CN1268472C - Running gear of height-adjustable independent displacement crawler type pipeline robot - Google Patents
Running gear of height-adjustable independent displacement crawler type pipeline robot Download PDFInfo
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- CN1268472C CN1268472C CN 200310108577 CN200310108577A CN1268472C CN 1268472 C CN1268472 C CN 1268472C CN 200310108577 CN200310108577 CN 200310108577 CN 200310108577 A CN200310108577 A CN 200310108577A CN 1268472 C CN1268472 C CN 1268472C
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Abstract
The present invention relates to a walking mechanism of which the height is adjustable for an automatic displacement crawler belt type pipeline robot, and the present invention belongs to the technical field of mechanical transmission. The present invention is provided with two sets of transversal leg swinging mechanisms which are arranged on the head part and the tail part of a machine body according to diagonal lines which are symmetric to the machine body, the upper ends of four legs are respectively hinged at both sides of the two sets of transversal leg swinging mechanisms, the lower ends of the four legs are respectively provided with a leg swinging adjustment joint, and four crawler belt feet are respectively hinged on four leg swinging adjustment joints. Furthermore, the four legs are stretched by the two sets of transversal leg swinging mechanisms, the four leg swinging adjustment joints are adjusted so as to make the four crawler belt feet recovered to an erect state, and the height of the walking mechanism is lowered. The present invention has the advantage of adjustable height, and besides, an automatic displacement crawler belt type pipeline robot which is provided with the walking mechanism of the present invention can enter various pipelines, such as a rectangular pipeline with a high height, a small caliber circular pipeline or a flat and rectangular pipeline with a low height, to engage the inside operation of pipelines.
Description
Technical field
The present invention relates to a kind of walking mechanism of adjustable for height autonomous modification crawler type pipe robot, belong to the mechanical transmissioning technology field.
Background technology
A kind of autonomous modification four track-foot pipe robot is arranged in the background technology.The walking mechanism of this robot comprises body, four legs, four crawler belt foots and multicore cable.Article four, leg is identical, is respectively left front leg, left back leg, RAT and right rear leg.Left and right foreleg and left and right back leg are individually fixed in the front-end and back-end of body through an end separately, left front, back leg and both sides right front, that the symmetrical cloth of back leg is listed in body longitudinal central axis line.Four crawler belt foots are identical, are respectively left front crawler belt foot, left back crawler belt foot, right front crawler belt foot and right back crawler belt foot.Each crawler belt foot all contains drive motors and caterpillar drive system.Article four, the other end of leg is respectively hinged with a crawler belt foot.Every heart yearn of multicore cable is connected with drive motors separately.This robot works because of the electric energy that obtains the multicore cable conveying: drawing multicore cable and walking forward.The advantage of background technology is that obstacle climbing ability is strong, and the energy cast makes this robot be particularly suitable for doing pipe robot, is engaged in the operation in cleaning, flushing, mopping and so on the pipeline.The shortcoming of background technology is highly too high, can not the low flattened rectangular pipeline of entry altitude.
Summary of the invention
The walking mechanism that the purpose of this invention is to provide adjustable for height autonomous modification crawler type pipe robot, this walking mechanism has adjustable for height advantage, after the height of walking mechanism is turned down, dress just can enter flat rectangular duct with the autonomous modification crawler type pipe robot of this walking mechanism, is engaged in the operation in the pipeline.
Technical scheme of the present invention is to adopt the horizontal swinging kick of two covers mechanism, this mechanism is listed in the head and the afterbody of body by the diagonal cloth that is symmetrical in body, article four, the upper end of leg is hinged on the both sides of the horizontal swinging kick of two covers mechanism respectively, article four, the lower end of leg respectively is shaped on a swinging kick and regulates the joint, and four crawler belt foots are hinged on four swinging kicks respectively and regulate on the joint.The horizontal swinging kick of two covers mechanism opens four legs, regulates four swinging kicks and regulates the joint, makes four crawler belt foots recover erectility, reduces the height of walking mechanism, makes purpose of the present invention accomplished.
