CN207015470U - A kind of pipeline detection walking robot - Google Patents
A kind of pipeline detection walking robot Download PDFInfo
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- CN207015470U CN207015470U CN201720369152.8U CN201720369152U CN207015470U CN 207015470 U CN207015470 U CN 207015470U CN 201720369152 U CN201720369152 U CN 201720369152U CN 207015470 U CN207015470 U CN 207015470U
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- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000005266 casting Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Abstract
The utility model discloses a kind of pipeline detection walking robot, including end movement component（1）, wheel combination device（2）, wheel group is flexible waves component（3）And wheel group telescopic hydraulic cylinder pose adjustment component（4）；The utility model is a kind of pipeline detection walking robot, the apparatus structure is simple, operation is flexible, comprehensive in pipe-line system can move freely, realizes the compound movements such as turn, lane-change, it can effectively prevent from falling simultaneously, moreover it is possible to adapt to different sizes, the pipeline requirement of varying cross-section shape.
Description
Technical field
It the utility model is related to a kind of robot, specifically a kind of omnibearing movable robot suitable for pipe-line system.
Background technology
Pipeline is one of conventional means of transportation of oil gas etc., has that space is small, low cost and other advantages.Pipe-line system
Check, troubleshooting and the artificial mode of internal cleaning work generally use, have cost it is high, it is dangerous it is big, work difficulty is big etc. no
Foot, and existing smart motion robot can not meet the multifarious demand of pipe-line system.
The content of the invention
In view of the above-mentioned problems of the prior art, the utility model provides a kind of pipeline detection walking robot, the dress
Put simple in construction, operation flexibly, comprehensive in pipe-line system can move freely, realize the compound movements such as turn, lane-change, together
When can effectively prevent from falling, moreover it is possible to adapt to different sizes, the pipeline requirement of varying cross-section shape.
To achieve these goals, the technical solution adopted in the utility model is：A kind of pipeline detection walking robot, bag
Include that end movement component, wheel combination device, wheel group are flexible to wave component and wheel group telescopic hydraulic cylinder pose adjustment group
Part；Wheel combination device combines four group end moving parts, and being combined into can be with supporting pipeline internal face and along pipe
The wheel group of road axial-movement；Wheel group telescopic hydraulic cylinder pose adjustment component and six groups of wheel groups are flexible waves component and be combined into
The subjective posture mapping device of pipeline detection walking robot, wheel group is flexible to wave element end connection wheel group, so as to structure
Into that comprehensive in pipe-line system can move freely, the pipeline detection walking robot of the compound movements such as turn, lane-change is realized,
The apparatus structure is simple, operation is flexible, can effectively prevent from falling, moreover it is possible to adapt to different sizes, the pipe of varying cross-section shape
Road demand；
Described end movement component includes wheel, axletree, wheel rotary drive sprocket wheel, axle sleeve one, axletree rotation
Bearing, axletree swivel bearing keeper, axle sleeve two, fork-shaped vehicle wheel frame, wheel rotary-chain, wheel electric rotating machine fixture,
Wheel rotates dual-axle motor and wheel rotation drive sprocket；Wheel is connected with axletree by spline, and through the shaft shoulder and axle sleeve
Two axially positions；Wheel rotary drive sprocket wheel has two, and with axletree key connection, one of them is through the shaft shoulder and the axial direction of axle sleeve one
Positioning, another warp beam sleeve two and the axially position of axle sleeve one；Axletree swivel bearing keeper has two, respectively with fork-shaped wheel
The bolts at two ends connection of frame；Axletree swivel bearing has two, its inner ring and axletree end shaft part tight fit, outer ring and fork-shaped
The counterbore tight fit that vehicle wheel frame and axletree swivel bearing keeper are combined into, and pass through axle sleeve one and fork-shaped vehicle wheel frame and wheel
