CN114719122B - Telescopic crawling robot in pipeline - Google Patents
Telescopic crawling robot in pipeline Download PDFInfo
- Publication number
- CN114719122B CN114719122B CN202210527805.6A CN202210527805A CN114719122B CN 114719122 B CN114719122 B CN 114719122B CN 202210527805 A CN202210527805 A CN 202210527805A CN 114719122 B CN114719122 B CN 114719122B
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- brake
- frame
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- 230000009193 crawling Effects 0.000 title claims abstract description 84
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The telescopic crawling robot in the pipeline comprises a front frame (1), a front braking device (2), a transmission device (3), a sliding sleeve (4), a universal coupler (5), a rear frame (6), a rear braking device (7), an elastic rod (8), a driving motor (9) and wheels (10). According to the invention, the movement of the robot crawling inside the pipeline is realized by driving the grooved pulley combined mechanism through one motor, so that the electric control structure is simplified, and other devices can be additionally arranged on the outer frame of the robot to perform the work of pipeline detection, maintenance and the like, thereby facilitating pipeline detection and maintenance; the crank slide block mechanism is adopted to provide driving force, and the braking action of the braking device is combined, so that the robot has larger driving force; the universal coupler is connected with the elastic rod in a combined way, so that the robot can move in the bent pipeline, and meanwhile, the elastic rod can automatically correct and restore the two parts of the robot to an original straight state.
Description
Technical Field
The invention relates to a mobile robot in a pipeline, in particular to a telescopic crawling robot in the pipeline, and belongs to the technical field of robots.
Background
The pipeline transportation has the characteristics of large transportation quantity, safety, reliability, strong continuity, less transportation energy consumption, low cost and the like, is widely used for transporting fluid substances such as oil, natural gas and the like in industrial and agricultural production and daily life of people, and greatly promotes the social development. However, with the long-term use of the pipeline, the inner part and the outer part of the pipeline are damaged by corrosion, abrasion, cracking and the like to different degrees. For pipeline detection and maintenance, the traditional method is a random sampling and digging maintenance method. The maintenance method consumes excessive manpower and material resources, has lower working efficiency, and can also generate the phenomenon of missed detection in random sampling inspection. Meanwhile, special substances conveyed by some pipelines can have factors such as direct contact impermissible people or unsuitable excavation of certain positions of the pipelines, and the like, so that the pipeline overhaul work is greatly influenced. Devices capable of moving within the pipe have thus emerged for inspection and maintenance, mainly of the wheeled and telescopic type. The wheel type crawling device is driven by a motor to drive wheels, the driving force mainly depends on the friction force between the wheels and a pipeline, and when the forward resistance is large, the wheels slip and cannot advance; the telescopic movement of the telescopic crawling device is driven by an air cylinder, the mechanical structure is simple, but the pneumatic system is more complex; the motor is driven by the electric push rod, so that the motor needs to be started and stopped frequently, the motor is not good, and a control system is complex.
Disclosure of Invention
Based on the reasons, the invention provides the telescopic pipeline internal crawling robot which is driven by a motor, is driven by a grooved pulley combined mechanism and combines the braking action of a braking device to realize the crawling motion of the robot in the pipeline, and can be additionally provided with various executing devices or sensors on the basis of the robot to detect and maintain the pipeline.
The telescopic crawling robot in the pipeline comprises a front frame 1, a front braking device 2, a transmission device 3, a sliding sleeve 4, a universal coupling 5, a rear frame 6, a rear braking device 7, an elastic rod 8, a driving motor 9 and wheels 10.
The front braking device 2, the transmission device 3 and the driving motor 9 are fixedly arranged on the front frame 1, the rear braking device 7 is fixedly arranged on the rear frame 6, and the front frame 1 and the rear frame 6 are connected with the sliding sleeve 4 and the universal coupling 5 through the elastic rod 8. A plurality of wheels 10 are respectively arranged at the bottoms of the front frame 1 and the rear frame 6.
