The invention discloses an in-pipe self-adaptive walking system. The in-pipe self-adaptive walking system comprises a power device, a plurality of sets of driving wheel walking mechanisms, a pluralityof sets of reducing mechanisms and a driven wheel walking mechanism, wherein a mounting seat is arranged at one end of the power device, and a shaft rod is arranged at the other end of the power device; each set of driving wheel walking mechanism comprises a driving wheel and a first connecting rod, wherein one end of the first connecting rod is hinged to the mounting seat, and the other end of the first connecting rod is hinged to the driving wheel; each set of reducing mechanism comprises a second connecting rod, an adjusting rod and a regulating system; a fixed seat and a sliding seat arearranged on the shaft rod at an interval; one end of each second connecting rod is hinged to the fixed seat; one end of each adjusting rod is hinged to the sliding seat, and the other end of each adjusting rod is hinged to the middle of the corresponding second connecting rod; each regulating system is connected with the sliding seat so as to control the sliding seat to move along the shaft rod; the driven wheel walking mechanism comprises a third connecting rod and a driven wheel; one end of the third connecting rod is hinged to the other end of the corresponding second connecting rod, and the other end of the third connecting rod is hinged to the middle of the corresponding first connecting rod; and the driven wheel is arranged on the third connecting rod.

    本发明公开了一种管内自适应行走系统,包括:动力装置,动力装置的一端设有安装座,另一端设有轴杆;包括多组驱动轮行走机构,每组驱动轮行走机构均包括主动轮和第一连杆,第一连杆的一端和安装座铰接,另一端和主动轮铰接;包括多组变径机构,每组变径机构均包括第二连杆、调节杆和调控系统,轴杆上间隔设有固定座和滑动座,第二连杆的一端和固定座铰接,调节杆的一端和滑动座铰接,另一端和第二连杆的中部铰接,调控系统与滑动座连接以控制滑动座沿轴杆运动;从动轮行走机构,包括第三连杆和从动轮,第三连杆的一端和第二连杆的另一端铰接,第三连杆的另一端和第一连杆的中部铰接,从动轮设置在第三连杆上。


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    Title :

    In-pipe self-adaptive walking system


    Additional title:

    一种管内自适应行走系统


    Contributors:
    ZHOU YANG (author) / GUO CHANGCHUN (author) / WEI CHAOLEI (author) / LI DAN (author)

    Publication date :

    2021-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B08B Reinigen allgemein , CLEANING IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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