CN110977922A - An adaptive crawler device attached to the outer wall of the pipeline - Google Patents
An adaptive crawler device attached to the outer wall of the pipeline Download PDFInfo
- Publication number
- CN110977922A CN110977922A CN201911269157.3A CN201911269157A CN110977922A CN 110977922 A CN110977922 A CN 110977922A CN 201911269157 A CN201911269157 A CN 201911269157A CN 110977922 A CN110977922 A CN 110977922A
- Authority
- CN
- China
- Prior art keywords
- crawler
- rotating shaft
- track
- plate
- crawler belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003044 adaptive effect Effects 0.000 title abstract 2
- 230000006835 compression Effects 0.000 claims description 25
- 238000007906 compression Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000006116 polymerization reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000002776 aggregation Effects 0.000 claims description 2
- 238000004220 aggregation Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 3
- 230000009193 crawling Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
一种自适应贴附管道外壁履带装置。包括履带框架部件和旋转轴部件；所述履带框架部件包括履带上盖、连接在履带上盖上的履带侧板、连接在履带侧板上的履带电机、履带主动轮和履带被动轮、连接在履带侧板的履带连接板母板以及履带连接板公板等；所述旋转轴部件包括旋转轴、固定旋转轴的旋转轴套、与旋转轴底端连接的万向球以及对履带连接母板和履带连接公板进行牵引的拉伸绳。本发明可以实现履带的自动变径，实现履带自动贴附在管道外壁，对于多数管径的管道均可适应，通过运行履带电机即可实现在管道上轴向爬行，适应性强，使用范围广。An adaptive crawler device attached to the outer wall of a pipeline. It includes a track frame part and a rotating shaft part; the track frame part includes a track upper cover, a track side plate connected to the track upper cover, a track motor connected to the track side plate, a track driving wheel and a track driven wheel, connected on the track. The track connecting plate mother plate of the track side plate and the track connecting plate male plate, etc.; the rotating shaft component includes a rotating shaft, a rotating shaft sleeve for fixing the rotating shaft, a universal ball connected with the bottom end of the rotating shaft, and a pair of crawler connecting mother plates. A stretch rope that connects the male plate with the crawler for traction. The invention can realize the automatic diameter change of the crawler belt, realize the automatic attachment of the crawler belt to the outer wall of the pipe, and can be adapted to pipes of most pipe diameters. By running the crawler motor, the axial crawling on the pipe can be realized, and the adaptability is strong and the application range is wide. .
Description
Technical Field
The invention relates to a crawler device applied to the field of pipeline detection.
Background
With the rapid development of scientific technology in modern society, crawler robots are increasingly applied to various complex environments, and crawler devices are also increasingly used in various working conditions, wherein most of the existing crawler robots have special purposes, such as pipeline cleaning crawler robots, a crawler can adapt to the inner diameter of a pipeline to realize crawling in the pipeline, and ground crawler vehicles are increasingly applied to various complex environments, particularly in various fields of dangerous environment monitoring, unknown area detection, planet detection, rescue search, explosive disposal and the like, and can replace workers to execute dangerous work. Most of the existing crawler units are used for dredging and detecting pipelines in the pipelines, but rarely used for running on the outer walls of the pipelines, and most of the pipelines with different pipe diameters are adapted in a manual adjusting mode, and rarely used for automatically adapting to the pipelines with different pipe diameters. The CN201821098528 document discloses a modular magnetic adsorption pipeline robot capable of adjusting angles rapidly, which is a device adapting to a smaller-diameter pipeline by changing the structural angle of the robot, the diameter of the crawler device can be changed, the shape and the size of the robot can be changed by adjusting an angle adjusting unit in a body adjusting module, but the size of the robot needs to be adjusted manually, and the robot is a device for adapting to the change of the inner diameter of the pipeline and realizing crawling in the pipeline. The document CN201810200615 discloses a circumferential cloth caterpillar wheel type pipeline detection robot with an active self-adaptive pipe diameter change, in the scheme, a caterpillar wheel is installed on a ball screw through a pressing adjusting crank-slider mechanism, and the ball screw is fixed with the outer wall of a cylindrical main body sleeve; the pressing force driving motor is arranged in the cylindrical main body sleeve and simultaneously drives each ball screw to move through the transmission gear set, the crawler wheels are driven by the pressing adjusting slider-crank mechanism to adjust the pressing force between the crawler wheels and the inner wall of the pipeline, the pressure of the crawler devices and the inner wall of the pipeline is actively adjusted to adapt to the pipe diameter, and manual regulation and motor auxiliary adjustment are still needed.
