CN113619703B - Crawler-type pipeline outer wall robot of crawling - Google Patents

Crawler-type pipeline outer wall robot of crawling Download PDF

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Publication number
CN113619703B
CN113619703B CN202110884975.5A CN202110884975A CN113619703B CN 113619703 B CN113619703 B CN 113619703B CN 202110884975 A CN202110884975 A CN 202110884975A CN 113619703 B CN113619703 B CN 113619703B
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China
Prior art keywords
crawler
bearing seat
swing arm
electric push
chain wheel
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CN113619703A (en
Inventor
侯宇
蒋怡蔚
李浩男
江厚清
金子涵
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Wuhan University of Science and Engineering WUSE
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Wuhan University of Science and Engineering WUSE
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention relates to a crawler-type pipeline outer wall crawling robot. The technical scheme is as follows: the two ends of the second crawler-type crawling main body (2) are symmetrically provided with a first crawler-type crawling main body (1) and a third crawler-type crawling main body (3). In a first crawler-type crawling body (1): first crawler belt moving devices (5) are symmetrically arranged on two sides of the first connecting frame (6), and the two swing arm mechanisms (9) are respectively and symmetrically movably connected with the corresponding first crawler belt moving devices (5); the lower ends of the two first electric push rods (8) are symmetrically hinged to the inner sides of the corresponding first crawler belt moving devices (5), and the upper ends of the two first electric push rods are symmetrically hinged to the top of the first connecting frame (6); the first magnetic force adjusting mechanism (7) is vertically installed at a middle position of the first connecting frame (6). The first crawler-type crawling main body (1) and the second crawler-type crawling main body (2) are similar in structure. The top and the bottom of the front side of the first connecting frame (6) are correspondingly provided with a camera (11) and a first motion control plate (12). The invention has strong obstacle crossing capability, good stability and wide adaptability.

Description

Crawler-type pipeline outer wall robot of crawling
Technical Field
The invention belongs to the technical field of pipeline outer wall crawling robots. In particular to a crawler-type pipeline outer wall crawling robot.
Background
The pipeline plays an important role in the industrial field as an important transmission tool, but has problems in long-term use, such as deformation and fracture of the pipeline caused by long-term exposure, or other reasons, so as to cause leakage of the conveyed materials, which not only causes great economic loss, but also causes damage to the environment and the life health of people in serious cases, and therefore, the pipeline needs to be inspected and maintained regularly. Because the outer wall of most industrial pipelines has welding seams, flanges, valves and the like, the obstacles are increased for daily detection. The development and use of pipeline outer wall crawling robots to facilitate detection has attracted attention of those skilled in the art.
For example, in the patent technology of 'an amphibious pipeline detection robot for laser radar' (CN 112630229A), the technology is provided with four moving wheels which are symmetrically arranged on the side wall of a lower shell, although the weight is small, the stability is poor in the working process because the contact area between the adopted wheel structure and the pipe wall is small.
Also, for example, in the patent technology of "crawler-type steel wall climbing robot" (CN 111086568 a), an arc-shaped slot is formed in the front end of the main frame to limit the rotation angle of the robot adsorption device, so that the robot can automatically adapt to the radian of the outer wall surface of the pressure container or the ship body to a certain extent along the direction of the central axis. Although the adsorption device of the technology can adapt to the radian of the wall surface, the stability in the climbing process is improved, but the problem of poor obstacle crossing capability still exists.
Also for example, in the patent of "a guided wave detection tube robot based on mecanum wheels and a working method thereof" (CN 112305071 a), the upper ends of two fixing frames of the technology are movably connected to the front end and the rear end of the main body respectively through passive movable joints, the lower ends of the fixing frames are provided with two fixing rods arranged in a splayed shape, each fixing rod is provided with a mecanum wheel, and the guided wave detection tube robot can move along the axial direction of a pipeline and rotate around the circumferential direction of the pipeline. The technology avoids the obstacles in a mode of rotating around the circumferential direction of the pipeline, and the obstacles in the circumferential direction of the whole pipeline cannot pass through similar flanges and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pipeline outer wall crawling robot with strong obstacle crossing capability, good stability and wide adaptability.
In order to realize the purpose, the invention adopts the technical scheme that:
for convenience of description, it is assumed that the first crawler type crawling body is located at the front, and the left side facing the front of the first crawler type crawling body is the left direction.
The crawler-type pipeline outer wall crawling robot comprises a first crawler-type crawling main body, a second crawler-type crawling main body and a third crawler-type crawling main body; first crawler-type main part of crawling, second crawler-type main part of crawling and third crawler-type main part of crawling connect gradually to back through the cross axle universal joint, and first crawler-type main part of crawling is the same with third crawler-type main part structure of crawling, and first crawler-type main part of crawling and third crawler-type main part of crawling symmetry set up from front to back.
The first crawler-type crawling main body consists of two first crawler moving devices, a first connecting frame, a first magnetic force adjusting mechanism, two first electric push rods, two swing arm mechanisms, a first power supply, a camera and a first motion control plate; first crawler belt moving devices are symmetrically installed on two sides of the first connecting frame, and the two swing arm mechanisms are respectively and symmetrically movably connected with the corresponding first crawler belt moving devices; the lower ends of the two first electric push rods are symmetrically hinged to the inner sides of the corresponding first crawler belt moving devices respectively, and the upper ends of the two first electric push rods are symmetrically hinged to the top of the first connecting frame; the first magnetic force adjusting mechanism is vertically installed at a middle position of the first link frame. The first power is fixed on one side of the front end of the bottom of the first connecting frame, and the first motion control plate is fixed on the other side of the front end of the bottom of the first connecting frame.
The first connecting frame comprises a rectangular frame, a mounting plate, four upright posts, a rectangular bottom plate and two cross-shaped mounting frames; the rectangular frame is a whole body formed by two longitudinal beams and two cross beams, the lower ends of the four stand columns are respectively fixedly connected with four corners corresponding to the rectangular bottom plate, and the upper ends of the four stand columns are respectively and symmetrically fixed at the two ends close to the cross beams respectively corresponding to the upper ends of the four stand columns.
The rectangular frame, the four upright posts and the rectangular bottom plate form a frame body; the front side and the rear side of the frame body are symmetrically provided with cross-shaped mounting frames, the inner sides of the vertical rods of the two cross-shaped mounting frames are symmetrically provided with sliding chutes along the vertical direction, and the sliding chutes are communicated up and down; the horizontal rods on two sides of the vertical rod of the two cross-shaped mounting frames are respectively symmetrically provided with universal joint mounting holes.
The lower planes of the two longitudinal beams of the rectangular frame are respectively symmetrically provided with two first crawler belt hinged parts which are respectively positioned at two ends close to the respective corresponding longitudinal beams.
The center position department of rectangle bottom plate is equipped with the lead screw bearing mounting hole, is close to lead screw bearing mounting hole centrosymmetric four bar holes that are equipped with, and the perpendicular bisector on four limits of rectangle bottom plate coincides with the central line in the bar hole that corresponds separately respectively.
The middle positions of the upper planes of the two longitudinal beams of the rectangular frame are provided with mounting plates along the left-right direction, the middle positions of the mounting plates are provided with first lead screw steering engine mounting holes, and the front edges of the lower planes of the mounting plates, which are close to the front plane, are symmetrically provided with first electric push rod upper mounting frames.
The middle position of the front end beam of the rectangular frame is provided with a camera mounting hole, and the camera is fixedly connected with the camera mounting hole through a bolt.
The first crawler moving device consists of a first crawler outer support, a first crawler chain wheel, a first crawler inner support and a first crawler motor; the right side and the left side of the first crawler chain wheel are correspondingly provided with a first crawler inner support and a first crawler outer support, and a first crawler motor is fixed on the right side surface of the first crawler inner support.
The first track outer support is structurally characterized in that: a supporting chain wheel bearing seat and a swinging arm upper bearing seat are arranged at the upper edge close to the first support plate, the supporting chain wheel bearing seat is positioned at the front end of the first support plate, and the swinging arm upper bearing seat is close to the front part of the first support plate; the rear portion of the first support plate is sequentially provided with a first driving sprocket bearing seat, a swing arm lower bearing seat and a first driven sprocket bearing seat from back to front, the center of the first driving sprocket bearing seat, the center of the swing arm lower bearing seat and the center of the first driven sprocket bearing seat are all located on the same horizontal line, and the swing arm lower bearing seat is located in the middle of the first driven sprocket bearing seat and the first driving sprocket bearing seat. Wherein:
center distance l between first driven sprocket bearing seat and first driving sprocket bearing seat 0 ＝1.2～1.5d (1)
Horizontal center distance l of support sprocket bearing seat and first driving sprocket bearing seat l ＝3～3.2d (2)
Vertical center distance l of support sprocket bearing seat and first driving sprocket bearing seat h ＝0.5～0.75d (3)
In formulae (1) to (3): d represents the addendum circle diameter, mm, of the driving sprocket or the driven sprocket.