Now describe technical scheme of the present invention in detail.A kind of walking mechanism of adjustable for height autonomous modification crawler type pipe robot, comprise body 4, article four, leg, four crawler belt foots and multicore cable, article four, leg is identical, be respectively left front leg 26, RAT 27, left back leg 16 and right rear leg 17, four crawler belt foots are identical, be respectively left front crawler belt foot 34, right front crawler belt foot 33, left back crawler belt foot 32 and right back crawler belt foot 31, each crawler belt foot all contains drive motors and caterpillar drive system, every heart yearn of multicore cable is connected with each self-corresponding drive motors, it is characterized in that, it also comprises the horizontal swinging kick of two covers mechanism: preceding horizontal swinging kick mechanism 2 and back be swinging kick mechanism 1 laterally, laterally swinging kick mechanism 1 is identical for preceding laterally swinging kick mechanism 2 and back, horizontal swinging kick mechanism 1 of preceding laterally swinging kick mechanism 2 and back is listed in the head and the afterbody of body 4 by the diagonal cloth that is symmetrical in body 4, back laterally swinging kick mechanism 1 comprises the first swinging kick drive motors 10, first bevel gear 11, second bevel gear 12, first worm screw 13 and the bearing thereof, first worm gear 14 and the bearing thereof, second worm gear 15 and the bearing thereof, left back leg 16, joint 18 is regulated in first swinging kick, joint 19 is regulated in the right rear leg 17 and second swinging kick, the mode that the first swinging kick drive motors 10 points to the afterbody of body 4 with the longitudinal central axis line parallel and the rotating shaft of rotating shaft and body 4 is installed in the right part of body 4, first bevel gear 11 is fixed in the rotating shaft of the first swinging kick drive motors 10, first worm screw 13 is installed in the bearing near first worm screw 13 of body 4 afterbodys in its central shaft mode vertical with the longitudinal central axis line of body 4, second bevel gear 12 is installed in the right-hand member of first worm screw 13, first bevel gear 11 and 12 engagements of second bevel gear, left back leg 16 and right rear leg 17 are coaxial fixed with first worm gear 14 and second worm gear 15 respectively, the central shaft of first worm gear 14 and second worm gear 15 and the longitudinal central axis line parallel of body 4, first worm gear 14 and 15 engagements of second worm gear, the central shaft of first worm gear 14 and second worm gear 15 is installed in the bearing at their close body 4 rear portions separately, first worm screw 13 and 14 engagements of first worm gear, the lower end of left back leg 16 and right rear leg 17 regulates joint 18 with first swinging kick respectively and second swinging kick adjusting joint 19 is hinged, the hinge axis that the hinge axis in joint 18 and right rear leg 17 and second swinging kick adjusting joint 19 are regulated in left back leg 16 and first swinging kick all with the longitudinal central axis line parallel of body 4, the clamping screw that all has on the joint 19 is separately regulated in first swinging kick adjusting joint 18 and second swinging kick, and left back crawler belt foot 32 and right back crawler belt foot 31 regulate joint 18 with first swinging kick respectively and second swinging kick adjusting joint 19 is hinged.
Compare with background technology, the present invention has the following advantages:
The adjustable height of walking mechanism of the present invention, dress can enter multiple pipeline with the autonomous modification crawler type pipe robot of walking mechanism of the present invention, as highly high rectangular duct, minor caliber circular or highly low flattened rectangular pipeline.Unlike background technology, for entering different pipelines, need to be equipped with the pipe robot of a plurality of various height, both improved the cost of the operation in the pipeline, increased the trouble that robot administers and maintains again.Therefore, walking mechanism of the present invention helps to reduce the cost of the operation in the pipeline and reduces the trouble that robot administers and maintains.
Description of drawings
Fig. 1 is the structural representation of walking mechanism of the present invention when being in erectility.Among the figure, 20 is second swinging kick drive motors, and 21 is the 3rd bevel gears, 22 is the 4th bevel gears, and 23 is second worm screws, the 33rd, and right front crawler belt foot, in addition, also should replenish some and can not be shown in drawing but the in addition part that can know by inference, should be the 3rd worm gear as 24,25 should be the 4th worm gear, 26 should be left front leg, and 27 should be RAT, and 28 should be that the joint is regulated in the 3rd swinging kick, 29 should be that the joint is regulated in the 4th swinging kick, and 34 should be left front crawler belt foot.Fig. 2 is the structural representation of walking mechanism of the present invention when being in the horizontal open configuration of four legs.Fig. 3 is that walking mechanism of the present invention is in that four legs laterally open, the structural representation during four crawler belts foot erectilities.Fig. 4 is the rearview that walking mechanism of the present invention is walked in highly high rectangular duct.Fig. 5 is the rearview that walking mechanism of the present invention is walked in flat rectangular duct.
The specific embodiment
Now in conjunction with the accompanying drawings, describe embodiments of the present invention in detail.
At ordinary times, walking mechanism of the present invention is in erectility, and as shown in Figure 1, this walking mechanism height height can only high rectangular duct or the bigbore round pipe of entry altitude, is engaged in the operation in the pipeline in these pipelines.
Four legs are laterally opened: send to the first swinging kick drive motors 10 and the second swinging kick drive motors 20 simultaneously through multicore cable, the first swinging kick drive motors 10 and 20 rotations of the second swinging kick drive motors, first bevel gear 11 and the 3rd bevel gear 21 rotate thereupon, first bevel gear 11 and the 3rd bevel gear 21 drive second bevel gear 12 and 22 rotations of the 4th bevel gear with they engagements respectively, first worm screw 13 and 23 rotations of second worm screw, first worm screw 13 and second worm screw 23 drive first worm gear 14 and 24 rotations of the 3rd worm gear with they engagements, first worm gear 14 and the 3rd worm gear 24 drive second worm gear 15 and 25 rotations of the 4th worm gear with they engagements respectively, first worm gear 14 and second worm gear 15 be respectively towards clockwise and rotation counterclockwise, make respectively with the attitude of they coaxial fixed left back walking mechanisms as shown in Figure 2.The walking mechanism of this attitude is suitable for entering small-bore round pipe, is engaged in the operation in the pipeline in these pipelines.
