CN114056453A - Crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection - Google Patents
Crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection Download PDFInfo
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- CN114056453A CN114056453A CN202111609285.5A CN202111609285A CN114056453A CN 114056453 A CN114056453 A CN 114056453A CN 202111609285 A CN202111609285 A CN 202111609285A CN 114056453 A CN114056453 A CN 114056453A
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
A crawler and leg double-motion mode crawling robot for underground pipe gallery inspection comprises a machine body and crawler devices oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels and a crawler sleeved on the crawler wheels; the crawler wheels comprise driving crawler wheels and driven crawler wheels, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheels; a crawler movement mechanism connected with the driving crawler wheel is arranged in the machine body, and a crawler rotating mechanism is sleeved on the crawler movement mechanism; compared with the prior art, the double-working mode is adopted, the crawler-type mechanism is used in the daily working environment, good movement performance and certain obstacle crossing capability are guaranteed, the leg-type mechanism is used when special conditions are met, good obstacle crossing capability is provided, and environmental adaptability and emergency capability are guaranteed.
Description
Technical Field
The invention relates to the field of crawling robots, in particular to a crawler and leg dual-motion mode crawling robot for underground pipe gallery inspection.
Background
The utility tunnel is an underground tunnel which is different from the subway and is used for the daily commuting of the public, and the middle of the pipe gallery covers the pipelines which are separately buried underground, such as cables, optical cables, domestic water, production wastewater, natural gas supply and the like. The various pipelines inside the underground comprehensive corridor are complicated and complicated, so that dangerous conditions such as leakage, electric shock and explosion can be caused, and timely detection and supervision are required for ensuring the transportation safety of the urban aorta.
In the existing inspection modes at home and abroad, the inspection modes of underground pipe galleries are generally divided into manual inspection, wheel type robot inspection, crawler type robot inspection and rail type robot inspection, and the inspection modes have certain defects.
Wherein the manual work is patrolled and examined and need pay more human costs, when the condition such as gas leakage appears, can not guarantee patrolling and examining personnel's life safety. The wheel type mechanism of the wheel type robot is fixed in structure, the movement range is limited, the inspection range is small, and the environmental adaptability is poor. The crawler-type robot has poor movement efficiency due to the polygon effect of the crawler mechanism. The rail-based robot is limited to the rail and may lose its ability to work in the event of a pipe bend break.
Disclosure of Invention
The crawler and leg double-motion mode crawling robot for underground pipe gallery inspection is safe, reliable, good in obstacle crossing capability and good in emergency capability, and aims to overcome the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a crawler and leg double-motion mode crawling robot for underground pipe gallery inspection comprises a machine body and crawler devices oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels and a crawler sleeved on the crawler wheels; the crawler device is characterized in that the crawler wheels comprise driving crawler wheels and driven crawler wheels, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheels; a crawler movement mechanism connected with the driving crawler wheel is arranged in the machine body, and a crawler rotating mechanism is sleeved on the crawler movement mechanism; a support leg movement locking mechanism connected with the crawling support leg is arranged in the driven crawler wheel; the inner side and the outer side of the crawler device are respectively provided with a near-end crawler connecting plate and an outer-end crawler connecting plate, the crawler rotating mechanism is connected with the near-end crawler connecting plates, the near-end crawler connecting plates are connected with all driving crawler wheels and all driven crawler wheels, and the leg movement locking mechanism is provided with a positioning pin clamped with the outer-end crawler connecting plates.
As a preferable mode of the present invention, the body includes an upper support plate and a lower support plate connected at ends thereof, and the track moving mechanism and the track rotating mechanism are fixedly provided on the upper support plate and the lower support plate, respectively.
As a preferable scheme of the invention, the track movement mechanism comprises a first direct current motor and an inner shaft which are connected, the inner shaft is connected to the middle part of the driving crawler wheel, the inner shaft and the driving crawler wheel rotate synchronously, and a first speed reducer and a first coupling which are connected are arranged between the inner shaft and the first direct current motor.
As a preferable scheme of the invention, the track rotating mechanism comprises a second direct current motor and an outer shaft which are connected, the outer shaft is sleeved outside the inner shaft, the inner shaft and the outer shaft are concentrically arranged with the inner shaft, a flange connected with the near-end track connecting plate is arranged on the outer shaft, and a second speed reducer and a second coupling which are connected are arranged between the second direct current motor and the outer shaft.