The counterbore wall axially position that axle swivel bearing keeper is combined into；Wheel rotation dual-axle motor passes through fork-shaped vehicle wheel frame and wheel
Electric rotating machine fixture fixed position, two motor output shafts are fixed with wheel rotation drive sprocket bolt；Wheel rotation from
Movable sprocket, wheel rotary-chain, wheel rotation dual-axle motor and wheel rotation drive sprocket are combined into silent chain Synchronous Transmission
Device, wheel rotate the rotation of dual-axle motor output shaft, rotary motion of the axletree around its axis are converted into through Chain conveyer, so as to
Band motor car wheel is rotatable around its axis；
Described wheel combination device includes the flexible holding rod of wheel, wheel telescopic hydraulic cylinder piston rod, the flexible liquid of wheel
Cylinder pressure cylinder barrel and wheel assemblies；Wheel stretches holding rod, wheel telescopic hydraulic cylinder piston rod and wheel telescopic hydraulic cylinder
Cylinder barrel has four groups, respectively positioned at four, the upper and lower, left and right of wheel assemblies side；Wheel telescopic hydraulic cylinder cylinder barrel and wheel
Sub-assembly welds together, and wheel telescopic hydraulic cylinder piston rod welds together with the fork-shaped vehicle wheel frame in end movement component；
Wheel stretches holding rod one group two, and one end is welded on fork-shaped vehicle wheel frame both sides, and the other end passes through wheel telescopic hydraulic cylinder cylinder barrel
On corresponding through hole, to prevent rotation of the wheel telescopic hydraulic cylinder piston rod relative to wheel telescopic hydraulic cylinder cylinder barrel；So as to structure
There is the wheel group of collapsible tip telecontrol equipment into four, upper and lower, left and right orientation, to realize supporting pipeline internal face and edge
The linear motion of its axis, while the stretching motion of four group end moving parts is separate, can meet varying cross-section shape
Pipeline requirement；
The flexible component that waves of described wheel group includes the flexible holding rod of hydraulic pressure ball pivot one, wheel group, the flexible liquid of wheel group
Pressure cylinder piston bar and wheel group telescopic hydraulic cylinder cylinder barrel；The movable end of wheel group telescopic hydraulic cylinder cylinder barrel and hydraulic pressure ball pivot two welds
It is connected together, the movable end of wheel group telescopic hydraulic cylinder piston rod and hydraulic pressure ball pivot one welds together, the branch of hydraulic pressure ball pivot one
Seat is fixed with wheel assemblies bolt；Wheel group is stretched holding rod one group two, and one end is welded on the work of wheel group telescopic hydraulic cylinder
On stopper rod, the other end is through the corresponding through hole on wheel group telescopic hydraulic cylinder cylinder barrel, to prevent wheel group telescopic hydraulic cylinder piston
Bar relative to wheel group telescopic hydraulic cylinder cylinder barrel rotation；So as to be configured to drive wheel group to stretch and around hydraulic pressure ball pivot one
The wheel group that any axle where bulb central point waves, which is stretched, waves component, to assist to realize robot in turn, lane-change process
In posture changing, while can effectively prevent that robot from falling phenomenon in motion process；
Described wheel group telescopic hydraulic cylinder pose adjustment component includes robot body's pedestal and hydraulic pressure ball pivot two；Hydraulic pressure
Ball pivot two has six, and its bearing is bolted on the side of front, back, left, right, up, down six of robot body's pedestal respectively
Position；The movable end of hydraulic pressure ball pivot two welds with one end of wheel group telescopic hydraulic cylinder cylinder barrel, so as to be configured to drive wheel group
The flexible wheel group telescopic hydraulic cylinder for waving component and wheel group any axis where the bulb central point of hydraulic pressure ball pivot two and waving
Pose adjustment component, to adapt to a variety of angles and the turn in the case of orientation and lane-change demand.
Described hydraulic pressure ball pivot one and hydraulic pressure ball pivot two use the hydraulic pressure spherical hinge structure of standard on the market, and its movable end is propping up
It can be waved under the driving of the internal multiple hydraulic couplings of seat around any axle where bulb central point.
