The invention discloses an outer pipeline crawling system which comprises a front vehicle body, a rear vehicle body, a walking unit, an encircling unit, a telescopic unit and a front and rear vehicle body connecting piece, wherein the front vehicle body and the rear vehicle body are the same in structure; the walking unit comprises a spherical triangular wheel, an omnidirectional wheel and a driving mechanism which are mounted on the vehicle body and the synchronous belt; the encircling unit comprises a plastic synchronous belt, a large gear, a small gear, an expansion cam and a driving mechanism, wherein the large gear and the small gear are meshed with each other; the synchronous belt can be retracted and released in different directions through different rotating directions of the large gear, so that the vehicle body and the synchronous belt are pulled to rotate around the axis direction of the pipeline, the size of the surrounding diameter of the synchronous belt can be adjusted through outward expansion and inward contraction of the expansion cam, and the device is suitable for pipelines with different pipe diameters. The robot can crawl and work on pipelines with different diameters, can achieve the functions of crossing a certain obstacle and rotating around the axis direction of the pipelines, is good in universality and can adapt to the complex pipeline environment.
本发明公开了一种外管道爬行系统,包括:结构相同的前车体和后车体,安装于车体上的行走单元、环抱单元和伸缩单元以及前后车体连接件。行走单元包括安装于车体和同步带上的球形三角轮、全向轮以及驱动机构;环抱单元包括塑性的同步带、相互啮合的大齿轮和小齿轮、调节同步带松紧的膨胀凸轮以及驱动机构。大齿轮不同的转向可实现同步带不同方向的收放,从而扯动车体和同步带绕管道轴线方向转动,且膨胀凸轮向外膨胀和向内收缩可调节同步带环抱直径的大小,适应于不同管径的管道。本发明可以在不同直径的管道上爬行工作,并能实现跨越一定障碍和绕管道轴线方向转动的功能,通用性好,能够适应复杂的管道环境。
Outer pipeline crawling system
一种外管道爬行系统
2024-11-01
Patent
Electronic Resource
Chinese
Outer pipeline crawling robot with six-connecting-rod mechanism
European Patent Office | 2020
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