As a preferable scheme of the present invention, a helical gear and a helical gear shaft are disposed between the second coupling and the outer shaft, the helical gear is sleeved on the outer shaft, the helical gear and the outer shaft rotate synchronously, and the helical gear shaft is connected to the second coupling.
As a preferable scheme of the invention, the supporting leg movement locking mechanism comprises a third direct current motor, a screw rod, a nut, a connecting piece, a pushing piece and a telescopic rod, a third coupling connected between the third direct current motor and the screw rod is arranged, the nut is in threaded connection with the screw rod, and the connecting piece and the pushing piece are respectively connected to the inner side and the outer side of the nut.
According to a preferable scheme of the invention, the screw and the nut form a screw rod sliding block structure, the nut drives the connecting piece and the pushing piece to move along the length direction of the screw, a connecting frame connected with the driven crawler wheel is arranged in the connecting piece, the connecting frame plays a guiding role on the connecting piece, the outer wall of the nut abuts against the inner wall of the connecting frame, and a clamping groove matched with the connecting piece is formed in the driven crawler wheel.
As a preferred scheme of the invention, two ends of the telescopic rod are respectively located on the moving paths of the pushing piece and the positioning pin, and both ends of the telescopic rod are of spherical structures, the positioning pin and the telescopic rod are both sleeved with a return spring, and the end part of the positioning pin is also formed with a spherical structure matched with the end part of the telescopic rod.
As a preferred scheme of the invention, the crawling support leg comprises an inner cylinder and an outer cylinder sleeved outside the inner cylinder, the inner cylinder is connected with the support leg movement locking mechanism, a linear bearing is arranged between the inner cylinder and the outer cylinder, a damping spring is further sleeved outside the inner cylinder, a rubber seat is arranged at the end part of the outer cylinder, and a rubber pad is arranged on the rubber seat.
As a preferable scheme of the invention, the crawler device comprises an active crawler wheel and at least two passive crawler wheels, and the passive crawler wheels are respectively provided with a leg movement locking mechanism and a crawling leg which are connected.
Compared with the prior art, the invention has the beneficial effects that:
1. by adopting a double-working mode, in a daily working environment, the crawler-type mechanism is used, good movement performance and certain obstacle crossing capability are ensured, and when special conditions are met, the leg-type mechanism is used, so that good obstacle crossing capability is provided, and environmental adaptability and emergency capability are ensured;
2. the leg part is fixedly arranged on the crawler device in a storage state, so that the normal use of the crawler device is not influenced, the leg part is rotated and unfolded in a use state, and the leg part is driven to move and swing by the leg part movement locking mechanism;
3. the symmetrical structure and the four-foot support are used, so that the structural stability can be kept in the movement process, and the information acquisition is more accurate;
4. in the information acquisition process, the double working modes can be flexibly used, the activity space of the robot is expanded, and the information acquisition is more comprehensive;
5. when the crawler belt device moves in a lifting and crossing manner, the rotation angle and the degree of freedom of the crawler belt device are large, and the crawler belt device is not easy to overturn;
6. the two-way inner and outer cylinder damping module is used for buffering and damping, so that the service life of parts is prolonged, and meanwhile, the collision is avoided due to delayed response.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a cross-sectional view of the installation of the track moving mechanism and track turning mechanism;
FIG. 3 is a cross-sectional view of the leg movement locking mechanism and the crawling leg;
FIG. 4 is a system block diagram of the present invention;
reference numerals: the device comprises a lower support plate 1, an upper support plate 2, a first direct current motor 3, a first speed reducer 4, a first coupling 5, an inner shaft 6, crawler wheels 7, a crawler belt 8, a second direct current motor 9, a second speed reducer 10, a second coupling 11, a bevel gear shaft 12, a bevel gear 13, an outer shaft 14, a flange plate 15, a near-end crawler belt connecting plate 16, a third direct current motor 17, a third coupling 18, a screw rod 19, a connecting frame 20, a connecting piece 21, a nut 22, a pushing piece 23, a telescopic rod 24, an outer-end crawler belt connecting plate 25, a return spring 26, a positioning pin 27, an inner cylinder 28, a linear bearing 29, an outer cylinder 30, a damping spring 31, a rubber seat 32 and a rubber pad 33.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1-4, a crawler and leg dual-movement mode crawling robot for underground pipe gallery inspection comprises a machine body and crawler devices oppositely arranged on two sides of the machine body, wherein each crawler device comprises a plurality of crawler wheels 7 and a crawler 8 sleeved on the crawler wheels 7; the crawler wheels 7 comprise driving crawler wheels and driven crawler wheels, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheels; a crawler movement mechanism connected with the driving crawler wheel is arranged in the machine body, and a crawler rotating mechanism is sleeved on the crawler movement mechanism; a support leg movement locking mechanism connected with the crawling support leg is arranged in the driven crawler wheel; the inner side and the outer side of the crawler device are respectively provided with a near-end crawler connecting plate 16 and an outer-end crawler connecting plate 25, the crawler rotating mechanism and the near-end crawler connecting plate 16 are connected, the near-end crawler connecting plate 16 is connected with all driving crawler wheels and all driven crawler wheels, and a positioning pin 27 clamped with the outer-end crawler connecting plate 25 is formed on the leg movement locking mechanism.