Disclosure of Invention
In order to solve the technical problems mentioned in the background technology, the invention provides a self-adaptive crawler attachment device for the outer wall of a pipeline, which automatically adapts to the outer walls of pipelines with different pipe diameters by automatically adjusting the polymerization angle of a crawler through a rotating shaft, does not need manual regulation and control, does not need motor-assisted regulation, and is practical, convenient, simple in structure and wide in application range.
The technical scheme of the invention is as follows: the self-adaptive attached pipeline outer wall crawler device comprises a crawler frame component and a rotating shaft component, wherein the crawler frame component comprises a crawler, a crawler upper cover, crawler side plates connected to the crawler upper cover through crawler hinges, a crawler motor connected to the crawler side plates through the crawler hinges, crawler driving wheels fastened to the crawler side plates through screws, crawler driven wheels fastened to the crawler side plates through screws, a crawler connection mother plate connected to the crawler side plates through the crawler hinges, a crawler connection male plate connected to the crawler side plates through the crawler hinges, a tension spring, a spring base connected to the mother plate through the crawler connection mother plate through the screws, a spring hook and a tension rope fastening base connected to the mother plate and the crawler connection male plate through the screws. The crawler belt connection male plate and the crawler belt connection male plate form a slideway mechanism which is tightly attached to each other, one end of a tension spring is connected with the spring hook of the crawler belt connection male plate, and the other end of the tension spring is connected with the spring hook of the crawler belt connection female plate; the track is connected the process that mother board and track connection public board were drawn the tensile production and is pulled far because extension spring, rotation axis stroke slide shorten, and then accomplish to rotation axis stroke slide and rotation axis coincidence and reset.
The crawler frame component is used for realizing the rotation of the crawler side plates relative to the crawler upper cover, the rotation of the crawler connecting mother plate and the crawler connecting male plate relative to the crawler side plates and the sliding of the crawler connecting male plate in the crawler connecting mother plate, and is used for realizing the stretching of the stretching spring when the crawler connecting male plate slides in the crawler connecting mother plate; the track is connected the slide structure that mother board and track connection public board constitute, there is a set ofly respectively in the front and back position department of track curb plate.
The rotating shaft part comprises a rotating shaft, a rotating shaft sleeve, a universal ball, a tensile rope, a rotating shaft end cover, an end cover bolt and a rotating shaft compression spring; the upper part of the rotating shaft is provided with a spiral groove, a spiral table corresponding to the spiral groove is arranged in the rotating shaft sleeve, and the rotating shaft sleeve plays a role in fixing the rotating shaft and enabling the rotating shaft to rotate in the rotating shaft sleeve; the rotating shaft end cover is fastened at the top end of the rotating shaft through an end cover bolt after the rotating shaft is inserted into the rotating shaft sleeve and is used for preventing the rotating shaft from being separated from the rotating shaft sleeve; the bolt shaft of the universal ball is connected with the bolt hole at the bottom end of the rotating shaft; the rotating shaft compression spring is sleeved outside the rotating shaft sleeve, one end of the rotating shaft compression spring props against the upper cover of the track, the other end of the rotating shaft compression spring props against the tensile rope fastening seat of the rotating shaft, and the rotating shaft end cover is tightly attached to the upper cover of the track through the elasticity of the rotating shaft compression spring; one end of the tensile rope is connected with the tensile rope fastening base of the track frame component, and the other end of the tensile rope is connected with the tensile rope fastening base of the rotating shaft; the stretching rope is tightened and used for enabling the track connecting male plate and the track connecting female plate to be tightly attached to the rotating shaft.