The front brake device 2 comprises a front brake head 2-1, a front brake slide rail 2-2, a front brake spring 2-3, a front brake push rod 2-4, a front brake connecting rod 2-5 and a front brake crank 2-6.
The front brake head 2-1 is connected with the front brake push rod 2-4 through a front brake spring 2-3 and is arranged in the front brake slide rail 2-2. The front brake push rod 2-4 is connected with the front brake crank 2-6 through a front brake connecting rod 2-5 to form a crank slide block mechanism. The front brake crank 2-6 is fixedly mounted at one end of the driven shaft 3-3 of the transmission 3.
The transmission device 3 comprises a driving bevel gear 3-1, a driven bevel gear 3-2, a driven shaft 3-3, a crawling slide block 3-4, a crawling connecting rod 3-5, a crawling crank 3-6, a crawling grooved pulley 3-7, a driving plate 3-8, a coupling 3-9, a braking grooved pulley 3-10 and a crawling guide rail 3-11.
The creeping sheave 3-7, the driving plate 3-8 and the braking sheave 3-10 are arranged on the front frame 1 in parallel. The crawling guide rail 3-11 is fixed on the upper side of the middle part of the front frame 1. The rotating shaft of the driving dial 3-8 is fixedly connected with the output shaft of the driving motor 9 through the coupler 3-9. The left side of the driving plate 3-8 is matched with the crawling grooved pulley 3-7, the right side of the driving plate is matched with the braking grooved pulley 3-10, and the driving plate, the crawling grooved pulley 3-7 and the braking grooved pulley 3-10 form a grooved pulley intermittent mechanism. The driving plate 3-8 is provided with two shifting pins 3-801, and the included angle is 90 degrees. The creeping sheaves 3-7 and the braking sheaves 3-10 are sheaves with four evenly distributed grooves. When the driving plate 3-8 rotates for one circle, the crawling grooved pulley 3-7 and the braking grooved pulley 3-10 are driven to rotate 180 degrees. The crawling crank 3-6 is fixedly arranged on the crawling grooved wheel 3-7, the crawling slide block 3-4 is slidably arranged in the crawling guide rail 3-11 and is connected with the crawling crank 3-6 through the crawling connecting rod 3-5 to form a crank slide block mechanism. The driving bevel gear 3-1 is fixedly connected with the brake grooved pulley 3-10, the driving bevel gear 3-1 and the driven bevel gear 3-2 form a bevel gear mechanism, the driven bevel gear 3-2 is arranged on the driven shaft 3-3, and the driven shaft 3-3 is arranged on the front frame 1. The drive bevel gear 3-1 has the same number of teeth as the driven bevel gear 3-2.
The rear brake device 7 comprises a rear brake head 7-1, a rear brake slide rail 7-2, a rear brake spring 7-3, a rear brake push rod 7-4, a rear brake connecting rod 7-5, a rear brake rotating shaft 7-6 and a rear brake crank 7-7.
The rear brake head 7-1 is connected with the rear brake push rod 7-4 through a rear brake spring 7-3 and is arranged in the rear brake slide rail 7-2. The rear brake push rod 7-4 is connected with the rear brake crank 7-7 through the rear brake connecting rod 7-5 to form a crank slide block mechanism. The rear brake crank 7-7 is fixedly mounted on the rear brake shaft 7-6, and the rear brake shaft 7-6 is mounted on the rear frame 6.
The rear brake rotating shaft 7-6 is fixedly connected with the right end of the universal coupling 5, the left end of the universal coupling 5 is fixedly connected with the sliding sleeve 4, and the sliding sleeve 4 is slidably arranged on the driven shaft 3-3 through a sliding key and rotates together with the driven shaft 3-3.
The crawling slide block 3-4 in the transmission device 3 is fixedly connected with the rear frame 6 by an elastic rod 8. The front brake crank 2-6 and the rear brake crank 7-7 are arranged 180 degrees apart, so that the front brake head 2-1 and the rear brake head 7-1 are ensured to extend alternately.