Described fork-shaped vehicle wheel frame, wheel assemblies and robot body's pedestal is made using casting technique.
Described wheel telescopic hydraulic cylinder piston rod, wheel telescopic hydraulic cylinder cylinder barrel, wheel group telescopic hydraulic cylinder piston rod
And wheel group telescopic hydraulic cylinder cylinder barrel uses hydraulic cylinder structure common on the market, and respective handling is carried out to end to meet
It is required that.
The utility model is a kind of pipeline detection walking robot, and the apparatus structure is simple, operation is flexible, can be in pipeline
It is comprehensive in system to move freely, the compound movements such as turn, lane-change are realized, while can effectively prevent from falling, moreover it is possible to adapt to not
The pipeline requirement of same size, varying cross-section shape.
Brief description of the drawings
Fig. 1 is the pipeline detection walking robot principle schematic that the utility model embodiment provides；
In figure：1st, end movement component, 2, wheel combination device, 3, wheel group is flexible waves component, 4, wheel group stretches
Hydraulic cylinder pose adjustment component.
Fig. 2 is the end movement assembly principle schematic diagram that the utility model embodiment provides；
In figure：1.1st, wheel, 1.2, axletree, 1.3, wheel rotary drive sprocket wheel, 1.4, axle sleeve one, 1.5, axletree rotation
Rotating shaft is held, 1.6, axletree swivel bearing keeper, 1.7, axle sleeve two, 1.8, fork-shaped vehicle wheel frame, 1.9, wheel rotary-chain,
1.10th, wheel electric rotating machine fixture, 1.11, wheel rotation dual-axle motor, 1.12, wheel rotation drive sprocket.
Fig. 3 is the wheel combination principle of device schematic diagram that the utility model embodiment provides；
In figure：2.1st, wheel stretches holding rod, and 2.2, wheel telescopic hydraulic cylinder piston rod, 2.3, wheel telescopic hydraulic cylinder cylinder
Cylinder, 2.4, wheel assemblies.
Fig. 4, which is that the wheel group of the utility model embodiment offer is flexible, waves assembly principle schematic diagram；
In figure：3.1st, hydraulic pressure ball pivot one, 3.2, wheel group stretch holding rod, 3.3, wheel group telescopic hydraulic cylinder piston rod,
3.4th, wheel group telescopic hydraulic cylinder cylinder barrel.
Fig. 5 is the wheel group telescopic hydraulic cylinder pose adjustment assembly principle schematic diagram that the utility model embodiment provides；
In figure：4.1st, robot body's pedestal, 4.2, hydraulic pressure ball pivot two.
Fig. 6 is the pipeline detection walking robot turn principle schematic that the utility model embodiment provides.
Fig. 7 is that the utility model embodiment is tilting cross pipeline lane-change principle schematic.
Fig. 8 is the anti-fall principle schematic of pipeline detection walking robot that the utility model embodiment provides.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, be a kind of pipeline detection walking robot principle schematic that the utility model embodiment provides, it
Stretched including end movement component 1, wheel combination device 2, wheel group and wave component 3 and wheel group telescopic hydraulic cylinder posture tune
Whole group part 4；Wheel combination device 2 combines four group end moving parts 1, and being combined into can be with supporting pipeline internal face
And the wheel group moved along conduit axis；Wheel group telescopic hydraulic cylinder pose adjustment component 4 and six groups of wheel groups are stretched and wave group
Part 3 is combined into the subjective posture mapping device of pipeline detection walking robot, and wheel group is flexible to wave the end of component 3 connection wheel
Group, so as to be configured to the pipeline detection row for moving freely, realizing the compound movements such as turn, lane-change comprehensive in pipe-line system
Robot walking, the apparatus structure is simple, operation is flexible, can effectively prevent from falling, moreover it is possible to adapt to different sizes, varying cross-section
The pipeline requirement of shape.