The rotating shaft component is used for realizing the following action processes:
when a universal ball at the bottom end of the rotating shaft is pressed upwards, the rotating shaft rotates upwards in the rotating shaft sleeve, a tensile rope connected with a tensile rope fastening seat on the rotating shaft is stressed to wind the rotating shaft, so that a track connecting male plate and a track connecting female plate at the other end of the tensile rope are stressed and converged, a track side plate on the left side and a track side plate on the right side are driven to converge, an angle is formed between the tracks to adapt to a pipeline, and meanwhile, a tensile spring is tensioned due to convergence; the rotating shaft moves up so that the rotating shaft compression spring is compressed; consequently, after universal ball atress disappeared, because rotation axis compression spring's tension can make the rotation axis reset, extension spring's traction force can make the track connect public board and track to connect the mother board and reset, and then track curb plate angle returns normally, and the track resumes the plane state.
The rotating shaft parts are provided with two groups which are respectively corresponding to the track connecting mother board and the track connecting male board and have the same front and back.
The track frame component and the rotating shaft component are combined into a whole in the following mode: the rotary shaft sleeve is fixed on the upper cover of the crawler through screws, after a rotary shaft penetrates through a rotary shaft travel slide way of a slide way structure consisting of a crawler connecting mother plate and a crawler connecting male plate, a rotary shaft compression spring is sleeved on the rotary shaft, the rotary shaft penetrates through the rotary shaft sleeve, the top end of the rotary shaft and a rotary shaft end cover are fixed through end cover bolts, one end of a tensile rope is fixed on a tensile rope fastening base of the crawler connecting mother plate and the crawler connecting male plate, and one end of the tensile rope is fixed on a tensile rope fastening base of the rotary shaft to form a unified whole.
The invention has the following beneficial effects:
by applying the self-adaptive crawler attachment device for the outer wall of the pipeline, the crawler attachment device can automatically adapt to the outer wall of the pipeline by rotating the shaft part, so that the crawler can be tightly attached to the outer side of the pipeline, can automatically adapt without adjustment, and is suitable for pipelines with most pipe diameters. Simultaneously, not only can the attached pipeline outer wall move, can also realize different functions after carrying different carriers at the normal motion in plane, practical convenient, the structure is retrencied.
Description of the drawings:
FIG. 1 is a schematic view 1 of the present invention.
Fig. 2 is a schematic view 2 of the present invention.
Fig. 3 is an inverted side view of the present invention.
Fig. 4 is a front view of the present invention.
Fig. 5 is a bottom view of the present invention.
FIG. 6 is a schematic side view of a track structure formed by a track connecting mother board and a track connecting male board according to the present invention.
FIG. 7 is a top view of the track structure formed by the track connecting mother board and the track connecting male board of the present invention.
FIG. 8 is a schematic view of a gimbaled ball of the present invention.
Fig. 9 is a schematic view of a rotary bushing according to the present invention.
FIG. 10 is a schematic view of a rotating shaft according to the present invention.
In the figure, 1-a track frame component, 2-a rotating shaft component, 3-a track upper cover, 4-a track side plate, 5-a track motor, 6-a track driving wheel, 7-a track driven wheel, 8-a track connecting mother plate, 9-a track connecting male plate, 10-a rotating shaft, 11-a rotating shaft sleeve, 12-a universal ball, 13-a stretching rope and 14-a rotating shaft end cover, 15-end cover bolt, 16-rotating shaft compression spring, 17-track, 18-spiral groove, 19-spiral table, 20-bolt hole, 21-tensile rope fastening seat, 22-tensile rope fastening base, 23-spring hook, 24-track hinge, 25-mother plate spring base, 26-tensile spring, 27-bolt shaft and 28-rotating shaft stroke slideway.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 10, the crawler device for self-adaptive attaching to the outer wall of the pipeline comprises a crawler frame component 1 and a rotating shaft component 2.
