The invention relates to an electric permanent magnet crawler walking device of a pipeline robot. The electric permanent magnet crawler walking device comprises an electric permanent magnet crawler assembly and a reducing assembly. The electric permanent magnet track assembly comprises a track assembly, a carbon brush, an electric permanent magnet and an electric guide rail; the electro-permanent magnets are evenly embedded in the surface of the track assembly, battery current flows to the electro-permanent magnets through the electric guide rails and the carbon brushes, the magnitude of the current from the batteries to the electro-permanent magnets is adjusted through the magnetic batteries and a control circuit thereof, and then the magnitude of the magnetic force of the electro-permanent magnet track is controlled. The reducing assembly comprises a crawler belt auxiliary rotating frame, a telescopic cylinder and a connecting frame; the track auxiliary rotating frame is connected with the track assembly; one end of the telescopic cylinder is connected with the crawler belt auxiliary rotating frame through a telescopic cylinder base pin shaft, the other end of the telescopic cylinder is connected with the crawler belt auxiliary rotating frame through a piston rod pin shaft, and the telescopic cylinder stretches out and draws back to drive the crawler belt to change the dip angle. Compared with the prior art, the device is variable in diameter and suitable for inner and outer pipelines, and the magnetic force of the crawler belt is adaptively changed according to working conditions in the running process.
本发明涉及一种管道机器人电永磁履带行走装置,包括:电永磁履带组件和变径组件;电永磁履带组件包括:履带总成、碳刷、电永磁体、电导轨;电永磁体均匀嵌在履带总成表面,电池电流通过电导轨、碳刷流向电永磁体,通过磁力电池及其控制电路调节电池到电永磁体电流的大小,进而控制电永磁履带磁力的大小;变径组件包括:履带辅助旋转车架、伸缩缸、连接车架;履带辅助旋转车架与履带总成连接;伸缩缸的一端通过伸缩缸底座销轴和履带辅助旋转车架连接,伸缩缸的另一端通过活塞杆销轴和履带辅助旋转车架连接,伸缩缸伸缩驱动履带改变倾角。与现有技术相比,本发明可变径并适合内、外管道,并在行驶过程中根据工况自适应改变履带磁力大小。
Electric permanent magnetic crawler walking device of pipeline robot
一种管道机器人电永磁履带行走装置
2024-11-15
Patent
Electronic Resource
Chinese
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