The device has the beneficial effects that:
(1) The robot is driven to creep in the pipeline by a grooved pulley combined mechanism by using one motor, so that the electric control structure is simplified, and other equipment can be additionally arranged on the outer frame of the robot to perform pipeline detection, maintenance and other works, thereby facilitating pipeline detection and maintenance;
(2) The crank slide block mechanism is adopted to provide driving force, and the braking action of the braking device is combined, so that the robot has larger driving force;
(3) The universal coupler is connected with the elastic rod in a combined way, so that the robot can move in the bent pipeline, and meanwhile, the elastic rod can automatically correct and restore the two parts of the robot to an original straight state.
Drawings
FIG. 1 is a schematic view 1 of the overall structure of a telescopic in-pipeline crawling robot according to the present invention;
FIG. 2 is a schematic view 2 of the overall structure of the telescopic in-pipeline crawling robot according to the present invention;
fig. 3 is a schematic structural view of the front brake device 2 of the present invention;
fig. 4 is an enlarged schematic view of the structure of the transmission 3 of the present invention;
FIG. 5 is a schematic view of the structure of the active dials 3-8 of the present invention;
fig. 6 is a schematic structural view of the rear brake 7 of the present invention;
FIG. 7 is a schematic view of the sliding connection of the sliding sleeve 4 with the driven shaft 3-3 according to the present invention;
FIG. 8 is a schematic view of the attachment of the creeper slider 3-4 to the rear housing 6 of the present invention;
FIG. 9 is a schematic diagram of a turning of the telescopic in-pipe crawling robot of the present invention;
fig. 10 is a motion schematic diagram of the transmission of the crawling robot in the telescopic pipeline of the present invention.
Detailed Description
The structure and operation of the present invention will be described with reference to fig. 1-10.
The telescopic crawling robot in the pipeline comprises a front frame 1, a front braking device 2, a transmission device 3, a sliding sleeve 4, a universal coupling 5, a rear frame 6, a rear braking device 7, an elastic rod 8, a driving motor 9 and wheels 10.
The front braking device 2, the transmission device 3 and the driving motor 9 are fixedly arranged on the front frame 1, the rear braking device 7 is fixedly arranged on the rear frame 6, and the front frame 1 and the rear frame 6 are connected with the sliding sleeve 4 and the universal coupling 5 through the elastic rod 8. A plurality of wheels 10 are respectively arranged at the bottoms of the front frame 1 and the rear frame 6.
The front brake device 2 comprises a front brake head 2-1, a front brake slide rail 2-2, a front brake spring 2-3, a front brake push rod 2-4, a front brake connecting rod 2-5 and a front brake crank 2-6.
The front brake head 2-1 is connected with the front brake push rod 2-4 through a front brake spring 2-3 and is arranged in the front brake slide rail 2-2. The front brake push rod 2-4 is connected with the front brake crank 2-6 through a front brake connecting rod 2-5 to form a crank slide block mechanism. The front brake crank 2-6 is fixedly mounted at one end of the driven shaft 3-3 of the transmission 3.
The transmission device 3 comprises a driving bevel gear 3-1, a driven bevel gear 3-2, a driven shaft 3-3, a crawling slide block 3-4, a crawling connecting rod 3-5, a crawling crank 3-6, a crawling grooved pulley 3-7, a driving plate 3-8, a coupling 3-9, a braking grooved pulley 3-10 and a crawling guide rail 3-11.