Referring to Fig. 2, it is a kind of end movement group for pipeline detection walking robot that the utility model embodiment provides
Part principle schematic, it includes wheel 1.1, axletree 1.2, wheel rotary drive sprocket wheel 1.3, axle sleeve 1, axletree rotation
Bearing 1.5, axletree swivel bearing keeper 1.6, axle sleeve 2 1.7, fork-shaped vehicle wheel frame 1.8, wheel rotary-chain 1.9, wheel
Electric rotating machine fixture 1.10, wheel rotation dual-axle motor 1.11 and wheel rotation drive sprocket 1.12；Wheel 1.1 and wheel
Axle 1.2 is connected by spline, and through the shaft shoulder and the axially position of axle sleeve 2 1.7；Wheel rotary drive sprocket wheel 1.3 has two, with
The key connection of axletree 1.2, one of them is through the shaft shoulder and the axially position of axle sleeve 1, another warp beam sleeve 2 1.7 and axle sleeve one
1.4 axially position；Axletree swivel bearing keeper 1.6 has two, and the bolts at two ends with fork-shaped vehicle wheel frame 1.8 is connected respectively；
Axletree swivel bearing 1.5 has two, its inner ring and the end shaft part tight fit of axletree 1.2, outer ring and fork-shaped vehicle wheel frame 1.8 and
The counterbore tight fit that axletree swivel bearing keeper 1.6 is combined into, and pass through axle sleeve 1 and fork-shaped vehicle wheel frame 1.8 and car
The counterbore wall axially position that wheel shaft swivel bearing keeper 1.6 is combined into；Wheel rotation dual-axle motor 1.11 passes through fork-shaped car
Wheel carrier 1.8 and the fixed position of wheel electric rotating machine fixture 1.10, two motor output shafts rotate drive sprocket with wheel
1.12 bolt is fixed；Wheel rotary drive sprocket wheel 1.3, wheel rotary-chain 1.9, wheel rotation dual-axle motor 1.11 and wheel
Rotation drive sprocket 1.12 is combined into silent chain synchronous transmission device, and wheel rotates the rotation of the output shaft of dual-axle motor 1.11, warp
Chain conveyer is converted into rotary motion of the axletree 1.2 around its axis, so as to rotatable around its axis with motor car wheel 1.1；
Described fork-shaped vehicle wheel frame 1.8 is made using casting technique.
Referring to Fig. 3, it is that the wheel group of a kind of pipeline detection walking robot that the utility model embodiment provides attaches together
Principle schematic is put, it includes the flexible holding rod 2.1 of wheel, wheel telescopic hydraulic cylinder piston rod 2.2, wheel telescopic hydraulic cylinder cylinder
Cylinder 2.3 and wheel assemblies 2.4；Stretch holding rod 2.1, wheel telescopic hydraulic cylinder piston rod 2.2 and wheel of wheel stretches
Barrel of Hydraulic Cylinders 2.3 has four groups, respectively positioned at four, the upper and lower, left and right of wheel assemblies 2.4 side；Wheel telescopic hydraulic
Cylinder cylinder barrel 2.3 welds together with wheel assemblies 2.4, in wheel telescopic hydraulic cylinder piston rod 2.2 and end movement component 1
Fork-shaped vehicle wheel frame 1.8 welds together；Wheel stretches holding rod 2.1 1 group two, and one end is welded on 1.8 liang of fork-shaped vehicle wheel frame
Side, the other end is through the corresponding through hole on wheel telescopic hydraulic cylinder cylinder barrel 2.3, to prevent wheel telescopic hydraulic cylinder piston rod 2.2
Relative to the rotation of wheel telescopic hydraulic cylinder cylinder barrel 2.3；There is collapsible tip fortune so as to form four, upper and lower, left and right orientation
The wheel group of dynamic device, to realize supporting pipeline internal face and along the linear motion of its axis, while four group end moving parts 1
Stretching motion it is separate, the pipeline requirement of varying cross-section shape can be met；
Described wheel assemblies 2.4 are made using casting technique；
Described wheel telescopic hydraulic cylinder piston rod 2.2 and wheel telescopic hydraulic cylinder cylinder barrel 2.3 are using common on the market
Hydraulic cylinder structure, and respective handling is carried out to end to meet to require.
