The crawling robot comprises a supporting framework, a reducing mechanism and a crawling mechanism, a reducing servo motor is fixed to the supporting framework, an output shaft of the reducing servo motor is connected with a lead screw, the lead screw is installed on the supporting framework through a bearing, and a connecting base is fixed to the lead screw through a nut; the diameter changing mechanisms are evenly distributed in the circumferential direction of the supporting framework, each diameter changing mechanism comprises a support plate, a front swing arm and a rear swing arm, the two ends of the support plate are correspondingly hinged to one end of the front swing arm and one end of the rear swing arm, the other end of the front swing arm and the other end of the rear swing arm are hinged to the supporting framework, and a spring shock absorber is hinged between the middle of the rear swing arm and the connecting base. The support plates, the front swing arms, the rear swing arms and the supporting framework form a parallelogram, the crawling mechanisms are crawler-type crawling mechanisms, and the multiple crawling mechanisms are installed on the support plates of the multiple reducing mechanisms in a one-to-one correspondence mode. The device has the advantages of being simple in structure, convenient to operate and control, large in diameter changing range, high in adaptability, stable and reliable.
本发明涉及一种用于管道内检测的爬行机器人,包括支撑骨架、变径机构和爬行机构,支撑骨架上固定有变径伺服电机,变径伺服电机的输出轴连接有丝杠,丝杠通过轴承安装在支撑骨架上,丝杠上通过螺母固定有连接座,变径机构设有多个并沿支撑骨架的周向均匀分布,变径机构包括支架板、前摆臂和后摆臂,支架板的两端对应与前摆臂和后摆臂的一端铰接,前摆臂和后摆臂的另一端分别与支撑骨架铰接,后摆臂的中部与连接座之间铰接有弹簧减震器,支架板、前摆臂、后摆臂和支撑骨架形成平行四边形,爬行机构为履带式爬行机构,爬行机构设有多个并一一对应安装在多个变径机构的支架板上。其具有结构简单、操控方便、变径范围大、适应能力强、稳定可靠的优点。
Crawling robot for detection in pipeline
一种用于管道内检测的爬行机器人
2025-01-07
Patent
Electronic Resource
Chinese