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Running gear of height-adjustable independent displacement crawler type pipeline robot

A pipeline robot and walking mechanism technology, applied in the field of mechanical transmission, can solve problems such as high height and inability to enter flat rectangular pipelines, and achieve the effect of increasing costs and increasing the trouble of management and maintenance.

Inactive Publication Date: 2006-08-09
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of background technology is that the height is too high to enter the flat rectangular duct with low height

Method used

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  • Running gear of height-adjustable independent displacement crawler type pipeline robot
  • Running gear of height-adjustable independent displacement crawler type pipeline robot
  • Running gear of height-adjustable independent displacement crawler type pipeline robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0014] The main technical parameters of the height-adjustable self-displacement crawler-type pipeline robot walking mechanism: the length and width of the body 4 are 220mm and 140mm respectively. Multi-core cable length 25m. The track foot length and width are 110mm and 32mm, respectively. The length of each leg is 65mm. The length of each swing leg adjustment joint is 12mm. When the robot was upright in the normal state, the height of the robot was 90mm (from the ground to the upper plane of the body 4), and the distance between the left and right crawlers was 95mm. When the robot is in a low state, that is, the four legs are horizontally opened (opening angle 140°), and the four crawler feet are upright, the height of the robot is reduced to 62mm (from the ground to the upper plane of the body 4), and the distance between the left and right crawlers is 210mm. The overall height is reduced by almost a third. The drive motors of the crawler feet and swing legs are 11W, 48V...

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Abstract

The invention is a walking mechanism for adjustable-height self-position shifting track-type pipeline robot, including two sets of mechanisms of transversely swinging legs, symmetrically distributed at the head and tail of the robot body, the tops of the four legs are hinged on the two sides of two sets of mechanisms of transversely swing legs, respectively, the bottom ends of the four legs are all set with a swing-leg adjusting joint, and four track feet are hinged with the four adjusting joints, respectively. The two sets of mechanisms of transversely swinging legs open the four legs, adjust these joints to make the four track feet return to erecting state so as to reduce the height of the walking mechanism. The pipeline with the wall mechanism can enter multiple pipelines, such as high rectangular pipelines, small-bore circular or low flat rectangular pipelines, etc.

Description

technical field [0001] The invention relates to a walking mechanism of a height-adjustable self-displacement crawler-type pipeline robot, which belongs to the technical field of mechanical transmission. Background technique [0002] In the background art, there is a pipeline robot with four crawler feet for autonomous displacement. The walking mechanism of the robot includes a body, four legs, four crawler feet and multi-core cables. The four legs are exactly the same, namely the left front leg, left rear leg, right front leg and right rear leg. The left and right front legs and the left and right rear legs are respectively fixed to the front and rear ends of the body through their respective ends, and the left front and rear legs are arranged symmetrically with the right front and rear legs on both sides of the longitudinal central axis of the body. The four crawler feet are exactly the same, being the left front crawler foot, the left rear crawler...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
Inventor 毛立民蒯冬宝陈旻陈革陈瑞琪
Owner DONGHUA UNIV
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