The first support plate is a flat plate, and the appearance of the flat plate is as follows: the front side of the flat plate is shaped like a small arc, and the radius of the small arc is the radius of the addendum circle of the supporting chain wheel; the rear side of the flat plate is semicircular, and the semicircular radius is the addendum circle radius of the first driving sprocket; the contour line of the upper edge of the flat plate is a tangent line of the semicircle and the small circular arc, the contour line of the lower edge of the flat plate is a connecting line consisting of a horizontal line and an oblique line, the horizontal line is a tangent line of an addendum circle of the first driven sprocket and an addendum circle of the first driving sprocket, and the oblique line is a tangent line of the addendum circle of the first driven sprocket and the addendum circle of the supporting sprocket.
The structure of the support in the first crawler belt is as follows: the right side surface of the first support body is provided with two first connecting frame hinged parts, a first track motor mounting frame, a swing arm steering engine mounting frame and a first electric push rod lower mounting frame; the structure of first support body and the structure of first track outer support set up for the mirror image.
Two first connecting frame hinged parts are arranged at the upper edge close to the first bracket body, and the centers of the two first connecting frame hinged parts are positioned on the vertical bisector of the horizontal line of the lower edge of the first bracket body; a first crawler motor mounting frame is arranged at the rear edge close to the first support body, the central line of the first driving chain wheel bearing seat and the central line of the first crawler motor mounting frame are in the same straight line, and the first crawler motor is fixedly connected with the first crawler motor mounting frame; a swing arm steering engine mounting frame is arranged under the swing arm lower bearing seat, a first electric push rod lower mounting frame is arranged at the middle position of the first driven sprocket bearing seat and the swing arm lower bearing seat, and the first electric push rod lower mounting frame is close to the upper edge of the first support body.
The two first connecting frame hinged parts are correspondingly connected with the two first track hinged parts of the first connecting frame; the lower ends of the two first electric push rods are respectively hinged with the corresponding lower first electric push rod mounting frames, and the upper ends of the two first electric push rods are respectively hinged with the corresponding upper first electric push rod mounting frames.
The first crawler chain wheel consists of a supporting chain wheel, a first permanent magnetic adsorption module, a first driven chain wheel, a first driving chain wheel and a first chain; the supporting chain wheel, the first driven chain wheel and the first driving chain wheel are double-row chain wheels, the first chain is two unilateral bent plate chains, and the gear teeth of the supporting chain wheel, the gear teeth of the first driven chain wheel and the gear teeth of the first driving chain wheel are respectively meshed with the first chain.
The wheel shaft of the supporting chain wheel is arranged at the bearing seat of the supporting chain wheel, the wheel shaft of the first driven chain wheel is arranged at the bearing seat of the first driven chain wheel, the first driving chain wheel is arranged at the bearing seat of the first driving chain wheel, and the right wheel shaft of the first driving chain wheel is connected with the output shaft of the first track motor.
The first permanent magnetic adsorption module is composed of a track shoe, a permanent magnet and a track mounting plate, the permanent magnet is arranged in the track shoe, and the track shoe and the track mounting plate are fixedly connected with a bent plate of the first chain through bolts.
The first magnetic force adjusting mechanism is composed of a screw steering engine support, a first screw steering engine, a screw, a magnetic adsorption frame, a permanent magnet block, a screw bearing seat and a sliding block.
The magnetic adsorption frame is a cross-shaped integral component formed by four horizontal rod pieces, the four horizontal rod pieces are arranged in a central symmetry manner, 1-3 permanent magnet blocks are arranged in the central symmetry manner on the lower plane of each horizontal rod piece, and the four 1-3 permanent magnet blocks are respectively arranged in four strip-shaped holes corresponding to the first connecting frame; the front end of the front horizontal rod piece and the rear end of the rear horizontal rod piece of the magnetic adsorption frame are symmetrically provided with sliding blocks, and the two sliding blocks are respectively and movably arranged in sliding grooves corresponding to the first connecting frame; a screw rod screw hole is formed in the center of the magnetic adsorption frame, the lower end of the screw rod is movably connected with a screw rod bearing seat through the screw rod screw hole, and the screw rod bearing seat is fixedly connected with a screw rod bearing mounting hole of the rectangular bottom plate through a bolt; the upper end of the screw is connected with an output shaft of a first screw steering engine, the first screw steering engine is fixedly connected with a screw steering engine support, and the screw steering engine support is fixedly connected with a first screw steering engine mounting hole of the mounting plate through a bolt.
The swing arm mechanism consists of a swing arm steering engine, a crank shaft, a crank, a connecting rod, a swing arm wheel, a swing arm and a swing arm shaft; an output shaft of the swing arm steering engine is connected with one end shaft of a crank shaft, the other end of the crank shaft is fixedly connected with one end of a crank, the other end of the crank is movably connected with one end of a connecting rod through a pin shaft, the other end of the connecting rod is movably connected with a pin shaft in the middle of a swing arm, one end of the swing arm is fixedly provided with a swing arm shaft, and the other end of the swing arm is movably provided with a swing arm wheel; the swing arm shaft is movably connected with a swing arm upper bearing seat of the first inner crawler support; the swing arm steering engine is fixed on a swing arm steering engine mounting frame of the first inner crawler support through bolts, and the crank shaft is mounted at a swing arm lower bearing seat of the first inner crawler support.
In the first crawler-type crawling body: the two first crawler movement devices are a left first crawler device and a right first crawler device, and first crawler motors arranged on the two first crawler movement devices are a first left crawler motor and a first right crawler motor correspondingly; the two swing arm mechanisms are a left swing arm mechanism and a right swing arm mechanism, and the swing arm steering engines of the two swing arm mechanisms are a left swing arm steering engine and a right swing arm steering engine correspondingly; the two first electric push rods are a first left electric push rod and a first right electric push rod, and motors arranged in the two first electric push rods are a first left electric push rod motor and a first right electric push rod motor correspondingly.
The motion control system of the first crawler-type crawling main body is as follows: the Bluetooth interface of the first motion control plate is wirelessly connected with the upper computer, the camera is connected with the camera interface of the first motion control plate, the anode and the cathode of the first power supply are correspondingly connected with the anode and the cathode of the power supply interface of the first motion control plate, and the motor interface 1, the motor interface 2, the motor interface 3 and the motor interface 4 of the first motion control plate are sequentially and correspondingly connected with the first left crawler motor, the first right crawler motor, the first left electric push rod motor and the first right electric push rod motor; the steering engine interface 1, the steering engine interface 2 and the steering engine interface 3 of the first motion control panel are sequentially and correspondingly connected with the left swing arm steering engine, the right swing arm steering engine and the first screw steering engine.
The second crawler-type crawling main body comprises two second crawler-type moving devices, a second connecting frame, a second magnetic force adjusting mechanism, a second electric push rod, a second power supply and a second motion control plate.
The second crawler moving devices are respectively and symmetrically arranged at two sides of the second connecting frame, the lower ends of the two second electric push rods are respectively and symmetrically hinged at the inner sides of the corresponding second crawler moving devices, and the upper ends of the two second electric push rods are symmetrically hinged at the top of the second connecting frame; the second magnetic force adjusting mechanism is vertically arranged at the middle position of the second connecting frame; the second power is fixed on one side of the front end of the bottom of the second connecting frame, and the second motion control plate is fixed on the other side of the front end of the bottom of the second connecting frame.
The second crawler belt moving device consists of a second crawler belt sprocket, a second crawler belt outer support, a second crawler belt inner support and a second crawler belt motor; the second inner crawler support and the second outer crawler support are correspondingly arranged on the right side and the left side of the second crawler chain wheel, and the second crawler motor is fixed on the right side of the second inner crawler support.
The structure of the second track outer support is as follows: the second support plate is symmetrically provided with a second driven sprocket bearing seat and a second driving sprocket bearing seat, the second support plate is an integral flat plate consisting of a rectangular flat plate and two semicircular flat plates symmetrically arranged on the front side and the rear side of the rectangular flat plate, the second driven sprocket bearing seat is positioned at the circle center of the front semicircular flat plate, and the second driving sprocket bearing seat is positioned at the circle center of the rear semicircular flat plate.
The second track inner support is structurally characterized in that a second connecting frame hinged piece, a second track motor mounting frame and a second electric push rod lower mounting frame are arranged on the right side face of the second support body. The structure of the second support body and the structure of the second crawler outer support are arranged in a mirror image mode.
Second connecting frame hinged parts are symmetrically arranged at the position, close to the upper edge of the rectangular flat plate, of the second support body, and a second electric push rod lower mounting frame is arranged at the position, close to a second driven sprocket bearing seat; and a second crawler motor mounting frame is arranged at the rear edge close to the second support body, and the center of the second driving sprocket bearing seat and the center of the second crawler motor mounting frame are the same straight line.
The center distance between the second driven sprocket bearing seat and the second driving sprocket bearing seat is the same as the center distance between the first driven sprocket bearing seat and the first driving sprocket bearing seat.
The second crawler chain wheel consists of a second driven chain wheel, a second permanent magnetic adsorption module, a second driving chain wheel and a second chain; the gear teeth of the second driven sprocket and the gear teeth of the second driving sprocket are respectively meshed with the second chain; the structure and the installation mode of the second driven sprocket, the second permanent magnetic adsorption module, the second driving sprocket and the second chain are the same as those of the first driven sprocket, the first permanent magnetic adsorption module, the first driving sprocket and the first chain in sequence.
The second driving chain wheel is arranged on a second driving chain wheel bearing seat, and the second driven chain wheel is arranged on a second driven chain wheel bearing seat.