The creeping sheave 3-7, the driving plate 3-8 and the braking sheave 3-10 are arranged on the front frame 1 in parallel. The crawling guide rail 3-11 is fixed on the upper side of the middle part of the front frame 1. The rotating shaft of the driving dial 3-8 is fixedly connected with the output shaft of the driving motor 9 through the coupler 3-9. The left side of the driving plate 3-8 is matched with the crawling grooved pulley 3-7, the right side of the driving plate is matched with the braking grooved pulley 3-10, and the driving plate, the crawling grooved pulley 3-7 and the braking grooved pulley 3-10 form a grooved pulley intermittent mechanism. The driving plate 3-8 is provided with two shifting pins 3-801, and the included angle is 90 degrees. The creeping sheaves 3-7 and the braking sheaves 3-10 are sheaves with four evenly distributed grooves. When the driving plate 3-8 rotates for one circle, the crawling grooved pulley 3-7 and the braking grooved pulley 3-10 are driven to rotate 180 degrees. The crawling crank 3-6 is fixedly arranged on the crawling grooved wheel 3-7, the crawling slide block 3-4 is slidably arranged in the crawling guide rail 3-11 and is connected with the crawling crank 3-6 through the crawling connecting rod 3-5 to form a crank slide block mechanism. The driving bevel gear 3-1 is fixedly connected with the brake grooved pulley 3-10, the driving bevel gear 3-1 and the driven bevel gear 3-2 form a bevel gear mechanism, the driven bevel gear 3-2 is arranged on the driven shaft 3-3, and the driven shaft 3-3 is arranged on the front frame 1. The drive bevel gear 3-1 has the same number of teeth as the driven bevel gear 3-2.
The rear brake device 7 comprises a rear brake head 7-1, a rear brake slide rail 7-2, a rear brake spring 7-3, a rear brake push rod 7-4, a rear brake connecting rod 7-5, a rear brake rotating shaft 7-6 and a rear brake crank 7-7.
The rear brake head 7-1 is connected with the rear brake push rod 7-4 through a rear brake spring 7-3 and is arranged in the rear brake slide rail 7-2. The rear brake push rod 7-4 is connected with the rear brake crank 7-7 through the rear brake connecting rod 7-5 to form a crank slide block mechanism. The rear brake crank 7-7 is fixedly mounted on the rear brake shaft 7-6, and the rear brake shaft 7-6 is mounted on the rear frame 6.
The rear brake rotating shaft 7-6 is fixedly connected with the right end of the universal coupling 5, the left end of the universal coupling 5 is fixedly connected with the sliding sleeve 4, and the sliding sleeve 4 is slidably arranged on the driven shaft 3-3 through a sliding key and rotates together with the driven shaft 3-3.
The crawling slide block 3-4 in the transmission device 3 is fixedly connected with the rear frame 6 by an elastic rod 8. The front brake crank 2-6 and the rear brake crank 7-7 are arranged 180 degrees apart, so that the front brake head 2-1 and the rear brake head 7-1 are ensured to extend alternately.
The invention discloses an operation step of a crawling robot in a telescopic pipeline, which comprises the following steps:
(1) The telescopic crawling robot in the pipeline is arranged in the pipeline, the distance between the front frame 1 and the rear frame 6 is adjusted to be the farthest, the front brake head 2-1 is retracted to be the shortest, the rear brake head 7-1 is extended to be the longest, the robot is arranged in the pipeline according to the state that the front frame 1 is arranged in front and the rear frame 6 is arranged in the rear, and at the moment, the rear brake head 7-1 extends to prop against the inner wall of the pipeline;
(2) The driving motor 9 drives the driving plate 3-8 to rotate anticlockwise, the driving plate 3-8 and the braking grooved pulley 3-10 are combined from the beginning to the disconnection, the crawling grooved pulley 3-7 is rotated for 180 degrees, the interval between the front frame 1 and the rear frame 6 is kept unchanged in the period of time, the braking grooved pulley 3-10 drives the driving bevel gear 3-1 to rotate, the driven shaft 3-3 is driven to rotate 180 degrees through the gear matching relation of the driven bevel gear 3-2 and the driving bevel gear 3-1, the sliding sleeve 4 follows the driven shaft 3-3 to rotate 180 degrees, at the moment, the front braking head 2-1 stretches out to prop against the inner wall of a pipeline, the front frame 1 is clamped at the current position, and meanwhile, the opposite rear braking head 7-1 is retracted into the rear braking sliding rail 7-2 to be far away from the inner wall of the pipeline, so that the rear frame 6 is in a movable state in the pipeline;