The driving crawler wheels are meshed with the crawler 8, the crawler 8 is driven to transmit in the rotating process of the driving crawler wheels, the driven crawler wheels are also meshed with the crawler 8, and the crawler 8 drives the driven crawler wheels to synchronously rotate in the transmitting process.
The machine body is also internally provided with a control system, the control system is connected with the track moving mechanism, the track rotating mechanism and the support leg movement locking mechanism through leads, the control system comprises a plc and a communication module, the communication module can be connected with an external computer or a mobile phone, and the control system can drive the track moving mechanism, the track rotating mechanism and the support leg movement locking mechanism to move under the action of the control system.
The near-end track connecting plate 16 and the outer-end track connecting plate 25 form a basic structure of the crawler device, the crawler 8 is meshed with the driving crawler wheel, the driving crawler wheel drives the transmission of the crawler 8, so that the driven crawler wheel is synchronously driven to rotate, and the near-end track connecting plate 16 and the outer-end track connecting plate 25 are used for supporting all the driving crawler wheel and the driven crawler wheel.
Be provided with the camera that is connected with control system on the organism to at the organism removal in-process, the camera is used for catching the image in the underground pipe gallery, transmits the image to in computer or the cell-phone through communication module.
The organism includes upper portion backup pad 2 and lower part backup pad 1 that the tip links to each other, and track motion and track slewing mechanism are fixed respectively and are set up on upper portion backup pad 2 and lower part backup pad 1 to make the atress in the organism even, be convenient for track motion and track slewing mechanism's installation location.
The crawler movement mechanism comprises a first direct current motor 3 and an inner shaft 6 which are connected, the inner shaft 6 is connected to the middle of the driving crawler wheel, the inner shaft 6 and the driving crawler wheel rotate synchronously, and a first speed reducer 4 and a first coupling 5 which are connected are arranged between the inner shaft 6 and the first direct current motor 3.
The first direct current motor 3 drives the inner shaft 6 to rotate through the first speed reducer 4 and the first coupler 5, and the inner shaft 6 is connected with the driving crawler wheel through keys and key grooves, so that the inner shaft 6 and the driving crawler wheel synchronously rotate, the driving crawler wheel is driven to rotate under the action of the first direct current motor 3, the crawler 8 is driven to transmit, and the whole machine body moves in the transmission process of the crawler 8.
The crawler belt rotating mechanism comprises a second direct current motor 9 and an outer shaft 14 which are connected, the outer shaft 14 is sleeved outside the inner shaft 6, the inner shaft 14 and the outer shaft 6 are arranged concentrically, a flange 15 connected with a near-end crawler belt connecting plate 16 is arranged on the outer shaft 14, and a second speed reducer 10 and a second coupling 11 which are connected are arranged between the second direct current motor 9 and the outer shaft 14.
And a bearing is arranged between the inner shaft 6 and the outer shaft 14, so that the inner shaft 6 and the outer shaft 14 do not interfere with each other in the rotating process, the outer shaft 14 is connected with a near-end track connecting plate 16 through a flange 15, the integral rotation of the track device is realized under the action of the outer shaft 14, the angle between the track device and the machine body is adjusted, and the obstacle crossing operation of the track device is facilitated.