The second connecting frame, the second magnetic force adjusting mechanism, the second electric push rod, the second power supply and the second motion control board in the second crawler-type crawling main body are sequentially the same as the first connecting frame, the first magnetic force adjusting mechanism, the first electric push rod, the first power supply and the first motion control board in the first crawler-type crawling main body. Similarly, the second screw steering engine in the second magnetic force adjusting mechanism is the same as the first screw steering engine in the first magnetic force adjusting mechanism.
In the second crawler-type crawling body: the two second crawler belt moving devices are a left second crawler belt device and a right second crawler belt device, and second crawler belt motors of the two second crawler belt moving devices are a second left crawler belt motor and a second right crawler belt motor correspondingly; the two second electric push rods are a second left electric push rod and a second right electric push rod, and motors respectively arranged in the two second electric push rods are a second left electric push rod motor and a second right electric push rod motor correspondingly.
The motion control system of the second crawler-type crawling main body is as follows: the Bluetooth interface of the second motion control panel is wirelessly connected with the upper computer, and the anode and the cathode of the second power supply are correspondingly connected with the anode and the cathode of the power supply interface of the second motion control panel; a motor interface 1, a motor interface 2, a motor interface 3 and a motor interface 4 of the second motion control panel are correspondingly connected with a second left crawler motor, a second right crawler motor, a second left electric push rod motor and a second right electric push rod motor in sequence; and a steering engine interface 1 of the second motion control plate is connected with a second screw steering engine.
The upper computer connected with the second motion control board and the upper computer connected with the first motion control board are the same upper computer.
One end of the cross-axle universal joint is fixedly connected with the rear universal joint mounting hole of the first connecting frame through a bolt, and the other end of the cross-axle universal joint is fixedly connected with the front side of the second connecting frame in a manner of being symmetrical to the rear side of the first connecting frame.
The width of the rectangular bottom plate is 75-80% of the length of the cross beam of the rectangular frame, and the length of the rectangular bottom plate is equal to the length of the longitudinal beam of the rectangular frame.
The length of the strip-shaped hole of the rectangular bottom plate is 30-35% of the length of the rectangular bottom plate.
The working process of the invention is as follows: before a crawler-type pipeline outer wall crawling robot (hereinafter referred to as a robot) works, firstly, adjusting an angle between a first crawler moving device and a first connecting frame through a motor of a first electric push rod according to the diameter of a pipeline to be worked so as to adapt to the diameter of the pipeline; when the robot works, the robot can go straight or turn by controlling the rotating speed of the first crawler motors on the two sides.
The obstacle crossing process of the robot is as follows: when the robot runs to an obstacle under the condition that no obstacle exists on the outer wall of the pipeline, a swing arm steering engine of a swing arm mechanism runs, and a first crawler-type crawling main body is supported by rotation of a swing arm wheel; the robot continues to advance along the outer wall of the pipeline, and when the first crawler-type crawling main body contacts with an obstacle, the swing arm steering engine rotates to enable the swing arm to return to an initial position; meanwhile, the robot continues to advance forwards, the first crawler-type crawling main body crosses over the obstacle, the second crawler-type crawling main body is lifted up at the same time, and the third crawler-type crawling main body is still adsorbed on the pipe wall, so that the obstacle crossing stability is kept. The obstacle crossing process of the second crawler type crawling main body is the same as that of the first crawler type crawling main body, namely the first crawler type crawling main body continues to move forwards, the second crawler type crawling main body crosses an obstacle, and the third crawler type crawling main body is lifted; after the second crawler-type crawling main body crosses the obstacle, the third crawler-type crawling main body crosses the obstacle; and finally, the robot finishes the whole obstacle crossing action and enters the operating state without obstacles.
By adopting the technical scheme, compared with the prior art, the invention has the following positive effects:
according to the robot, the first crawler moving devices are hinged with the first connecting frames, the lower ends of the two first electric push rods are symmetrically hinged to the inner sides of the corresponding first crawler moving devices, the upper ends of the two first electric push rods are symmetrically hinged to the tops of the first connecting frames, the angle between the first crawler moving devices and the first connecting frames can be adjusted by controlling the extension and retraction of the first electric push rods, the robot can adapt to the change of the diameter of the outer wall of a pipeline, meanwhile, the contact area of a crawler and the outer wall of the pipeline is increased, and the stability of the robot in travelling on the outer wall of the pipeline is effectively improved.
According to the invention, the first crawler moving device is provided with the supporting chain wheel, the supporting chain wheel can enable the crawler to form an included angle with the ground, the vertical distance between the front end of the crawler and the outer wall of the pipeline is increased, and the capacity of climbing over larger obstacles is ensured; in addition, because the first crawler-type crawling main body is provided with the swing arm mechanism, a swing arm steering engine of the swing arm mechanism drives a swing arm to rotate in the obstacle crossing process, a swing arm wheel arranged at one end of the swing arm contacts the outer wall of the pipeline in the rotating process, the first crawler-type crawling main body is supported by a certain angle by utilizing the driving force of the swing arm steering engine and the reverse acting force of the outer wall of the pipeline on the swing arm wheel, the robot is assisted to cross the obstacle smoothly, and the obstacle crossing capability of the robot is effectively improved.
The crawler-type pipeline outer wall crawling robot has the advantages that the stability of crawling of the crawler-type pipeline outer wall crawling robot on the outer wall of the pipeline is guaranteed by utilizing the adsorption force of the permanent magnets on the pipeline; and first permanent magnetism adsorption module or second permanent magnetism adsorption module install on first chain or second chain, have both accomplished the transmission that the robot moved is crawled to the crawler-type pipeline outer wall, have also ensured the required adsorption affinity of robot at the in-process of crawling, have improved the crawler-type pipeline outer wall stability of crawling the robot at the pipeline outer wall operation.
The crawler-type climbing robot has the advantages that the three crawler-type climbing main bodies are adopted, so that the phenomenon that the robot is poor in stability and even breaks away from the pipe wall when climbing large obstacles, particularly long obstacles along the axial direction of the pipe wall, can be effectively avoided. Because the magnetic adsorption power of robot is through installing first magnetic adsorption module and the second permanent magnetism adsorption module in every crawler-type main part of crawling provides, the distance that every crawler-type main part of crawling in-process and pipeline outer wall change more, this moment magnetic adsorption power also can weaken thereupon, consequently at first crawler-type main part of crawling, the second crawler-type main part of crawling is equipped with first magnetic force adjustment mechanism and second magnetic force adjustment mechanism correspondingly, other crawler-type main part of crawling can ensure the required magnetic force of climbing the barrier when the magnetic force of certain crawler-type main part of crawling weakens, promptly under the combined action of three crawler-type main part of crawling, can guarantee its stability and obstacle climbing ability of great barrier process more.
Therefore, the invention has the characteristics of strong obstacle crossing capability, good stability and wide adaptability.
Drawings
FIG. 1 is a schematic of one embodiment of the present invention;
fig. 2 is an enlarged schematic view of a structure of the first crawler-type crawling body 1 in fig. 1;
FIG. 3 is a schematic left side view of FIG. 2;
FIG. 4 is an isometric illustration of the first link carriage 6 of FIG. 2;
FIG. 5 is an enlarged schematic view of the first crawler 5 on the left in FIG. 3;
FIG. 6 is a schematic illustration of a configuration of first track outer 28 of FIG. 5;
FIG. 7 is a schematic illustration of a configuration of the first inner track support 30 of FIG. 5;
FIG. 8 is a schematic illustration of one configuration of the first track sprocket 29 of FIG. 5;
FIG. 9 is an enlarged schematic view of the first crawler travel unit 5 of FIG. 2;
fig. 10 is a schematic top view of the first permanent magnet adsorption module 43 in fig. 8;
FIG. 11 isbase:Sub>A schematic sectional view A-A of FIG. 10;
fig. 12 is an enlarged isometric view of the first magnetic adjustment mechanism 7 of fig. 2;
FIG. 13 is a schematic view of the swing arm mechanism 9 of FIG. 2;
fig. 14 is an enlarged schematic view of a structure of the second crawler-type crawling body 2 in fig. 1;
FIG. 15 is a schematic illustration of one configuration of the second crawler travel unit 64 of FIG. 14;
FIG. 16 is a schematic view of a second track outer carrier 71 of FIG. 15;
FIG. 17 is a schematic illustration of a second inner track frame 72 of FIG. 15;
FIG. 18 is a schematic illustration of a configuration of the second track sprocket 70 of FIG. 15;
FIG. 19 is a schematic view of a use state of the present invention;
fig. 20 is a schematic view of a motion control system of the first crawler-type crawling body 1 in fig. 1;
fig. 21 is a schematic view of a motion control system of the second crawler-type crawling body 2 in fig. 1.
Detailed Description
The invention is further described with reference to the following figures and detailed description, without limiting its scope.
Example 1
A crawler-type pipeline outer wall crawling robot. As shown in fig. 1, it is assumed that the first crawler-type crawling body 1 is located at the front, and the left side facing the front of the first crawler-type crawling body 1 is the left direction.
As shown in fig. 1, the crawler-type pipeline outer wall crawling robot comprises a first crawler-type crawling main body 1, a second crawler-type crawling main body 2 and a third crawler-type crawling main body 3; first crawler-type main part 1 of crawling, second crawler-type main part 2 of crawling and the third crawler-type main part 3 of crawling connect gradually to back through the cross shaft universal joint 4 by preceding, and first crawler-type main part 1 of crawling is the same with third crawler-type main part 3 structure of crawling, and first crawler-type main part 1 of crawling and third crawler-type main part 3 front and back symmetry setting of crawling.