Referring to Fig. 4, it is that the wheel group of a kind of pipeline detection walking robot that the utility model embodiment provides is stretched
Assembly principle schematic diagram is waved, it includes hydraulic pressure ball pivot 1, wheel group is stretched holding rod 3.2, the work of wheel group telescopic hydraulic cylinder
Stopper rod 3.3 and wheel group telescopic hydraulic cylinder cylinder barrel 3.4；The work of wheel group telescopic hydraulic cylinder cylinder barrel 3.4 and hydraulic pressure ball pivot 2 4.2
Moved end welds together, and the movable end of wheel group telescopic hydraulic cylinder piston rod 3.3 and hydraulic pressure ball pivot 1 welds together, liquid
The bearing of pressure ball hinge 1 is fixed with the bolt of wheel assemblies 2.4；Wheel group is stretched holding rod 3.2 1 group two, one end welding
On wheel group telescopic hydraulic cylinder piston rod 3.3, the other end passes through the corresponding through hole on wheel group telescopic hydraulic cylinder cylinder barrel 3.4,
To prevent rotation of the wheel group telescopic hydraulic cylinder piston rod 3.3 relative to wheel group telescopic hydraulic cylinder cylinder barrel 3.4；So as to form energy
Enough drive wheel group flexible and arbitrarily axle waves where the bulb central point of hydraulic pressure ball pivot 1 wheel group is stretched and waves group
Part 3, to assist to realize posture changing of the robot during turn, lane-change, while it can effectively prevent robot from moving
During fall phenomenon；
Using the hydraulic pressure spherical hinge structure of standard on the market, its movable end is more inside bearing for described hydraulic pressure ball pivot 1
It can be waved under the driving of individual hydraulic coupling around any axle where bulb central point.
Described wheel group telescopic hydraulic cylinder piston rod 3.3 and 3.4 uses of cylinder barrel of wheel group telescopic hydraulic cylinder is normal on the market
The hydraulic cylinder structure seen, and respective handling is carried out to end to meet to require.
Referring to Fig. 5, it is that the wheel group of a kind of pipeline detection walking robot that the utility model embodiment provides is stretched
Hydraulic cylinder pose adjustment assembly principle schematic diagram, it includes robot body's pedestal 4.1 and hydraulic pressure ball pivot 2 4.2；Hydraulic pressure ball pivot
2 4.2 have six, and its bearing is bolted on the front, back, left, right, up, down six of robot body's pedestal 4.1 respectively
Orientation；The movable end of hydraulic pressure ball pivot 2 4.2 welds with one end of wheel group telescopic hydraulic cylinder cylinder barrel 3.4, so as to be configured to band
The flexible wheel for waving component 3 and wheel group any axis where the bulb central point of hydraulic pressure ball pivot 2 4.2 and waving of motor car wheel group
Group telescopic hydraulic cylinder pose adjustment component 4, to adapt to a variety of angles and the turn in the case of orientation and lane-change demand；
Described robot body's pedestal 4.1 is made using casting technique；
Using the hydraulic pressure spherical hinge structure of standard on the market, its movable end is more inside bearing for described hydraulic pressure ball pivot 2 4.2
It can be waved under the driving of individual hydraulic coupling around any axle where bulb central point.
Referring to Fig. 6, it is that the turn principle of a kind of pipeline detection walking robot that the utility model embodiment provides is shown
It is intended to.
Referring to Fig. 7, it is that the lane-change principle of a kind of pipeline detection walking robot that the utility model embodiment provides is shown
It is intended to.