A helical gear 13 and a helical gear shaft 14 are arranged between the second coupling 11 and the outer shaft 14, the helical gear 13 is sleeved on the outer shaft 14, the helical gear 13 and the outer shaft 14 synchronously rotate, the helical gear shaft 14 is connected with the second coupling 11, and the helical gear 13 and the helical gear shaft 14 form helical gear meshing transmission, so that the output position of the second direct current motor 9 can be biased, and the requirement that the outer shaft 14 is sleeved on the inner shaft 6 is met.
The helical gear 13 is meshed with the helical gear shaft 14, and the helical gear 13 and the outer shaft 14 synchronously rotate in a key and key way.
The supporting leg movement locking mechanism comprises a third direct current motor 17, a screw rod 19, a nut 22, a connecting piece 21, a pushing piece 23 and a telescopic rod 24, a third coupling 18 connected is arranged between the third direct current motor 17 and the screw rod 19, the nut 22 is in threaded connection with the screw rod 19, and the connecting piece 21 and the pushing piece 23 are respectively connected to the inner side and the outer side of the nut 22.
The screw rod 19 and the nut 22 form a screw rod sliding block structure, the nut 22 drives the connecting piece 21 and the pushing piece 23 to move along the length direction of the screw rod 19, the connecting piece 21 is internally provided with a connecting frame 20 connected with the driven crawler wheel, the connecting frame 20 plays a guiding role on the connecting piece 21, the outer wall of the nut 22 abuts against the inner wall of the connecting frame 20, and a clamping groove matched with the connecting piece 21 is formed in the driven crawler wheel.
The two ends of the telescopic rod 24 are respectively located on the moving paths of the pushing piece 23 and the positioning pin 27, the two ends of the telescopic rod 24 are both in a spherical structure, the positioning pin 27 and the telescopic rod 24 are both sleeved with a reset spring 26, the end part of the positioning pin 27 is also formed with a spherical structure matched with the end part of the telescopic rod 24, and the positioning pin 27 and the telescopic rod 24 are provided with limiting rings abutted to the reset spring 26.
The third direct current motor 17 is connected with the screw rod 19 through the third coupler 18, in the rotation process of the screw rod 19, the nut 22 is driven to move in a telescopic mode, the connecting piece 21 and the pushing piece 23 are fixedly connected to the nut 22, the connecting piece 21 and the nut 22 are fixedly connected through screws, the pushing piece 23 and the nut 22 are fixedly connected through bolts, the end portion of the pushing piece 23 forms a bending structure, and the end portion of the pushing piece 23 forms an inclined plane.
In the telescopic moving process of the connecting piece 21 and the pushing piece 23, the outer wall of the connecting frame 20 is always abutted against the inner moving crawler wheel, so that the guiding effect on the connecting piece 21 is achieved, the connecting piece 21 has better stability in the moving process, when the connecting piece 21 moves to the rear of the clamping groove, the driven crawler wheel is driven to rotate under the transmission effect of the crawler 8, the driven crawler wheel rotates synchronously to drive the crawling support leg to rotate around the screw rod 19.
The leg movement locking mechanism is connected with the driven crawler wheel through the connecting piece 21, so that the leg movement locking mechanism is driven to rotate in the rotating process of the driven crawler wheel, after the connecting piece 21 moves to the back of the clamping groove, the crawler 8 rotates repeatedly to drive the driven crawler wheel to repeatedly transmit, and the crawling leg on the leg movement locking mechanism swings through the rotation of the connecting frame 20.
When the crawling support leg is in a retracted state, the positioning pin 27 is inserted into the outer end crawler connecting plate 25 at the moment, the support leg movement locking mechanism is connected with the outer end crawler connecting plate 25, and therefore the support leg movement locking mechanism is fixedly connected with the crawler device, and the crawling support leg does not influence the movement of the crawler device at the moment.
At this time, the bending part of the pushing part 23 abuts against the telescopic rod 24, the reset spring 26 on the telescopic rod 24 is located in a contraction state, the telescopic rod 24 is located on a moving path of the positioning pin 27, so that the positioning pin 27 is compressed under the action of the telescopic rod 24, the positioning pin 27 is inserted into the outer end crawler connecting plate 25, and the reset spring 26 on the positioning pin 27 is also located in the contraction state.