As shown in fig. 2 and 3, the first crawler-type crawling main body 1 is composed of two first crawler moving devices 5, a first connecting frame 6, a first magnetic force adjusting mechanism 7, two first electric push rods 8, two swing arm mechanisms 9, a first power supply 10, a camera 11 and a first motion control plate 12; the two sides of the first connecting frame 6 are symmetrically provided with first crawler belt moving devices 5, and the two swing arm mechanisms 9 are respectively and symmetrically movably connected with the corresponding first crawler belt moving devices 5; the lower ends of the two first electric push rods 8 are symmetrically hinged to the inner sides of the corresponding first crawler belt moving devices 5 respectively, and the upper ends of the two first electric push rods 8 are symmetrically hinged to the top of the first connecting frame 6; the first magnetic force adjusting mechanism 7 is vertically installed at an intermediate position of the first link frame 6.
The first power source 10 is fixed to one side of the front end of the bottom of the first link frame 6, and the first motion control plate 12 is fixed to the other side of the front end of the bottom of the first link frame 6.
As shown in fig. 4, the first connecting frame 6 includes a rectangular frame 13, a mounting plate 14, four uprights 16, a rectangular bottom plate 22, and two cross-shaped mounting frames 26; the rectangular frame 13 is an integral body formed by two longitudinal beams 21 and two cross beams 25, the lower ends of four upright posts 16 are respectively fixedly connected with four corresponding corners of the rectangular bottom plate 22, and the upper ends of the four upright posts 16 are respectively and symmetrically fixed at two ends close to the corresponding cross beams 25.
The rectangular frame 13, the four upright posts 16 and the rectangular bottom plate 22 form a frame body; cross-shaped mounting frames 26 are symmetrically arranged on the front side and the rear side of the frame body, sliding grooves 18 are symmetrically arranged on the inner sides of the vertical rods of the two cross-shaped mounting frames 26 along the vertical direction, and the sliding grooves 18 are vertically communicated; the horizontal rods on both sides of the vertical rod of the two cross-shaped mounting frames 26 are respectively symmetrically provided with universal joint mounting holes 19.
The lower planes of the two longitudinal beams 21 of the rectangular frame 13 are symmetrically provided with two first track hinges 20, respectively, and the two first track hinges 20 are located at the two ends of the respective longitudinal beams 21.
The center position of the rectangular bottom plate 22 is provided with a screw bearing mounting hole 24, four strip-shaped holes 23 are symmetrically arranged near the center of the screw bearing mounting hole 24, and the perpendicular bisectors of the four sides of the rectangular bottom plate 22 are respectively superposed with the center lines of the corresponding strip-shaped holes 23.
The middle position of the upper plane of two longitudinal beams 21 of the rectangular frame 13 is provided with a mounting plate 14 along the left-right direction, the middle position of the mounting plate 14 is provided with a first screw steering engine mounting hole 17, and the lower plane of the mounting plate 14 is symmetrically provided with a first electric push rod upper mounting frame 15 close to the front edge.
As shown in fig. 3 and 4, a camera mounting hole 27 is provided at a middle position of the front end cross member 25 of the rectangular frame 13, and the camera 11 is fixedly connected to the camera mounting hole 27 by a bolt.
As shown in fig. 5, the first crawler movement device 5 is composed of a first outer crawler frame 28, a first crawler sprocket 29, a first inner crawler frame 30, and a first crawler motor 31; the right and left sides of the first track sprocket 29 are respectively provided with a first inner track support 30 and a first outer track support 28, and a first track motor 31 is fixed to the right side of the first inner track support 30.
As shown in fig. 6, the first crawler outer frame 28 has the following structure: a supporting chain wheel bearing seat 32 and an upper swing arm bearing seat 34 are arranged at the upper edge close to the first support plate 33, the supporting chain wheel bearing seat 32 is positioned at the front end of the first support plate 33, and the upper swing arm bearing seat 34 is close to the front part of the first support plate 33; the rear portion of the first support plate 33 is sequentially provided with a first driving sprocket bearing seat 37, a swing arm lower bearing seat 36 and a first driven sprocket bearing seat 35 from back to front, the center of the first driving sprocket bearing seat 37, the center of the swing arm lower bearing seat 36 and the center of the first driven sprocket bearing seat 35 are all located on the same horizontal line, and the swing arm lower bearing seat 36 is located in the middle of the first driven sprocket bearing seat 35 and the first driving sprocket bearing seat 37. In fig. 6:
center distance l between first driven sprocket bearing seat 35 and first driving sprocket bearing seat 37 0 ＝1.5d (1)
Horizontal center distance l of the support sprocket bearing seat 32 and the first drive sprocket bearing seat 37 l ＝3.2d (2)
Vertical center distance l of support sprocket bearing seat 32 and first drive sprocket bearing seat 37 h ＝0.75d (3)
In formulae (1) to (3): d represents the diameter of the crest circle of the driving sprocket or the driven sprocket in mm.
As shown in fig. 6 and 8, the first support plate 33 is a flat plate having an outer shape: the front side of the flat plate is shaped like a small arc, and the radius of the small arc is the radius of the addendum circle of the supporting chain wheel 42; the rear side of the flat plate is semicircular in shape, and the semicircular radius is the addendum circle radius of the first driving sprocket 45; the contour line of the upper edge of the flat plate is a tangent line of the semicircle and the small arc, the contour line of the lower edge of the flat plate is a connecting line consisting of a horizontal line and an oblique line, the horizontal line is a tangent line of the addendum circle of the first driven sprocket 44 and the addendum circle of the first driving sprocket 45, and the oblique line is a tangent line of the addendum circle of the first driven sprocket 44 and the addendum circle of the support sprocket 42.
As shown in fig. 6, 7 and 8, the first inner crawler support 30 has the following structure: two first connecting frame hinged parts 38, a first crawler motor mounting frame 39, a swing arm steering engine mounting frame 40 and a first electric push rod lower mounting frame 41 are arranged on the right side of the first support body; the structure of the first bracket body and the structure of the first track outer bracket 28 are mirror images.
Two first connecting frame hinged parts 38 are arranged at the upper edge close to the first bracket body, and the centers of the two first connecting frame hinged parts 38 are positioned on the vertical bisector of the horizontal line of the lower edge of the first bracket body; a first crawler motor mounting frame 39 is arranged at the rear edge close to the first support body, the central line of the first driving sprocket bearing block 37 and the central line of the first crawler motor mounting frame 39 are positioned on the same straight line, and the first crawler motor 31 is fixedly connected with the first crawler motor mounting frame 39; a swing arm steering engine mounting frame 40 is arranged under the swing arm lower bearing seat 36, a first electric push rod lower mounting frame 41 is arranged at the middle position of the first driven sprocket bearing seat 35 and the swing arm lower bearing seat 36, and the first electric push rod lower mounting frame 41 is close to the upper edge of the first support body.
As shown in fig. 2, 4 and 7, the two first link hinges 38 are connected to the two first track hinges 20 of the first link 6 correspondingly; the lower ends of the two first electric push rods 8 are hinged to the corresponding first electric push rod lower mounting frames 41 respectively, and the upper ends of the two first electric push rods 8 are hinged to the corresponding two first electric push rod upper mounting frames 15 respectively.
As shown in fig. 8, the first track sprocket 29 is composed of a support sprocket 42, a first permanent magnetic adsorption module 43, a first driven sprocket 44, a first driving sprocket 45, and a first chain 46; the supporting sprocket 42, the first driven sprocket 44 and the first driving sprocket 45 are double-row sprockets, the first chain 46 is two single-side bent plate chains, and the teeth of the supporting sprocket 42, the teeth of the first driven sprocket 44 and the teeth of the first driving sprocket 45 are respectively meshed with the first chain 46.
As shown in fig. 9, the axle of the support sprocket 42 is installed at the support sprocket bearing housing 32, the axle of the first driven sprocket 44 is installed at the first driven sprocket bearing housing 35, the axle of the first driving sprocket 45 is installed at the first driving sprocket bearing housing 37, and the right axle of the first driving sprocket 45 is connected to the output shaft of the first track motor 31.
As shown in fig. 10 and 11, the first permanent magnet adsorption module 43 is composed of a track shoe 47, a permanent magnet 48 and a track mounting plate 49, the permanent magnet 48 is disposed in the track shoe 47, and the track shoe 47 and the track mounting plate 49 are fixedly connected to the bent plate of the first chain 46 by bolts.
As shown in fig. 12, the first magnetic force adjusting mechanism 7 is composed of a screw steering engine bracket 50, a first screw steering engine 51, a screw 52, a magnetic adsorption frame 53, a permanent magnet 54, a screw bearing seat 55, and a sliding block 56.