The track frame component 1 comprises a track 17, a track upper cover 3, track side plates 4 connected to the track upper cover 3 through track hinges 24, track motors 5 connected to the track side plates 4 through track hinges 24, track driving wheels 6 fastened to the track side plates 4 through screws, track driven wheels 7 fastened to the track side plates 4 through screws, a track connecting mother plate 8 connected to the track side plates 4 through track hinges 24, a track connecting male plate 9 connected to the track side plates 4 through track hinges 24, a tension spring 26, a spring base 25 fastened to the track connecting mother plate 8 through screws, a spring hook 23, and a tension rope fastening base 22 fastened to the track connecting mother plate 8 and the track connecting male plate 9 through screws. The spring hooks 23 are respectively fixed on the track connecting male plate 9 and the track connecting female plate 8, the track connecting female plate 8 and the track connecting male plate 9 form a slideway mechanism which is tightly attached, one end of the extension spring 26 is connected with the spring hook 23 of the track connecting male plate 9, and the other end of the extension spring is connected with the spring hook 23 of the track connecting female plate 8; the track connection mother plate 8 and the track connection male plate 9 form a slide mechanism which is provided with a rotating shaft travel slide 28, and the length of the rotating shaft travel slide can be changed along with the aggregation and resetting of the track connection mother plate and the track connection male plate. The reset is the process that the track connecting mother plate 8 and the track connecting male plate 9 are pulled far due to the pulling force generated by the stretching of the stretching spring 26, the rotating shaft stroke slide way 28 is shortened, and the reset is completed when the rotating shaft stroke slide way 28 is overlapped with the rotating shaft 10.
The combination constitutes track frame part 1, and mainly can realize that track curb plate 4 can rotate relatively track upper cover 3, track connection mother board 8 and track connection public board 9 can rotate relatively track curb plate 4, and track connection public board 9 can slide in track connection mother board 8, and when track connection public board 9 slides in track connection mother board 8, extension spring 26 can be stretched, track connection mother board 8 and track connection public board 9 have two sets of the same in front and back.
The rotary shaft component 2 comprises a rotary shaft 10, a rotary shaft sleeve 11, a universal ball 12, a tensile rope 13, a rotary shaft end cover 14, an end cover bolt 15 and a rotary shaft compression spring 16. Wherein, the upper part of the rotating shaft 10 is provided with a spiral groove 18, the inside of the rotating shaft sleeve 11 is provided with a spiral platform 19 corresponding to the spiral groove 18, and the rotating shaft sleeve 11 plays a role in fixing the rotating shaft 10 and enabling the rotating shaft 10 to rotate in the rotating shaft sleeve 11; after the rotating shaft 10 is inserted into the rotating shaft sleeve 11, a rotating shaft end cover 14 is fastened at the top end of the rotating shaft 10 through an end cover bolt 15, and the rotating shaft 10 is prevented from being separated from the rotating shaft sleeve 11; the bolt shaft 27 of the universal ball 12 is connected with the bolt hole 20 at the bottom end of the rotating shaft 10; the rotating shaft compression spring 16 is sleeved outside the rotating shaft sleeve 11, one end of the rotating shaft compression spring is propped against the upper crawler belt cover 3, the other end of the rotating shaft compression spring is propped against the tensile rope fastening seat 21 of the rotating shaft 10, and the elastic force of the rotating shaft compression spring 16 enables the rotating shaft end cover 14 to be clung to the upper crawler belt cover 3; one end of the tensile rope 13 is connected with the tensile rope fastening base 22 of the track frame component 1, the other end of the tensile rope 13 is connected with the tensile rope fastening base 21 of the rotating shaft 10, and the tensile rope 13 is tightened, so that the track connecting male plate 9 and the track connecting female plate 8 are tightly attached to the rotating shaft 10. The combination forms the rotating shaft part 2, and mainly realizes that when a universal ball at the bottom end of the rotating shaft 10 is pressed upwards, the rotating shaft 10 can rotate and move upwards in the rotating shaft sleeve 11; the stretching rope 13 connected with the stretching rope fastening seat 21 on the rotating shaft 10 is stressed to wind the rotating shaft 10, so that the crawler connecting male plate 9 and the crawler connecting female plate 8 at the other end of the stretching rope 13 are stressed and converged to drive the left crawler side plate 4 and the right crawler side plate 4 to converge to enable the crawler to generate an angle to adapt to a pipeline, and meanwhile, the stretching spring 26 is tensioned by the convergence; the rotating shaft 10 moves up so that the rotating shaft compression spring 16 is compressed; therefore, when the universal ball 12 is not stressed, the rotating shaft 10 is reset due to the tension of the rotating shaft compression spring 16, the traction force of the tension spring 10 can reset the track connection male plate 9 and the track connection female plate 8, the angle of the track side plate 4 is normal, and the track returns to the plane state. The rotating shaft member 2 has two sets which are identical in front and rear and correspond to the track connecting mother plate 8 and the track connecting male plate 9.
