanent magnet piece 54, track festival 55 and connects the thin axle 56 of track festival, permanent magnet piece 54 is embedded inside track festival 55, four power-off type electro-magnets 53 are equipped with to automobile body 1 bottom, power-off type electro-magnet 53 is close to pipeline wall one side and evenly arranges, through control power-off type electro-magnet 53 circular telegram and the quantity of outage make the running gear is controllable in certain extent to metal pipeline's magnetic attraction, and when running gear carries out vertical pipeline and crawls, power-off type electro-magnet 53 is all not circular telegram, makes running gear reach the biggest to pipeline wall's magnetic attraction, and magnetism inhales track 9 and pipeline wall and produces the frictional force that is greater than the automobile body dead weight, maintains the running state of running gear on vertical pipeline.
As shown in fig. 4, the variable diameter rod group is installed above the vehicle body, and includes a variable diameter rod 38, a support rod 37, a lead screw rod 34, a lead screw nut 35 and a lead screw motor 31; the screw motor 31 is fixed on one side of the vehicle body shell 29 through a screw motor fixing frame 30; the screw rod 34 is integrally connected with the screw rod motor 31 and rotates along with the rotation of the screw rod motor 31; the lead screw nut 35 is mounted on the lead screw 34; the screw nut 35 rotates along with the screw rod 34 and moves linearly along the screw rod 34; one end of the supporting rod 37 is connected with the screw nut 35; the middle part of the reducer rod 38 is provided with a lifting lug; the support rod 37 is connected with the reducing rod lifting lug; one end of the reducer rod 38 is connected with the lead screw motor fixing frame 33; the other end of the reducer rod 38 is provided with a swing arm wheel base 39.
In detail, supplementary obstacle-surmounting swing arm wheel 5 install in swing arm wheel base 29, swing arm wheel device includes first steering wheel 40, second steering wheel 41, swing arm athey wheel 5 and control swing arm athey wheel 5 pivoted third drive mechanism 8, third drive mechanism 8 includes third direct current driving motor 47, third bevel gear pair 48, 49 and by third direct current driving motor 47 driven third action wheel 50, supplementary obstacle-surmounting swing arm wheel 5's inside is located to third drive mechanism 50, swing arm wheel device 5 periphery adopts hold-in range 44 to connect.
In detail, the third bevel gear set 48, 49 has a transmission ratio of 1: the third direct current driving motor 47 provides power to drive the third driving wheel 50 to rotate, so as to drive the synchronous belt 44 and the synchronous pulley 42 to rotate, the third driving wheel 50 and the synchronous pulley 42 are provided with roller bearings 43 on their shafts, the swing arm wheel lateral connecting plate 45 is installed on the inner side of the magnetic attraction crawler wheel device 5, and both ends of the swing arm wheel lateral connecting plate are installed on the roller bearings 43 on the outer sides of the driving wheel shaft and the bearing wheel shaft.
In detail, the first steering engine 40 is installed at the rear end of the swing arm wheel base 39 to control the auxiliary swing arm crawler wheel 5 to rotate in the axial direction of the pipeline, the range of the rotation angle can reach 360 degrees, the second steering engine 41 is installed at the front end of the swing arm wheel base 39 to control the auxiliary swing arm crawler wheel 5 to swing in the radial direction of the pipeline, and the range of the swing angle can reach 180 degrees.
In detail, the third driving wheel 50 is smaller than the first driving wheel 18, the diameter of the synchronous pulley 42 is smaller than that of the third driving wheel 50, and the diameter of the synchronous pulley 42 is smaller than that of the bearing wheel 10 of the magnetic attraction crawler wheel device; the whole size of the driving motor 47 of the swing arm wheel device is smaller than that of the driving motor 15 of the magnetic attraction crawler wheel device, the transmission bevel gear pairs 48 and 49 of the swing arm wheel device are the same as the transmission bevel gear pairs 16 and 17 of the magnetic attraction crawler wheel device, and the installation positions and forms of the transmission bevel gear pairs 48 and 49 of the swing arm wheel device are the same as those of the transmission bevel gear pairs 16 and 17 of the magnetic attraction crawler wheel device.