The magnetic adsorption frame 53 is a cross-shaped integral member composed of four horizontal rod pieces, the four horizontal rod pieces are arranged in a central symmetry manner, the lower plane of each horizontal rod piece is provided with 3 permanent magnet blocks 54 in a central symmetry manner, and the four 3 permanent magnet blocks 54 are respectively arranged in the four strip-shaped holes 23 corresponding to the first connecting frame 6; the front end of the front horizontal rod piece and the rear end of the rear horizontal rod piece of the magnetic adsorption frame 53 are symmetrically provided with slide blocks 56, and the two slide blocks 56 are respectively and movably arranged in the slide grooves 18 corresponding to the first connecting frame 6; a screw rod screw hole is formed in the center of the magnetic adsorption frame 53, the lower end of the screw rod 52 is movably connected with a screw rod bearing seat 55 through the screw rod screw hole, and the screw rod bearing seat 55 is fixedly connected with a screw rod bearing installation hole 24 of the rectangular bottom plate 22 through a bolt; the upper end of the screw 52 is connected with an output shaft of the first screw steering engine 51, the first screw steering engine 51 is fixedly connected with the screw steering engine support 50, and the screw steering engine support 50 is fixedly connected with the first screw steering engine mounting hole 17 of the mounting plate 14 through a bolt.
As shown in fig. 13, the swing arm mechanism 9 is composed of a swing arm steering gear 57, a crank shaft 58, a crank 59, a connecting rod 60, a swing arm wheel 61, a swing arm 62 and a swing arm shaft 63; an output shaft of the swing arm steering engine 57 is connected with one end shaft of a crank shaft 58, the other end of the crank shaft 58 is fixedly connected with one end of a crank 59, the other end of the crank 59 is movably connected with one end of a connecting rod 60 through a pin shaft, the other end of the connecting rod 60 is movably connected with a pin shaft in the middle of a swing arm 62, one end of the swing arm 62 is fixedly provided with a swing arm shaft 63, and the other end of the swing arm 62 is movably provided with a swing arm wheel 61. As shown in fig. 9 and 13, the swing arm shaft 63 is movably connected with the swing arm upper bearing seat 34 of the first inner crawler support 30; the swing arm steering engine 57 is fixed on the swing arm steering engine mounting frame 40 of the first inner crawler support 30 through bolts, and the crank shaft 58 is installed at the swing arm lower bearing seat 36 of the first inner crawler support 30.
As shown in fig. 2, 3, 5, 13, and 20, in the first crawler-type crawling body 1: the two first crawler movement devices 5 are a left first crawler movement device and a right first crawler movement device, and the first crawler motors 31 respectively arranged on the two first crawler movement devices 5 are a first left crawler motor 89 and a first right crawler motor 88 correspondingly; the two swing arm mechanisms 9 are a left swing arm mechanism and a right swing arm mechanism, and the swing arm steering engines 57 of the two swing arm mechanisms 9 are a left swing arm steering engine 85 and a right swing arm steering engine 84 correspondingly; the two first electric push rods 8 are a first left electric push rod and a first right electric push rod, and the motors respectively arranged in the two first electric push rods 8 are a first left electric push rod motor 87 and a first right electric push rod motor 86 correspondingly.
As shown in fig. 20, the motion control system of the first crawler-type crawling body 1 is: a Bluetooth interface of the first motion control plate 12 is wirelessly connected with an upper computer, a camera 11 is connected with a camera interface of the first motion control plate 12, a positive pole and a negative pole of a first power supply 10 are correspondingly connected with a positive pole and a negative pole of a power supply interface of the first motion control plate 12, and a motor interface 1, a motor interface 2, a motor interface 3 and a motor interface 4 of the first motion control plate 12 are sequentially correspondingly connected with a first left crawler motor 89, a first right crawler motor 88, a first left electric push rod motor 87 and a first right electric push rod motor 86; the steering engine interface 1, the steering engine interface 2 and the steering engine interface 3 of the first motion control panel 12 are correspondingly connected with the left swing arm steering engine 85, the right swing arm steering engine 84 and the first screw steering engine 51 in sequence.
As shown in fig. 14, the second crawler-type crawling main body 2 is composed of two second crawler moving devices 64, a second connecting frame 65, a second magnetic force adjusting mechanism 66, a second electric push rod 67, a second power source 68 and a second motion control plate 69.
As shown in fig. 14, the second crawler traveling devices 64 are symmetrically installed at both sides of the second connecting frame 65, respectively, lower ends of the two second electric push rods 67 are symmetrically hinged at the inner sides of the respective second crawler traveling devices 64, respectively, and upper ends of the two second electric push rods 67 are symmetrically hinged at the top of the second connecting frame 65; the second magnetic force adjusting mechanism 66 is vertically installed at an intermediate position of the second link frame 65; a second power source 68 is fixed to one side of the front end of the bottom of the second link frame 65, and a second motion control plate 69 is fixed to the other side of the front end of the bottom of the second link frame 65.
As shown in fig. 15, the second track moving device 64 is composed of a second track sprocket 70, a second outer track frame 71, a second inner track frame 72, and a second track motor 73; the second inner and outer crawler carriers 72 and 71 are installed at right and left sides of the second crawler sprocket 70, respectively, and the second crawler motor 73 is fixed at right side of the second inner crawler carrier 72.
As shown in fig. 16, the second crawler outer frame 71 has the following structure: a second driven sprocket bearing seat 74 and a second driving sprocket bearing seat 76 are symmetrically arranged on the second support plate 75, the second support plate 75 is an integral flat plate formed by a rectangular flat plate and two semicircular flat plates symmetrically arranged on the front side and the rear side of the rectangular flat plate, the second driven sprocket bearing seat 74 is positioned at the circle center of the front semicircular flat plate, and the second driving sprocket bearing seat 76 is positioned at the circle center of the rear semicircular flat plate.
As shown in fig. 17, the second track inner bracket 72 is configured such that a second link hinge 77, a second track motor mounting bracket 78, and a second electric putter lower mounting bracket 79 are provided on a right side surface of the second bracket body. The structure of the second bracket body and the structure of the second outer crawler bracket 71 are mirror images.
A second connecting frame hinge part 77 is symmetrically arranged at the position, close to the upper edge of the rectangular flat plate, of the second bracket body, and a second electric push rod lower mounting frame 79 is arranged at the position, close to the second driven sprocket bearing seat 74; a second track motor mounting bracket 78 is arranged at the rear edge close to the second bracket body, and the center of the second driving sprocket bearing seat 76 and the center of the second track motor mounting bracket 78 are in the same straight line.
The center distance between the second driven sprocket bearing seat 74 and the second driving sprocket bearing seat 76 is the same as the center distance between the first driven sprocket bearing seat 35 and the first driving sprocket bearing seat 37.
As shown in fig. 18, the second track sprocket 70 is composed of a second driven sprocket 80, a second permanent magnetic adsorption module 81, a second driving sprocket 82 and a second chain 83; the teeth of the second driven sprocket 80 and the teeth of the second driving sprocket 82 are engaged with the second chain 83, respectively; the second driven sprocket 80, the second permanent magnetic adsorption module 81, the second driving sprocket 82 and the second chain 83 have the same structure and installation manner as the first driven sprocket 44, the first permanent magnetic adsorption module 43, the first driving sprocket 45 and the first chain 46 in sequence.
As shown in fig. 17 and 18, the second drive sprocket 82 is mounted to the second drive sprocket bearing support 76, and the second driven sprocket 80 is mounted to the second driven sprocket bearing support 74.
As shown in fig. 1, 13, 14 and 20, the second link 65, the second magnetic force adjusting mechanism 66, the second electric putter 67, the second power source 68 and the second motion control plate 69 in the second crawler-type crawling main body 2 are the same as the first link 6, the first magnetic force adjusting mechanism 7, the first electric putter 8, the first power source 10 and the first motion control plate 12 in the first crawler-type crawling main body 1 in sequence; similarly, the second screw actuator 90 of the second magnetic adjustment mechanism 66 is the same as the first screw actuator 51 of the first magnetic adjustment mechanism 7.
As shown in fig. 1, 14, 15, and 21, in the second crawler-type crawling body 2: the two second crawler movement devices 64 are a left second crawler movement device and a right second crawler movement device, and the second crawler motors 73 of the two second crawler movement devices 64 are a second left crawler motor 94 and a second right crawler motor 93 respectively; the two second electric push rods 67 are a second left electric push rod and a second right electric push rod, and the motors respectively arranged in the two second electric push rods 67 are a second left electric push rod motor 92 and a second right electric push rod motor 91 correspondingly.
The motion control system of the second crawler-type crawling main body 2 is: the Bluetooth interface of the second motion control panel 69 is wirelessly connected with the upper computer, and the anode and the cathode of the second power supply 68 are correspondingly connected with the anode and the cathode of the power supply interface of the second motion control panel 69; the motor interface 1, the motor interface 2, the motor interface 3 and the motor interface 4 of the second motion control panel 69 are correspondingly connected with a second left crawler motor 94, a second right crawler motor 93, a second left electric push rod motor 92 and a second right electric push rod motor 91 in sequence; the steering engine interface 1 of the second motion control panel 69 is connected to a second screw steering engine 90.
The upper computer connected with the second motion control plate 69 and the upper computer connected with the first motion control plate 12 are the same upper computer;
one end of the universal joint cross 4 is fixedly connected with the universal joint mounting hole 19 at the rear side of the first connecting frame 6 through a bolt, and the other end of the universal joint cross 4 is fixedly connected with the front side of the second connecting frame 65 in a manner of being symmetrical with the rear side of the first connecting frame 6.