The track frame component 1 and the rotating shaft component 2 are combined into a whole in the following way: the rotary shaft sleeve 11 is fixed on the track upper cover 3 through screws, after the rotary shaft 10 penetrates through a rotary shaft stroke slide 28 of a slide structure consisting of a track connection mother plate 8 and a track connection male plate 9, a rotary shaft compression spring 16 is sleeved on the rotary shaft 10, then the rotary shaft 10 penetrates through the rotary shaft sleeve 11, the top end of the rotary shaft 10 is fixed with a rotary shaft end cover 14 through an end cover bolt 15, one end of a tensile rope 13 is fixed on a tensile rope fastening base 22 of the track connection mother plate 8 and the track connection male plate 9, and one end of the tensile rope is fixed on a tensile rope fastening base 21 of the rotary shaft 10 to form a unified whole.
The working process of the device is as follows:
1. when the crawler device works on a plane, the crawler device is in an initial state, the normal movement of the crawler can be realized by operating the motor, and the universal ball is in contact with the plane and rolls along with the operation of the crawler device.
2. When the attached pipeline operation of needs, then carry on required device at the track upper cover, make the universal ball of track at first be close to the pipeline wall, when universal ball touches the pipeline wall, receive an ascending effort, the effort lasts to be exerted, then the rotation axis can the atress rise in rotatory axle sleeve internal rotation, then the tensile rope fastening seat of rotation axis can drive tensile rope winding rotation axis, tensile rope drives the track and connects public board and the polymerization of track connection mother board, then the corresponding polymerization of track curb plate meeting, realize crawler attachment's reducing, owing to lean on tensile rope winding rotation axis to pull track curb plate and produce the angle, so be a quick reducing system, can easily reduce to required angle, make the track can paste tight pipeline wall. The movement of attaching the outer wall of the pipeline can be realized by operating the track motor after the track motor is close to the outer wall of the pipeline.
Claims (1)
1. The utility model provides an attached pipeline outer wall crawler attachment of self-adaptation, includes track frame part (1) and rotating shaft part (2), its characterized in that:
the crawler frame component (1) comprises a crawler (17), a crawler upper cover (3), a crawler side plate (4) connected to the crawler upper cover (3) through a crawler hinge (24), a crawler motor (5) connected to the crawler side plate (4) through the crawler hinge (24), a crawler driving wheel (6) fastened on the crawler side plate (4) through a screw, and a crawler driven wheel (7) fastened on the crawler side plate (4) through a screw, the crawler belt connecting device comprises a crawler belt connecting mother plate (8) connected to crawler belt side plates (4) through crawler belt hinges (24), a crawler belt connecting male plate (9) connected to the crawler belt side plates (4) through the crawler belt hinges (24), a tension spring (26), a spring base (25) fastened to the crawler belt connecting mother plate (8) through screws, a spring hook (23) and a tension rope fastening base (22) fastened to the crawler belt connecting mother plate (8) and the crawler belt connecting male plate (9) through screws; the crawler belt connecting mechanism comprises a male crawler belt connecting plate (9), a female crawler belt connecting plate (8), a spring hook (23), a tension spring (26), a slide way mechanism, a spring hook mechanism and a spring hook mechanism, wherein the spring hook (23) is respectively fixed on the male crawler belt connecting plate (9) and the female crawler belt connecting plate (8), the female crawler belt connecting plate (8) and the male crawler belt connecting plate (9) form the slide way mechanism which is tightly attached to each other, one end of the tension spring (26) is connected with the spring hook (23) of the male crawler belt; the slide mechanism consisting of the track connecting mother board (8) and the track connecting male board (9) is provided with a rotating shaft stroke slide way (28), and the length of the rotating shaft stroke slide way (28) is changed along with the aggregation and reset of the track connecting mother board (8) and the track connecting male board (9);