Referring to Fig. 8, it is that the anti-fall principle of a kind of pipeline detection walking robot that the utility model embodiment provides is shown
It is intended to.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Claims (4)
1. a kind of pipeline detection walking robot, including end movement component（1）, wheel combination device（2）, wheel group is flexible shakes
Put component（3）And wheel group telescopic hydraulic cylinder pose adjustment component（4）；Wheel combination device（2）By four group end exercise groups
Part（1）Combine, being combined into can be with supporting pipeline internal face and the wheel group moved along conduit axis；Wheel group is stretched
Hydraulic cylinder pose adjustment component（4）Stretched with six groups of wheel groups and wave component（3）It is combined into the master of pipeline detection walking robot
Body posture changing mechanism, wheel group is flexible to wave component（3）End connects wheel group, described end movement component（1）Including
Wheel（1.1）, axletree（1.2）, wheel rotary drive sprocket wheel（1.3）, axle sleeve one（1.4）, axletree swivel bearing（1.5）、
Axletree swivel bearing keeper（1.6）, axle sleeve two（1.7）, fork-shaped vehicle wheel frame（1.8）, wheel rotary-chain（1.9）, wheel
Electric rotating machine fixture（1.10）, wheel rotation dual-axle motor（1.11）And wheel rotation drive sprocket（1.12）；Wheel
（1.1）With axletree（1.2）Connected by spline, and through the shaft shoulder and axle sleeve two（1.7）Axially position；Wheel rotary drive sprocket wheel
（1.3）There are two, and axletree（1.2）Key connection, one of them is through the shaft shoulder and axle sleeve one（1.4）Axially position, another
Warp beam sleeve two（1.7）With axle sleeve one（1.4）Axially position；Axletree swivel bearing keeper（1.6）Have two, respectively with fork-shaped
Vehicle wheel frame（1.8）Bolts at two ends connection；Axletree swivel bearing（1.5）There are two, its inner ring and axletree（1.2）End axle
Section tight fit, outer ring and fork-shaped vehicle wheel frame（1.8）With axletree swivel bearing keeper（1.6）The counterbore tight fit being combined into,
And pass through axle sleeve one（1.4）With fork-shaped vehicle wheel frame（1.8）With axletree swivel bearing keeper（1.6）The counterbore wall being combined into
Axially position；Wheel rotates dual-axle motor（1.11）Pass through fork-shaped vehicle wheel frame（1.8）With wheel electric rotating machine fixture（1.10）
Fixed position, two motor output shafts rotate drive sprocket with wheel（1.12）Bolt is fixed；Wheel rotary drive sprocket wheel
（1.3）, wheel rotary-chain（1.9）, wheel rotation dual-axle motor（1.11）And wheel rotation drive sprocket（1.12）Combination
Into silent chain synchronous transmission device, wheel rotation dual-axle motor（1.11）The rotation of output shaft, axletree is converted into through Chain conveyer
（1.2）Around the rotary motion of its axis, so as to motor car wheel（1.1）It is rotatable around its axis.
2. a kind of pipeline detection walking robot according to claim 1, described wheel combination device（2）Including wheel
Flexible holding rod（2.1）, wheel telescopic hydraulic cylinder piston rod（2.2）, wheel telescopic hydraulic cylinder cylinder barrel（2.3）And wheel combination
Part（2.4）；Wheel stretches holding rod（2.1）, wheel telescopic hydraulic cylinder piston rod（2.2）And wheel telescopic hydraulic cylinder cylinder barrel
（2.3）There are four groups, respectively positioned at wheel assemblies（2.4）Four, upper and lower, left and right side；Wheel telescopic hydraulic cylinder cylinder barrel
（2.3）With wheel assemblies（2.4）Weld together, wheel telescopic hydraulic cylinder piston rod（2.2）With end movement component（1）In
Fork-shaped vehicle wheel frame（1.8）Weld together；Wheel stretches holding rod（2.1）One group two, one end is welded on fork-shaped vehicle wheel frame
（1.8）Both sides, the other end pass through wheel telescopic hydraulic cylinder cylinder barrel（2.3）On corresponding through hole, to prevent wheel telescopic hydraulic cylinder
Piston rod（2.2）Relative to wheel telescopic hydraulic cylinder cylinder barrel（2.3）Rotation；It is equal so as to form four, upper and lower, left and right orientation
There is the wheel group of collapsible tip telecontrol equipment, to realize supporting pipeline internal face and along the linear motion of its axis, while four
Group end moving parts（1）Stretching motion it is separate, the pipeline requirement of varying cross-section shape can be met.