(3) The driving plate 3-8 continues to rotate 180 degrees, the braking grooved pulley 3-10 is kept still, the driving plate 3-8 drives the crawling grooved pulley 3-7 to be combined to be separated from the beginning, the crawling crank 3-6 is driven to rotate 180 degrees after the driving plate is rotated 180 degrees, the crawling slide block 3-4 is driven to slide forwards through the crawling connecting rod 3-5, and therefore the rear frame 6 is driven to move forwards along with the crawling slide block 3-4 for a stroke through the elastic rod 8 fixedly connected with the crawling slide block, and the crawling slide block is close to the front frame 1;
(4) The driving plate 3-8 continues to rotate 180 degrees to drive the braking grooved wheels 3-10 to rotate 180 degrees, the front braking head 2-1 is retracted to be separated from the pipe wall, the front frame 1 is changed into a movable state, the rear braking head 7-1 extends out and is propped against the inner wall of the pipe, the rear frame 6 is clamped at the current position, the crawling grooved wheels 3-7 are kept motionless, and the distance between the front frame and the rear frame is kept unchanged;
(5) The driving plate 3-8 continues to rotate 180 degrees, the braking grooved pulley 3-10 is kept still, the driving plate 3-8 drives the crawling grooved pulley 3-7 to rotate 180 degrees, so that the crawling crank 3-6 is driven to rotate 180 degrees, the front frame 1 is driven by the crawling crank slider mechanism to move forwards for one stroke, and the front frame is far away from the rear frame 6;
(6) The steps (2), (3), (4) and (5) are repeated, so that the continuous advancing of the crawling robot in the telescopic pipeline can be realized, the driving dial 3-8 rotates for two weeks to be one advancing period of the robot, and the moving direction of the crawling robot is changed by changing the steering of the driving motor 9;
(7) The crawling robot can adapt to the bending change of the pipeline through the universal coupler 5 and the elastic rod 8, when the crawling robot moves in the bent pipeline, the front frame and the rear frame need to deflect an angle, at the moment, the elastic rod 8 is bent, the universal coupler 5 deflects a certain angle, the sliding sleeve 4 and the driven shaft 3-3 slide relatively, the power of the driven shaft 3-3 can be transmitted to the rear braking device 7, and when the crawling robot returns to the straight pipeline, the elastic rod 8 can enable the two parts of the robot to automatically correct and return to the original straight state.
Claims (1)
1. The telescopic pipeline internal crawling robot comprises a front frame (1), a front braking device (2), a transmission device (3), a sliding sleeve (4), a universal coupler (5), a rear frame (6), a rear braking device (7), an elastic rod (8), a driving motor (9) and wheels (10), and is characterized in that the front braking device (2), the transmission device (3) and the driving motor (9) are fixedly arranged on the front frame (1), the rear braking device (7) is fixedly arranged on the rear frame (6), the front frame (1) is connected with the rear frame (6) through the elastic rod (8) and the sliding sleeve (4) and the universal coupler (5), a plurality of wheels (10) are respectively arranged at the bottoms of the front frame (1) and the rear frame (6), the front braking device (2) comprises a front braking head (2-1), a front braking sliding rail (2-2), a front braking spring (2-3), a front braking push rod (2-4), a front braking connecting rod (2-5) and a front braking crank (2-6), the front braking head (2-1) and the front braking push rod (2-4) are connected with the front braking slide rail (2-6) through the elastic rod (2-3), the front brake push rod (2-4) is connected with the front brake crank (2-6) through a front brake connecting rod (2-5) to form a crank sliding block mechanism, the front brake crank (2-6) is fixedly arranged at one end of a driven shaft of the transmission device (3), the transmission device (3) comprises a driving bevel gear (3-1), a driven bevel gear (3-2), a driven shaft (3-3), a crawling sliding block (3-4), a crawling connecting rod (3-5), a crawling crank (3-6), a crawling grooved pulley (3-7), a driving plate (3-8), a coupling (3-9), a braking grooved pulley (3-10) and a crawling guide rail (3-11), the crawling grooved pulley (3-7), the driving plate (3-8) and the braking grooved pulley (3-10) are arranged on the front frame (1) in