When the crawling leg is in a use state, the positioning pin 27 is separated from the outer-end crawler connecting plate 25, the leg movement locking mechanism is only connected with the driven crawler wheel, the driven crawler wheel is driven to rotate repeatedly through the repeated rotation of the crawler 8, the crawling leg on the leg movement locking mechanism swings through the rotation of the connecting frame 20, and the leg movement locking mechanism rotates to a use position.
At the moment, the connecting piece 21 is clamped with the driven crawler wheel, the pushing piece 23 moves synchronously with the connecting piece 21, the pushing piece 23 abuts against the top of the telescopic rod 24, the telescopic rod 24 rebounds under the action of the reset spring 26, the telescopic rod 24 is not in contact with the positioning pin 27, the positioning pin 27 rebounds under the action of the reset spring 26, and the positioning pin 27 is separated from the outer-end crawler connecting plate 25.
The crawling support leg comprises an inner cylinder 28 and an outer cylinder 30 sleeved outside the inner cylinder 28, the inner cylinder 28 is connected with the support leg movement locking mechanism, a linear bearing 29 is arranged between the inner cylinder 28 and the outer cylinder 30, a damping spring 31 is further sleeved outside the inner cylinder 28, a rubber seat 32 is arranged at the end of the outer cylinder 30, and a rubber pad 33 is arranged on the rubber seat 32.
The inner cylinder 28 is connected with the supporting leg movement locking mechanism through bolts, so that the inner cylinder 28 is synchronously driven to rotate or swing in the rotating or swinging process of the supporting leg movement locking mechanism, the inner cylinder 28 and the outer cylinder 30 cannot be separated under the action of the linear bearing 29, relative sliding can be generated between the inner cylinder 28 and the outer cylinder 30, the damping spring 31 is used for damping the movement between the inner cylinder 28 and the outer cylinder 30, the rubber pad 33 is used for being in contact with the surface of the underground pipe gallery, and the contact area between the surface of the underground pipe gallery and the climbing supporting leg is increased.
The crawler device comprises an active crawler wheel and a passive crawler wheel, the passive crawler wheel is provided with a leg movement locking mechanism connected with the passive crawler wheel and a crawling leg, preferably, the crawler device comprises the active crawler wheel and the passive crawler wheel, so that 4 crawler devices are arranged on the whole machine body and respectively correspond to the 4 active crawler wheels and the 4 crawling legs, the 4 crawler devices are independently controlled, better flexibility is achieved, the 4 crawling legs support the machine body, and better stability is achieved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: the terms lower support plate 1, upper support plate 2, first dc motor 3, first speed reducer 4, first coupling 5, inner shaft 6, crawler wheel 7, crawler belt 8, second dc motor 9, second speed reducer 10, second coupling 11, bevel gear shaft 12, bevel gear 13, outer shaft 14, flange 15, proximal crawler belt connecting plate 16, third dc motor 17, third coupling 18, screw 19, link 20, link 21, nut 22, pushing member 23, telescopic rod 24, outer end crawler belt connecting plate 25, return spring 26, positioning pin 27, inner cylinder 28, linear bearing 29, outer cylinder 30, damping spring 31, rubber seat 32, rubber pad 33, etc., but do not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A crawler and leg double-motion mode crawling robot for underground pipe gallery inspection comprises a machine body and crawler devices oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels (7) and a crawler belt (8) sleeved on the crawler wheels (7); the crawler device is characterized in that the crawler wheels (7) comprise driving crawler wheels and driven crawler wheels, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheels; a crawler movement mechanism connected with the driving crawler wheel is arranged in the machine body, and a crawler rotating mechanism is sleeved on the crawler movement mechanism; a support leg movement locking mechanism connected with the crawling support leg is arranged in the driven crawler wheel; the crawler device is characterized in that a near-end crawler connecting plate (16) and an outer-end crawler connecting plate (25) are respectively formed on the inner side and the outer side of the crawler device, a crawler rotating mechanism and the near-end crawler connecting plate (16) are connected, the near-end crawler connecting plate (16) is connected with all driving crawler wheels and all driven crawler wheels, and a positioning pin (27) clamped with the outer-end crawler connecting plate (25) is formed on the leg movement locking mechanism.
2. The crawler-and-leg dual-movement mode crawling robot for underground piping and corridor inspection according to claim 1, wherein the machine body comprises an upper support plate (2) and a lower support plate (1) which are connected at the ends, and the crawler movement mechanism and the crawler rotation mechanism are respectively and fixedly arranged on the upper support plate (2) and the lower support plate (1).