Make four crawler belt foots recover upright: unscrew the clamping screw that joint 18 is regulated in first swinging kick, left back crawler belt foot 32 is inwardly pulled, just in time upright until left back crawler belt foot 32, tighten clamping screw again.Then other three crawler belt foots are done same processing successively.At this moment, the attitude of this mechanism as shown in Figure 3.The walking mechanism of this attitude is suitable for the low flattened rectangular pipeline of entry altitude, is engaged in the operation in the pipeline in these pipelines.
Embodiment:
Adjustable for height autonomous modification crawler type pipe robot walking mechanism important technological parameters: the length of body 4 and width are respectively 220mm and 140mm.Multicore cable length 25m.Crawler belt foot length degree and width are respectively 110mm and 32mm.The length of every leg is 65mm.It is 12mm that joint length is regulated in each swinging kick.When this robot in normal condition when being upright, the height of this robot is 90mm (ground is to the last plane of body 4), track space distance in the left and right sides is 95mm.When this robot short state promptly four legs laterally open (140 ° of open-angles), when four crawler belts foots were upright, the height of this robot was reduced to 62mm (ground is to the last plane of body 4), left and right sides track space is apart from being 210mm, total height reduces nearly 1/3rd.Crawler belt foot and swinging kick drive motors are the direct current generator of 11W, 48V.
Claims (1)
1. the walking mechanism of an adjustable for height autonomous modification crawler type pipe robot, comprise body (4), article four, leg, four crawler belt foots and multicore cable, article four, leg is identical, be respectively left front leg (26), RAT (27), left back leg (16) and right rear leg (17), four crawler belt foots are identical, be respectively left front crawler belt foot (34), right front crawler belt foot (33), left back crawler belt foot (32) and right back crawler belt foot (31), each crawler belt foot all contains drive motors and caterpillar drive system, every heart yearn of multicore cable is connected with each self-corresponding drive motors, it is characterized in that, it also comprises the horizontal swinging kick of two covers mechanism: preceding horizontal swinging kick mechanism (2) and back be swinging kick mechanism (1) laterally, laterally swinging kick mechanism (1) is identical for preceding laterally swinging kick mechanism (2) and back, horizontal swinging kick mechanism (1) of preceding laterally swinging kick mechanism (2) and back is listed in the head and the afterbody of body (4) by the diagonal cloth that is symmetrical in body (4), back laterally swinging kick mechanism (1) comprises the first swinging kick drive motors (10), first bevel gear (11), second bevel gear (12), first worm screw (13) and bearing thereof, first worm gear (14) and bearing thereof, second worm gear (15) and bearing thereof, left back leg (16), joint (18) is regulated in first swinging kick, joint (19) is regulated in the right rear leg (17) and second swinging kick, the mode that the first swinging kick drive motors (10) points to the afterbody of body (4) with the longitudinal central axis line parallel and the rotating shaft of rotating shaft and body (4) is installed in the right part of body (4), first bevel gear (11) is fixed in the rotating shaft of the first swinging kick drive motors (10), first worm screw (13) is installed in the bearing near first worm screw (13) of body (4) afterbody in its central shaft mode vertical with the longitudinal central axis line of body (4), second bevel gear (12) is installed in the right-hand member of first worm screw (13), first bevel gear (11) and second bevel gear (12) engagement, left back leg (16) and right rear leg (17) are coaxial fixed with first worm gear (14) and second worm gear (15) respectively, the longitudinal central axis line parallel of the central shaft of first worm gear (14) and second worm gear (15) and body (4), first worm gear (14) and second worm gear (15) engagement, the central shaft of first worm gear (14) and second worm gear (15) is installed in respectively in the bearing at their close body (4) rear portions separately, first worm screw (13) and first worm gear (14) engagement, the lower end of left back leg (16) and right rear leg (17) regulates joint (18) with first swinging kick respectively and second swinging kick adjusting joint (19) is hinged, left back leg (16) and first swinging kick regulate hinge axis that the hinge axis in joint (18) and right rear leg (17) and second swinging kick regulate joint (19) all with the longitudinal central axis line parallel of body (4), the clamping screw that all has on the joint (19) is separately regulated in first swinging kick adjusting joint (18) and second swinging kick, and left back crawler belt foot (32) and right back crawler belt foot (31) regulate joint (18) with first swinging kick respectively and second swinging kick adjusting joint (19) is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108577 CN1268472C (en) | 2003-11-11 | 2003-11-11 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108577 CN1268472C (en) | 2003-11-11 | 2003-11-11 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1544211A CN1544211A (en) | 2004-11-10 |
| CN1268472C true CN1268472C (en) | 2006-08-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN 200310108577 Expired - Fee Related CN1268472C (en) | 2003-11-11 | 2003-11-11 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
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| CN (1) | CN1268472C (en) |
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2003
- 2003-11-11 CN CN 200310108577 patent/CN1268472C/en not_active Expired - Fee Related
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| CN1544211A (en) | 2004-11-10 |
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