parallel, the crawling guide rail (3-11) is fixed at the upper side of the middle part of the front frame (1), a rotating shaft of the driving plate (3-8) is fixedly connected with the output shaft of the driving motor (9) through a coupler (3-9), the left side of the driving plate (3-8) is matched with the crawling grooved pulley (3-7) and the right side of the crawling grooved pulley (3-7) is matched with the grooved pulley (3-10), the driving plate (3-8) is provided with two shifting pins (3-801), the included angle is 90 degrees, the crawling grooved wheels (3-7) and the braking grooved wheels (3-10) are grooved wheels with four grooves uniformly distributed, when the driving plate (3-8) rotates for one circle, the crawling grooved wheels (3-7) and the braking grooved wheels (3-10) are driven to rotate for 180 degrees, the crawling crank (3-6) is fixedly arranged on the crawling grooved wheels (3-7), the crawling slide block (3-4) is slidably arranged on the crawling guide rail (3-11) and is connected with the crawling crank (3-6) through the crawling connecting rod (3-5), a crank slide block mechanism is formed, the driving bevel gear (3-1) is fixedly connected with the braking grooved wheels (3-10), the driving bevel gear (3-1) and the driven bevel gear (3-2) form a bevel gear mechanism, the driven bevel gear (3-2) is arranged on the driven shaft (3-3), the driven shaft (3-3) is arranged on the front frame (1), the driving bevel gear (3-1) has the same tooth number as the driven bevel gear (3-2), the rear braking device (7) comprises a rear braking head (7), a rear braking head (7-7) and a rear braking push rail (7-7) and a rear braking push rod (4) The rear brake device comprises a rear brake connecting rod (7-5), a rear brake rotating shaft (7-6) and a rear brake crank (7-7), wherein a rear brake head (7-1) is connected with a rear brake push rod (7-4) through a rear brake spring (7-3) and is arranged in a rear brake sliding rail (7-2), the rear brake push rod (7-4) is connected with the rear brake crank (7-7) through the rear brake connecting rod (7-5) to form a crank slider mechanism, the rear brake crank (7-7) is fixedly arranged on the rear brake rotating shaft (7-6), the rear brake rotating shaft (7-6) is arranged on a rear frame (6), the rear brake rotating shaft (7-6) is fixedly connected with the right end of a universal coupling (5), the left end of the universal coupling (5) is fixedly connected with a sliding sleeve (4), the sliding sleeve (4) is slidably arranged on a driven shaft (3-3) through a sliding key and rotates together with the driven shaft (3-3), a creeping slider (3-4) in a transmission device (3) is fixedly connected with the rear frame (6) through an elastic crank (8), and the front brake crank (7-180) is fixedly arranged at a front crank angle (7-180).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210527805.6A CN114719122B (en) | 2022-05-16 | 2022-05-16 | Telescopic crawling robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210527805.6A CN114719122B (en) | 2022-05-16 | 2022-05-16 | Telescopic crawling robot in pipeline |
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| Publication Number | Publication Date |
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| CN114719122A CN114719122A (en) | 2022-07-08 |
| CN114719122B true CN114719122B (en) | 2024-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210527805.6A Active CN114719122B (en) | 2022-05-16 | 2022-05-16 | Telescopic crawling robot in pipeline |
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| CN217402081U (en) * | 2022-05-16 | 2022-09-09 | 河北科技大学 | Crawling device in telescopic pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11781698B2 (en) * | 2019-11-19 | 2023-10-10 | South Dakota Board Of Regents | Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe |
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2022
- 2022-05-16 CN CN202210527805.6A patent/CN114719122B/en active Active
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| US6427602B1 (en) * | 2001-07-02 | 2002-08-06 | Westinghouse Savannah River Company, Llc | Pipe crawler apparatus |
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| CN103759095A (en) * | 2014-02-12 | 2014-04-30 | 滨州学院 | Device capable of walking freely in pipeline |
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| CN217402081U (en) * | 2022-05-16 | 2022-09-09 | 河北科技大学 | Crawling device in telescopic pipeline |
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| CN114719122A (en) | 2022-07-08 |
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