The invention discloses a crawler-type mobile robot for complex structure pipeline detection. The mobile robot comprises a main body module, wherein two sides of the main body module are connected to a driving module through crawler connecting modules which are symmetrically arranged, and a camera module and a searchlight module are arranged on the left side of the main body module; a control module used for being connected with a remote terminal module is arranged in the main body module, and the driving module, the camera module, the searchlight module and the control module are all electrically connected with the power supply module. The crawler-type mobile robot is indirectly controlled through the remote terminal module, and an internal state of the pipeline and a state of the crawler-type mobile robot are monitored in real time through the camera module; a crawler belt connecting module is arranged, a front driving shaft and a rear driving shaft of the crawler belt connecting module are coaxially embedded in a cylinder barrel, the front driving shaft and the rear driving shaft are hinged to connecting plates on the two sides of a crawler belt through a front driving arm and a rear driving arm, and the crawler belt module is driven to stretch and rotate by adjusting the rotating angles of the front driving shaft and the rear driving shaft to adapt to pipelines with different inner diameters.
本发明公开了一种面向复杂结构管道检测的履带式移动机器人,包括主体模块,所述主体模块两侧通过对称设置的履带连接模块连接于驱动模块,所述主体模块左侧设置有摄像头模块和探照灯模块,所述主体模块内部设置有用于和远程终端模块连接的控制模块,所述驱动模块、摄像头模块、探照灯模块和控制模块均与供电模块电性连接。通过远程终端模块间接的控制履带式移动机器人,并实时通过摄像头模块监测管道内部状态及履带式移动机器人状态;设有履带连接模块,其前后驱动轴同轴嵌套于缸筒上,前后驱动臂将前后驱动轴和履带两侧连接板铰接在一起,通过调节前后驱动轴的转动角度,带动履带模块进行伸缩和转动,以适应不同内径的管道。
Crawler-type mobile robot for complex structure pipeline detection
一种面向复杂结构管道检测的履带式移动机器人
2021-04-13
Patent
Electronic Resource
Chinese