3. a kind of pipeline detection walking robot according to claim 1, described wheel group is flexible to wave component（3）Bag
Include hydraulic pressure ball pivot one（3.1）, wheel group stretch holding rod（3.2）, wheel group telescopic hydraulic cylinder piston rod（3.3）And wheel group
Telescopic hydraulic cylinder cylinder barrel（3.4）；Wheel group telescopic hydraulic cylinder cylinder barrel（3.4）With hydraulic pressure ball pivot two（4.2）Movable end be welded on
Together, wheel group telescopic hydraulic cylinder piston rod（3.3）With hydraulic pressure ball pivot one（3.1）Movable end weld together, hydraulic pressure ball pivot
One（3.1）Bearing and wheel assemblies（2.4）Bolt is fixed；Wheel group is stretched holding rod（3.2）One group two, one end welding
In wheel group telescopic hydraulic cylinder piston rod（3.3）On, the other end passes through wheel group telescopic hydraulic cylinder cylinder barrel（3.4）On correspondence lead to
Hole, to prevent wheel group telescopic hydraulic cylinder piston rod（3.3）Relative to wheel group telescopic hydraulic cylinder cylinder barrel（3.4）Rotation；From
And it is configured to drive wheel group flexible and around hydraulic pressure ball pivot one（3.1）The wheel group that any axle where bulb central point waves
It is flexible to wave component（3）, to assist to realize posture changing of the robot during turn, lane-change, while can effectively prevent
Robot falls phenomenon in motion process, described wheel group telescopic hydraulic cylinder pose adjustment component（4）Including machine
Human agent's pedestal（4.1）With hydraulic pressure ball pivot two（4.2）；Hydraulic pressure ball pivot two（4.2）There are six, its bearing is bolted respectively
In robot body's pedestal（4.1）The orientation of front, back, left, right, up, down six；Hydraulic pressure ball pivot two（4.2）Movable end and car
Wheel group telescopic hydraulic cylinder cylinder barrel（3.4）One end welding, so as to be configured to drive wheel group is flexible to wave component（3）And wheel
Group is around hydraulic pressure ball pivot two（4.2）The wheel group telescopic hydraulic cylinder pose adjustment component that any axis where bulb central point waves
（4）, to adapt to a variety of angles and the turn in the case of orientation and lane-change demand.
A kind of 4. pipeline detection walking robot according to claim 3, it is characterised in that described hydraulic pressure ball pivot one
（3.1）With hydraulic pressure ball pivot two（4.2）Using the hydraulic pressure spherical hinge structure of standard on the market, its movable end multiple hydraulic pressure inside bearing
It can be waved under the driving of power around any axle where bulb central point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720369152.8U CN207015470U (en) | 2017-04-10 | 2017-04-10 | A kind of pipeline detection walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720369152.8U CN207015470U (en) | 2017-04-10 | 2017-04-10 | A kind of pipeline detection walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207015470U true CN207015470U (en) | 2018-02-16 |
Family
ID=61460635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720369152.8U Expired - Fee Related CN207015470U (en) | 2017-04-10 | 2017-04-10 | A kind of pipeline detection walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207015470U (en) |
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2017
- 2017-04-10 CN CN201720369152.8U patent/CN207015470U/en not_active Expired - Fee Related
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