As shown in fig. 5, when there is an obstacle in the front, the running mechanism lifts the reducing rod 38 and the auxiliary obstacle crossing swing arm wheel 5 in advance to form a front attack angle during running, as shown in fig. 5(a), when the running mechanism runs to one side of the synchronous pulley 42 of the auxiliary obstacle crossing swing arm wheel and contacts with the obstacle, as shown in fig. 5(b), the vehicle body is lifted by the auxiliary obstacle crossing swing arm wheel 5, as shown in fig. 5(c), at this time, the magnetic crawler 9 continues to rotate to drive the running mechanism to move forward, the lifting angle of the vehicle body is increased, as shown in fig. 5(d), the magnetic crawler 9 continues to rotate after contacting with the obstacle to drive the running mechanism to move forward, so that the running mechanism crosses the obstacle, that is, as shown in fig. 5 (e).
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. The foregoing embodiments and description have been provided merely to illustrate the principles of the invention and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a crawler-type robot hinders running gear more for metal pipeline which characterized in that, includes automobile body, reducing pole group, supplementary obstacle-surmounting swing arm wheel, the both sides of automobile body are equipped with a set of moving system respectively, and every moving system includes a magnetism and inhales the athey wheel device, reducing pole group installs in the automobile body top.
2. The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline as claimed in claim 1, wherein the magnetic attraction crawler wheel device is combined with the vehicle body in a pin connection and spring connection mode, and an angle between the magnetic attraction crawler wheel device and the vehicle body is variable.
3. The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline according to claim 1, wherein the magnetic attraction crawler wheel device comprises a bearing wheel, a magnetic attraction crawler, a lateral connecting plate and a transmission mechanism, the transmission mechanism comprises a driving direct current motor, a bevel gear pair and a driving wheel driven by the direct current motor, and the transmission mechanism is arranged inside the magnetic attraction crawler wheel device.
4. The crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that the reducing rod set comprises a lead screw motor, a lead screw nut, a supporting rod and a reducing rod, the lead screw nut is installed on a lead screw of the lead screw motor, one end of the supporting rod is connected with the lead screw nut, and the other end of the supporting rod is connected to the middle of the reducing rod.
5. The tracked robot obstacle crossing travelling mechanism for the metal pipeline according to claim 2, wherein the magnetic track comprises permanent magnet sheets, track sections and thin shafts connected with the track sections, and the permanent magnet sheets are embedded inside the track sections.
6. A tracked robotic obstacle crossing walking mechanism for metal pipes as claimed in claim 2, wherein the ratio of the transmission of said bevel gear pair is 1: 1.
7. the crawler-type robot obstacle crossing travelling mechanism for the metal pipeline is characterized in that an auxiliary obstacle crossing swing arm wheel is arranged at the tail end of the variable diameter rod group and comprises a first steering engine, a second steering engine, a swing arm crawler wheel and a third transmission mechanism for controlling the swing arm crawler wheel to rotate, the third transmission mechanism comprises a third direct current driving motor, a third bevel gear pair and a third driving wheel driven by the third direct current driving motor, and the third transmission mechanism is arranged inside the auxiliary obstacle crossing swing arm wheel.
8. A tracked robotic obstacle crossing walking mechanism for metal pipes according to claim 5, wherein the third bevel gear pair has a transmission ratio of 1: 1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110506197.6A CN113513657A (en) | 2021-05-10 | 2021-05-10 | A track type robot hinders running gear more for metal pipeline |
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| CN202110506197.6A CN113513657A (en) | 2021-05-10 | 2021-05-10 | A track type robot hinders running gear more for metal pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115013637A (en) * | 2022-05-26 | 2022-09-06 | 北京化工大学 | Variable-structure crawler type obstacle crossing robot for ferromagnetic pipelines |
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