The width of the rectangular bottom plate 22 is 80% of the length of the cross beam 25 of the rectangular frame 13, and the length of the rectangular bottom plate 22 is equal to the length of the longitudinal beam 21 of the rectangular frame 13.
The length of the strip-shaped hole 23 of the rectangular bottom plate 22 is 35% of the length of the rectangular bottom plate 22.
Example 2
A crawler-type pipeline outer wall crawling robot. Example 1 was followed, except for the following parameters:
center distance l between first driven sprocket bearing seat 35 and first driving sprocket bearing seat 37 0 ＝1.2d；
Horizontal center distance l of the support sprocket bearing seat 32 and the first drive sprocket bearing seat 37 l ＝3d；
Vertical center distance of the support sprocket bearing seat 32 and the first drive sprocket bearing seat 37l h ＝0.5d；
The center of the lower plane of each horizontal rod piece is symmetrically provided with 2 permanent magnet blocks 54,4 2 permanent magnet blocks 54 which are respectively placed in the four strip-shaped holes 23 corresponding to the first connecting frame 6;
the width of the rectangular bottom plate 22 is 75% of the length of the cross beam 25 of the rectangular frame 13, and the length of the rectangular bottom plate 22 is equal to the length of the longitudinal beam 21 of the rectangular frame 13;
the length of the strip-shaped hole 23 of the rectangular bottom plate 22 is 30% of the length of the rectangular bottom plate 22.
Example 3
A crawler-type pipeline outer wall crawling robot. The procedure is as in example 1, except for the following parameters:
the center-to-center distance l between the first driven sprocket bearing seat 35 and the first driving sprocket bearing seat 37 0 ＝1.4d；
Horizontal center distance l of the support sprocket bearing seat 32 and the first drive sprocket bearing seat 37 l ＝3.1d；
Vertical center distance l of the support sprocket bearing seat 32 and the first drive sprocket bearing seat 37 h ＝0.65d；
The center of the lower plane of each horizontal rod piece is symmetrically provided with 1 permanent magnet block 54,4 and 1 permanent magnet block 54 which are respectively placed in the four strip-shaped holes 23 corresponding to the first connecting frame 6;
the width of the rectangular bottom plate 22 is 78% of the length of the cross beam 25 of the rectangular frame 13, and the length of the rectangular bottom plate 22 is equal to the length of the longitudinal beam 21 of the rectangular frame 13;
the length of the strip-shaped hole 23 of the rectangular bottom plate 22 is 33% of the length of the rectangular bottom plate 22.
The working process of the specific embodiment is as follows: before a crawler-type pipeline outer wall crawling robot (hereinafter referred to as a robot) works, firstly, adjusting an angle between a first crawler moving device 5 and a first connecting frame 6 through a motor of a first electric push rod 8 according to the diameter of a pipeline to be worked so as to adapt to the diameter of the pipeline; when the robot works, the robot can go straight or turn by controlling the rotating speed of the first crawler motors 31 on both sides.
The obstacle crossing process of the robot is shown in fig. 19: when the robot is operating with no obstacles on the outer wall of the pipe, the swing arm wheel 61 is in the initial position as in fig. 19-a; at this time, when the robot runs to an obstacle, the swing arm steering engine 57 of the swing arm mechanism 9 operates, and as shown in fig. 19-b, the rotation of the swing arm wheel 61 supports the first crawler crawling main body 1; the robot continues to travel along the outer wall of the pipeline, when the first crawler-type crawling main body 1 contacts an obstacle, the swing arm steering engine 57 rotates to enable the swing arm wheel 61 to return to the initial position, as shown in fig. 19-c; meanwhile, the robot continues to move forwards, the first crawler-type crawling main body 1 goes over the obstacle, as shown in fig. 19-d, the second crawler-type crawling main body 2 is lifted at the same time, and the third crawler-type crawling main body 3 is still adsorbed on the pipe wall, so that the obstacle crossing stability is maintained. The obstacle crossing process of the second crawler-type crawling main body 2 is the same as that of the first crawler-type crawling main body 1, the robot continues to move forwards, as shown in fig. 19-e, the second crawler-type crawling main body 2 crosses an obstacle, and the third crawler-type crawling main body 3 is lifted; as shown in fig. 19-f, after the second crawler crawling body 2 passes over an obstacle, the third crawler crawling body 3 will pass over the obstacle; finally, as shown in fig. 19-g, the robot completes the whole obstacle crossing action and enters the operation state without obstacles.
Compared with the prior art, the specific implementation mode has the following positive effects:
this embodiment adopts and articulates between first track mobile device 5 and the first link 6, the lower extreme of two first electric putter 8 articulates in the inboard that corresponds first track mobile device 5 separately symmetrically, the upper end articulates at the top of first link 6 symmetrically, can adjust the angle between first track mobile device 5 and the first link 6 through the flexible of control first electric putter 8, not only can adapt to the change of pipeline outer wall diameter, the area of contact of track and pipeline outer wall has also been increased simultaneously, the stability that the robot marchd at the pipeline outer wall has been improved effectively.
In the embodiment, the first crawler belt moving device 5 is provided with the supporting chain wheel 42, the supporting chain wheel 42 can enable the crawler belt to form an included angle with the ground, the vertical distance between the front end of the crawler belt and the outer wall of the pipeline is increased, and the capacity of climbing over a larger obstacle is ensured; in addition, because the first crawler-type main part 1 of crawling is equipped with swing arm mechanism 9, swing arm steering wheel 57 at swing arm mechanism 9 drives swing arm 62 rotatory at the in-process of surmounting the obstacle, install swing arm wheel 61 at swing arm 62 one end at the rotatory in-process contact pipeline outer wall, utilize swing arm steering wheel 57's drive power and pipeline outer wall to the counter-acting force of swing arm wheel 61 prop up certain angle with first crawler-type main part 1 of crawling, the auxiliary robot is obstacle surmounting smoothly, the obstacle surmounting ability of robot has effectively been improved.
In the specific embodiment, the adsorption force of the permanent magnet 54 on the pipeline is utilized to ensure the stability of the crawling robot on the outer wall of the crawler-type pipeline; and first permanent magnetism adsorption module 43 or second permanent magnetism adsorption module 81 are installed on first chain 46 or second chain 83, have both accomplished the transmission that the crawler-type pipeline outer wall crawled the robot motion, have also ensured the required adsorption affinity of robot at the in-process of crawling, have improved the crawler-type pipeline outer wall stability of crawling the robot at the pipeline outer wall operation.
This embodiment adopts three crawler-type main parts of crawling, can effectively avoid the poor phenomenon that breaks away from the pipe wall even of stability of robot when climbing great barrier, especially along the longer barrier of pipe wall axis direction. Because the magnetic adsorption power of robot is through installing first magnetic adsorption module 43 and the second permanent magnetism adsorption module 81 in every crawler-type main part of crawling provides, every crawler-type main part of crawling that hinders the in-process changes with the distance of pipeline outer wall, the magnetic adsorption power also can weaken thereupon this moment, consequently at first crawler-type main part 1 of crawling, second crawler-type main part of crawling 2 is equipped with first magnetic force adjustment mechanism 7 and second magnetic force adjustment mechanism 66 correspondingly, other crawler-type main part of crawling can ensure the required magnetic force of climbing the barrier when the magnetic force of certain crawler-type main part of crawling weakens, promptly under the combined action of three crawler-type main parts of crawling, can guarantee its stability and the ability of climbing great barrier process more.
Therefore, the specific implementation mode has the characteristics of strong obstacle crossing capability, good stability and wide adaptability.