3. The crawler-and-leg dual-movement mode crawling robot for underground pipe gallery inspection according to claim 1, characterized in that the crawler movement mechanism comprises a first direct current motor (3) and an inner shaft (6) which are connected, the inner shaft (6) is connected to the middle of the driving crawler wheel, the inner shaft (6) and the driving crawler wheel rotate synchronously, and a first speed reducer (4) and a first coupling (5) which are connected are arranged between the inner shaft (6) and the first direct current motor (3).
4. The crawler and leg dual-movement mode crawling robot for underground pipe gallery inspection according to claim 3, wherein the crawler rotating mechanism comprises a second direct current motor (9) and an outer shaft (14) which are connected, the outer shaft (14) is sleeved outside the inner shaft (6), the inner shaft (14) and the outer shaft (6) are arranged concentrically, a flange (15) connected with a near-end crawler connecting plate (16) is arranged on the outer shaft (14), and a second speed reducer (10) and a second coupling (11) which are connected are arranged between the second direct current motor (9) and the outer shaft (14).
5. The crawler belt and leg dual-movement mode crawling robot for underground pipe gallery inspection according to claim 4, characterized in that a bevel gear (13) and a bevel gear shaft (12) are arranged between the second coupling (11) and the outer shaft (14), the bevel gear (13) is sleeved on the outer shaft (14), the bevel gear (13) and the outer shaft (14) rotate synchronously, and the bevel gear shaft (12) is connected with the second coupling (11).
6. The crawler-belt and leg dual-movement mode crawling robot for underground pipe gallery inspection according to claim 1, wherein the leg movement locking mechanism comprises a third direct current motor (17), a screw rod (19), a nut (22), a connecting piece (21), a pushing piece (23) and a telescopic rod (24), a third coupling (18) connected with the third direct current motor (17) and the screw rod (19) is arranged between the third direct current motor (17) and the screw rod (19), the nut (22) is connected with the screw rod (19) in a threaded manner, and the connecting piece (21) and the pushing piece (23) are respectively connected with the inner side and the outer side of the nut (22).
7. The crawler-type and leg dual-motion mode crawling robot for underground pipe gallery inspection according to claim 6, wherein the screw (19) and the nut (22) form a screw rod and slider structure, the nut (22) drives the connecting piece (21) and the pushing piece (23) to move along the length direction of the screw (19), a connecting frame (20) connected with a driven crawler wheel is arranged in the connecting piece (21), the connecting frame (20) plays a role in guiding the connecting piece (21), the outer wall of the nut (22) abuts against the inner wall of the connecting frame (20), and a clamping groove matched with the connecting piece (21) is formed in the driven crawler wheel.
8. The crawler belt and leg dual-motion mode crawling robot for underground pipe gallery inspection according to claim 7, wherein two ends of the telescopic rod (24) are respectively located on moving paths of the pushing piece (23) and the positioning pin (27), two ends of the telescopic rod (24) are both in a sphere structure, the positioning pin (27) and the telescopic rod (24) are both sleeved with a return spring (26), and the end part of the positioning pin (27) is also formed with a sphere structure matched with the end part of the telescopic rod (24).
9. The crawler-type and leg dual-movement mode crawling robot for underground pipe gallery inspection according to claim 1, wherein the crawling support leg comprises an inner cylinder (28) and an outer cylinder (30) sleeved outside the inner cylinder (28), the inner cylinder (28) is connected with a support leg movement locking mechanism, a linear bearing (29) is arranged between the inner cylinder (28) and the outer cylinder (30), a damping spring (31) is further sleeved outside the inner cylinder (28), a rubber seat (32) is arranged at the end of the outer cylinder (30), and a rubber pad (33) is arranged on the rubber seat (32).
10. The crawler-and-leg dual-movement mode crawling robot for underground gallery inspection according to claim 1, wherein the crawler device comprises an active crawler wheel and a passive crawler wheel, and the passive crawler wheel is provided with a leg movement locking mechanism and a crawling leg which are connected with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111609285.5A CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111609285.5A CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114056453A true CN114056453A (en) | 2022-02-18 |
| CN114056453B CN114056453B (en) | 2023-06-30 |
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| CN202111609285.5A Active CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
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2021
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| CN114056453B (en) | 2023-06-30 |
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