Claims (3)

1. The utility model provides a crawler-type pipeline outer wall robot of crawling which characterized in that: the first crawler-type crawling main body (1) is arranged in front, and the left side facing the front part of the first crawler-type crawling main body (1) is in the left direction;
the crawler-type pipeline outer wall crawling robot comprises a first crawler-type crawling main body (1), a second crawler-type crawling main body (2) and a third crawler-type crawling main body (3); the first crawler-type crawling main body (1), the second crawler-type crawling main body (2) and the third crawler-type crawling main body (3) are sequentially connected from front to back through a cross-shaft universal joint (4), the first crawler-type crawling main body (1) and the third crawler-type crawling main body (3) are identical in structure, and the first crawler-type crawling main body (1) and the third crawler-type crawling main body (3) are symmetrically arranged in the front and back direction;
the first crawler-type crawling main body (1) consists of two first crawler moving devices (5), a first connecting frame (6), a first magnetic force adjusting mechanism (7), two first electric push rods (8), two swing arm mechanisms (9), a first power supply (10), a camera (11) and a first motion control plate (12); first crawler belt moving devices (5) are symmetrically installed on two sides of the first connecting frame (6), and the two swing arm mechanisms (9) are respectively and symmetrically movably connected with the corresponding first crawler belt moving devices (5); the lower ends of the two first electric push rods (8) are symmetrically hinged to the inner sides of the corresponding first crawler belt moving devices (5), and the upper ends of the two first electric push rods (8) are symmetrically hinged to the top of the first connecting frame (6); the first magnetic force adjusting mechanism (7) is vertically arranged at the middle position of the first connecting frame (6); the first power supply (10) is fixed on one side of the front end of the bottom of the first connecting frame (6), and the first motion control plate (12) is fixed on the other side of the front end of the bottom of the first connecting frame (6);
the first connecting frame (6) comprises a rectangular frame (13), a mounting plate (14), four upright posts (16), a rectangular bottom plate (22) and two cross-shaped mounting frames (26); the rectangular frame (13) is a whole formed by two longitudinal beams (21) and two cross beams (25), the lower ends of four upright posts (16) are respectively fixedly connected with four corresponding corners of the rectangular bottom plate (22), and the upper ends of the four upright posts (16) are respectively and symmetrically fixed at two ends, close to the cross beams (25), which respectively correspond to the upper ends of the four upright posts;
the rectangular frame (13), the four upright posts (16) and the rectangular bottom plate (22) form a frame body; the front side and the rear side of the frame body are symmetrically provided with cross-shaped mounting frames (26), the inner sides of vertical rods of the two cross-shaped mounting frames (26) are symmetrically provided with sliding chutes (18) along the vertical direction, and the sliding chutes (18) are communicated up and down; horizontal rods on two sides of a vertical rod of the two cross-shaped mounting frames (26) are respectively and symmetrically provided with universal joint mounting holes (19);
the lower planes of two longitudinal beams (21) of the rectangular frame (13) are respectively and symmetrically provided with two first crawler hinge parts (20), and the two first crawler hinge parts (20) are respectively positioned at two ends, close to the two ends, of the respective corresponding longitudinal beams (21);
a lead screw bearing mounting hole (24) is formed in the center of the rectangular bottom plate (22), four strip-shaped holes (23) are symmetrically formed in the position, close to the center of the lead screw bearing mounting hole (24), of the rectangular bottom plate, and perpendicular bisectors of the four sides of the rectangular bottom plate (22) are respectively overlapped with the center lines of the corresponding strip-shaped holes (23);
mounting plates (14) are arranged in the middle of the upper planes of two longitudinal beams (21) of the rectangular frame (13) along the left-right direction, first lead screw steering engine mounting holes (17) are formed in the middle of the mounting plates (14), and first electric push rod upper mounting frames (15) are symmetrically arranged on the lower plane of the mounting plates (14) close to the front edge;
a camera mounting hole (27) is formed in the middle of a front end cross beam (25) of the rectangular frame, and the camera (11) is fixedly connected with the camera mounting hole (27) through a bolt;
the first crawler moving device (5) consists of a first crawler outer support (28), a first crawler chain wheel (29), a first crawler inner support (30) and a first crawler motor (31); a first inner crawler support (30) and a first outer crawler support (28) are correspondingly arranged on the right side and the left side of the first crawler chain wheel (29), and a first crawler motor (31) is fixed on the right side surface of the first inner crawler support (30);
the first track outer support (28) has the structure that: a supporting chain wheel bearing seat (32) and a swinging arm upper bearing seat (34) are arranged at the upper edge close to the first support plate (33), the supporting chain wheel bearing seat (32) is positioned at the front end of the first support plate (33), and the swinging arm upper bearing seat (34) is close to the front part of the first support plate (33); a first driving sprocket bearing seat (37), a swing arm lower bearing seat (36) and a first driven sprocket bearing seat (35) are sequentially arranged at the rear part of the first support plate (33) from back to front, the center of the first driving sprocket bearing seat (37), the center of the swing arm lower bearing seat (36) and the center of the first driven sprocket bearing seat (35) are all located on the same horizontal line, and the swing arm lower bearing seat (36) is located in the middle of the first driven sprocket bearing seat (35) and the first driving sprocket bearing seat (37); wherein:
the center distance l between the first driven chain wheel bearing seat (35) and the first driving chain wheel bearing seat (37) 0 ＝1.2～1.5d (1)
Horizontal center distance l of a support sprocket bearing seat (32) and a first driving sprocket bearing seat (37) l ＝3～3.2d (2)
Vertical center distance l of support sprocket bearing seat (32) and first driving sprocket bearing seat (37) h ＝0.5～0.75d (3)
In formulae (1) to (3): d represents the diameter of the addendum circle of the driving sprocket or the driven sprocket in mm;
the first support plate (33) is a flat plate, and the appearance of the flat plate is as follows: the front side of the flat plate is shaped like a small arc, and the radius of the small arc is the radius of the addendum circle of the supporting chain wheel (42); the rear side of the flat plate is semicircular, and the semicircular radius is the addendum circle radius of the first driving sprocket (45); the contour line of the upper edge of the flat plate is a tangent line of the semicircle and the small circular arc, the contour line of the lower edge of the flat plate is a connecting line consisting of a horizontal line and an oblique line, the horizontal line is a tangent line of an addendum circle of the first driven sprocket (44) and an addendum circle of the first driving sprocket (45), and the oblique line is a tangent line of the addendum circle of the first driven sprocket (44) and an addendum circle of the support sprocket (42);
the first inner crawler support (30) has the following structure: two first connecting frame hinged parts (38), a first crawler motor mounting frame (39), a swing arm steering engine mounting frame (40) and a first electric push rod lower mounting frame (41) are arranged on the right side surface of the first support body; the structure of the first bracket body and the structure of the first track outer bracket (28) are arranged in a mirror image manner;
two first connecting frame hinged pieces (38) are arranged at the upper edge close to the first bracket body, and the centers of the two first connecting frame hinged pieces (38) are positioned on the vertical bisector of the horizontal line of the lower edge of the first bracket body; a first crawler motor mounting frame (39) is arranged at the rear edge close to the first support body, the central line of the first driving sprocket bearing block (37) and the central line of the first crawler motor mounting frame (39) are in the same straight line, and the first crawler motor (31) is fixedly connected with the first crawler motor mounting frame (39); a swing arm steering engine mounting frame (40) is arranged under the swing arm lower bearing seat (36), a first electric push rod lower mounting frame (41) is arranged at the middle position of the first driven sprocket bearing seat (35) and the swing arm lower bearing seat (36), and the first electric push rod lower mounting frame (41) is close to the upper edge of the first support body;
the two first connecting frame hinged parts (38) are correspondingly connected with the two first track hinged parts (20) of the first connecting frame (6); the lower ends of the two first electric push rods (8) are respectively hinged with the corresponding first electric push rod lower mounting frames (41), and the upper ends of the two first electric push rods (8) are respectively hinged with the corresponding two first electric push rod upper mounting frames (15);
the first crawler chain wheel (29) consists of a supporting chain wheel (42), a first permanent magnetic adsorption module (43), a first driven chain wheel (44), a first driving chain wheel (45) and a first chain (46); the supporting chain wheel (42), the first driven chain wheel (44) and the first driving chain wheel (45) are double-row chain wheels, the first chain (46) is two single-side bent plate chains, and gear teeth of the supporting chain wheel (42), gear teeth of the first driven chain wheel (44) and gear teeth of the first driving chain wheel (45) are respectively meshed with the first chain (46);
the wheel shaft of the supporting chain wheel (42) is arranged at the supporting chain wheel bearing seat (32), the wheel shaft of the first driven chain wheel (44) is arranged at the first driven chain wheel bearing seat (35), the wheel shaft of the first driving chain wheel (45) is arranged at the first driving chain wheel bearing seat (37), and the right wheel shaft of the first driving chain wheel (45) is connected with the output shaft of the first crawler motor (31);
the first permanent magnetic adsorption module (43) consists of a track plate (47), a permanent magnet (48) and a track mounting plate (49); the permanent magnet (48) is arranged in the track plate (47), and the track plate (47) and the track mounting plate (49) are fixedly connected with a bent plate of the first chain (46) through bolts;
the first magnetic force adjusting mechanism (7) consists of a screw steering engine support (50), a first screw steering engine (51), a screw (52), a magnetic adsorption frame (53), a permanent magnet block (54), a screw bearing seat (55) and a sliding block (56); the magnetic adsorption frame (53) is a cross-shaped integral member formed by four horizontal rod pieces, the four horizontal rod pieces are arranged in a central symmetry manner, 1-3 permanent magnet blocks (54) are arranged in the central symmetry manner on the lower plane of each horizontal rod piece, and the four 1-3 permanent magnet blocks (54) are respectively arranged in the four strip-shaped holes (23) corresponding to the first connecting frame (6); the front end of the front horizontal rod piece and the rear end of the rear horizontal rod piece of the magnetic adsorption frame (53) are symmetrically provided with sliding blocks (56), and the two sliding blocks (56) are respectively and movably arranged in sliding grooves (18) corresponding to the first connecting frame (6); a screw rod screw hole is formed in the center of the magnetic adsorption frame (53), the lower end of a screw rod (52) is movably connected with a screw rod bearing seat (55) through the screw rod screw hole, and the screw rod bearing seat (55) is fixedly connected with a screw rod bearing mounting hole (24) of the rectangular bottom plate (22) through a bolt; the upper end of the screw (52) is connected with an output shaft of a first screw steering engine (51), the first screw steering engine (51) is fixedly connected with a screw steering engine support (50), and the screw steering engine support (50) is fixedly connected with a first screw steering engine mounting hole (17) of the mounting plate (14) through a bolt;
the swing arm mechanism (9) consists of a swing arm steering engine (57), a crank shaft (58), a crank (59), a connecting rod (60), a swing arm wheel (61), a swing arm (62) and a swing arm shaft (63); an output shaft of the swing arm steering engine (57) is connected with one end shaft of a crank shaft (58), the other end of the crank shaft (58) is fixedly connected with one end of a crank (59), the other end of the crank (59) is movably connected with one end of a connecting rod (60) through a pin shaft, the other end of the connecting rod (60) is movably connected with a pin shaft in the middle of a swing arm (62), one end of the swing arm (62) is fixedly provided with a swing arm shaft (63), and the other end of the swing arm (62) is movably provided with a swing arm wheel (61); the swing arm shaft (63) is movably connected with a swing arm upper bearing seat (34) of the first inner crawler support (30); a swing arm steering engine (57) is fixed on a swing arm steering engine mounting frame (40) of the first inner crawler support (30) through bolts, and a crank shaft (58) is installed at a swing arm lower bearing seat (36) of the first inner crawler support (30);
in a first crawler-type crawling body (1): the two first crawler movement devices (5) are a left first crawler device and a right first crawler device, and the first crawler motors (31) arranged on the two first crawler movement devices (5) are a first left crawler motor (89) and a first right crawler motor (88) correspondingly; the two swing arm mechanisms (9) are a left swing arm mechanism and a right swing arm mechanism, and the swing arm steering gears (57) of the two swing arm mechanisms (9) are a left swing arm steering gear (85) and a right swing arm steering gear (84) correspondingly; the two first electric push rods (8) are a first left electric push rod and a first right electric push rod, and motors arranged in the two first electric push rods (8) are a first left electric push rod motor (87) and a first right electric push rod motor (86) correspondingly;
the motion control system of the first crawler-type crawling main body (1) is as follows: the Bluetooth interface of the first motion control panel (12) is in wireless connection with an upper computer, the camera (11) is connected with the camera interface of the first motion control panel (12), the anode and the cathode of the first power supply (10) are correspondingly connected with the anode and the cathode of the power supply interface of the first motion control panel (12), and the motor interface 1, the motor interface 2, the motor interface 3 and the motor interface 4 of the first motion control panel (12) are sequentially and correspondingly connected with the first left crawler motor (89), the first right crawler motor (88), the first left electric push rod motor (87) and the first right electric push rod motor (86); a steering engine interface 1, a steering engine interface 2 and a steering engine interface 3 of the first motion control panel (12) are sequentially and correspondingly connected with a left swing arm steering engine (85), a right swing arm steering engine (84) and a first screw steering engine (51);
the second crawler-type crawling main body (2) consists of two second crawler moving devices (64), a second connecting frame (65), a second magnetic force adjusting mechanism (66), a second electric push rod (67), a second power supply (68) and a second motion control plate (69); the second crawler movement devices (64) are respectively and symmetrically arranged at two sides of the second connecting frame (65), the lower ends of the two second electric push rods (67) are respectively and symmetrically hinged at the inner sides of the corresponding second crawler movement devices (64), and the upper ends of the two second electric push rods (67) are symmetrically hinged at the top of the second connecting frame (65); the second magnetic force adjusting mechanism (66) is vertically installed at the middle position of the second connecting frame (65); the second power supply (68) is fixed on one side of the front end of the bottom of the second connecting frame (65), and the second motion control plate (69) is fixed on the other side of the front end of the bottom of the second connecting frame (65);
the second crawler moving device (64) consists of a second crawler chain wheel (70), a second crawler outer bracket (71), a second crawler inner bracket (72) and a second crawler motor (73); a second inner track support (72) and a second outer track support (71) are correspondingly arranged on the right side and the left side of the second track chain wheel (70), and a second track motor (73) is fixed on the right side of the second inner track support (72);
the second track outer support (71) has the following structure: a second driven sprocket bearing seat (74) and a second driving sprocket bearing seat (76) are symmetrically arranged on a second support plate (75), the second support plate (75) is an integral flat plate consisting of a rectangular flat plate and two semicircular flat plates symmetrically arranged on the front side and the rear side of the rectangular flat plate, the second driven sprocket bearing seat (74) is positioned at the center of the front semicircular flat plate, and the second driving sprocket bearing seat (76) is positioned at the center of the rear semicircular flat plate;
the structure of the second inner crawler support (72) is as follows: a second connecting frame hinged part (77), a second track motor mounting frame (78) and a second electric push rod lower mounting frame (79) are arranged on the right side surface of the second support body; the structure of the second bracket body and the structure of the second crawler outer bracket (71) are arranged in a mirror image manner;
second connecting frame hinge parts (77) are symmetrically arranged at the position, close to the upper edge of the rectangular flat plate, of the second support body, and a second electric push rod lower mounting frame (79) is arranged at the position, close to the second driven sprocket bearing seat (74); a second crawler motor mounting frame (78) is arranged at the rear edge close to the second bracket body, and the center of the second driving sprocket bearing seat (76) and the center of the second crawler motor mounting frame (78) are on the same straight line;
the center distance between the second driven chain wheel bearing seat (74) and the second driving chain wheel bearing seat (76) is the same as the center distance between the first driven chain wheel bearing seat (35) and the first driving chain wheel bearing seat (37);
the second crawler chain wheel (70) consists of a second driven chain wheel (80), a second permanent magnetic adsorption module (81), a second driving chain wheel (82) and a second chain (83); the teeth of the second driven chain wheel (80) and the teeth of the second driving chain wheel (82) are respectively meshed with a second chain (83); the structure and the installation mode of the second driven sprocket (80), the second permanent magnetic adsorption module (81), the second driving sprocket (82) and the second chain (83) are sequentially the same as those of the first driven sprocket (44), the first permanent magnetic adsorption module (43), the first driving sprocket (45) and the first chain (46);
the second driving chain wheel (82) is arranged on a second driving chain wheel bearing seat (76), and the second driven chain wheel (80) is arranged on a second driven chain wheel bearing seat (74);
a second connecting frame (65), a second magnetic force adjusting mechanism (66), a second electric push rod (67), a second power supply (68) and a second motion control plate (69) in the second crawler-type crawling main body (2) are sequentially identical to the first connecting frame (6), the first magnetic force adjusting mechanism (7), the first electric push rod (8) and the first power supply (10) in the first crawler-type crawling main body (1) and the first motion control plate (12); similarly, a second lead screw steering engine (90) in the second magnetic force adjusting mechanism (66) is the same as a first lead screw steering engine (51) in the first magnetic force adjusting mechanism (7);
in the second crawler-type crawling body (2): the two second crawler movement devices (64) are a left second crawler device and a right second crawler device, and the second crawler motors (73) of the two second crawler movement devices (64) are a second left crawler motor (94) and a second right crawler motor (93) correspondingly; the two second electric push rods (67) are a second left electric push rod and a second right electric push rod, and motors arranged in the two second electric push rods (67) are a second left electric push rod motor (92) and a second right electric push rod motor (91) correspondingly;
the motion control system of the second crawler-type crawling main body (2) is as follows: the Bluetooth interface of the second motion control panel (69) is wirelessly connected with the upper computer, and the anode and the cathode of the second power supply (68) are correspondingly connected with the anode and the cathode of the power supply interface of the second motion control panel (69); a motor interface 1, a motor interface 2, a motor interface 3 and a motor interface 4 of the second motion control panel (69) are correspondingly connected with a second left crawler motor (94), a second right crawler motor (93), a second left electric push rod motor (92) and a second right electric push rod motor (91) in sequence; a steering engine interface 1 of the second motion control plate (69) is connected with a second screw steering engine (90);
the upper computer connected with the second motion control panel (69) and the upper computer connected with the first motion control panel (12) are the same upper computer;
one end of the cross-axle universal joint (4) is fixedly connected with a universal joint mounting hole (19) at the rear side of the first connecting frame (6) through a bolt, and the other end of the cross-axle universal joint (4) is fixedly connected with the front side of the second connecting frame (65) in a connecting mode symmetrical to the rear side of the first connecting frame (6).
2. The crawler-type pipeline outer wall crawling robot according to claim 1, wherein the width of the rectangular bottom plate (22) is 75-80% of the length of a cross beam (25) of the rectangular frame (13), and the length of the rectangular bottom plate (22) is equal to the length of a longitudinal beam (21) of the rectangular frame (13).
3. The crawler-type pipeline outer wall crawling robot according to claim 1, wherein the length of the strip-shaped holes (23) of the rectangular bottom plate (22) is 30-35% of the length of the rectangular bottom plate (22).
CN202110884975.5A 2021-08-03 2021-08-03 Crawler-type pipeline outer wall robot of crawling Active CN113619703B (en)

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Publication number Priority date Publication date Assignee Title
CN114620155B (en) * 2022-04-02 2023-03-24 浙江水利水电学院 Steel gate panel components of a whole that can function independently robot of crawling
GB202205312D0 (en) * 2022-04-11 2022-05-25 Univ Leeds Innovations Ltd A climbing robot
CN115489634A (en) * 2022-09-29 2022-12-20 江苏镌极特种设备有限公司 Deformable wall-climbing robot with high flexibility

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GB103855A (en) * 1916-02-11 1917-02-12 Adolphe Kegresse Improvements in or relating to Motor Cars Driven by Endless Belts with Load Distributing Rollers.
CN101007549A (en) * 2007-01-23 2007-08-01 虞戟 Track-mounted waling device and stair-climbing chair adopting the device
CN103921854A (en) * 2014-04-03 2014-07-16 贵州詹阳动力重工有限公司 Train type caterpillar all-terrain vehicle
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