the crawler frame component (1) is used for realizing the rotation of the crawler side plates (4) relative to the crawler upper cover (3), the rotation of the crawler connecting mother plate (8) and the crawler connecting male plate (9) relative to the crawler side plates (4) and the sliding of the crawler connecting male plate (9) in the crawler connecting mother plate (8), and is used for realizing the stretching of the stretching spring (26) when the crawler connecting male plate (9) slides in the crawler connecting mother plate (8); the caterpillar track is connected with a slideway structure consisting of a mother board (8) and a male board (9), and a group of the caterpillar track is arranged at the front and the rear of the caterpillar track side board (4);
the rotary shaft component (2) comprises a rotary shaft (10), a rotary shaft sleeve (11), a universal ball (12), a tensile rope (13), a rotary shaft end cover (14), an end cover bolt (15) and a rotary shaft compression spring (16); wherein, the upper part of the rotating shaft (10) is provided with a spiral groove (18), a spiral table (19) corresponding to the spiral groove (18) is arranged in the rotating shaft sleeve (11), and the rotating shaft sleeve (11) plays a role in fixing the rotating shaft (10) and enabling the rotating shaft (10) to rotate in the rotating shaft sleeve (11); after the rotating shaft (10) is inserted into the rotating shaft sleeve (11), a rotating shaft end cover (14) is fastened at the top end of the rotating shaft (10) through an end cover bolt (15) and used for preventing the rotating shaft (10) from being separated from the rotating shaft sleeve (11); a bolt shaft (27) of the universal ball (12) is connected with a bolt hole (20) at the bottom end of the rotating shaft (10); a rotating shaft compression spring (16) is sleeved on the outer side of the rotating shaft sleeve (11), one end of the rotating shaft compression spring (16) is propped against the upper crawler cover (3), the other end of the rotating shaft compression spring (16) is propped against a tensile rope fastening seat (21) of the rotating shaft (10), and the rotating shaft end cover (14) is enabled to be tightly attached to the upper crawler cover (3) through the elastic force of the rotating shaft compression spring (16); one end of the stretching rope (13) is connected with a stretching rope fastening base (22) of the track frame component (1), and the other end is connected with a stretching rope fastening base (21) of the rotating shaft (10); the stretching rope (13) is tightened and used for drawing the caterpillar track to connect the male plate (9) and the caterpillar track to connect the female plate (8);
the rotating shaft component (2) is used for realizing the following action processes:
when a universal ball at the bottom end of the rotating shaft (10) is pressed upwards, the rotating shaft (10) rotates and moves upwards in the rotating shaft sleeve (11), the stretching rope (13) connected with the stretching rope fastening seat (21) on the rotating shaft (10) is stressed to wind the rotating shaft (10), so that the crawler connecting male plate (9) and the crawler connecting female plate (8) at the other end of the stretching rope (13) are stressed and polymerized, the left crawler side plate (4) and the right crawler side plate (4) are driven to be polymerized to form an angle for adapting to a pipeline, and meanwhile, the stretching spring (26) is tensioned by polymerization; the rotating shaft (10) moves up so that the rotating shaft compression spring (16) is compressed; therefore, after the universal ball (12) is stressed and disappears, the rotating shaft (10) can reset due to the tension of the rotating shaft compression spring (16), the traction force of the extension spring (10) can reset the track connection male plate (9) and the track connection female plate (8), the angle of the track side plate (4) is restored to be normal, and the track is restored to be in a plane state;
the rotating shaft part (2) is provided with two groups which are respectively corresponding to the track connecting mother board (8) and the track connecting male board (9) and have the same front and back;
the track frame component (1) and the rotating shaft component (2) are combined into a whole in the following way: the rotary shaft sleeve (11) is fixed on the upper crawler belt cover (3) through screws, after a rotary shaft (10) penetrates through a rotary shaft travel slide way (28) of a slide way structure consisting of a crawler belt connection mother plate (8) and a crawler belt connection male plate (9), a rotary shaft compression spring (16) is sleeved on the rotary shaft (10), then the rotary shaft (10) penetrates through the rotary shaft sleeve (11), the top end of the rotary shaft (10) is fixed with a rotary shaft end cover (14) through an end cover bolt (15), one end of a tensile rope (13) is fixed on a tensile rope fastening base (22) of the crawler belt connection mother plate (8) and the crawler belt connection male plate (9), and one end of the tensile rope fastening base (21) is fixed on the rotary shaft (10) to form a unified whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911269157.3A CN110977922B (en) | 2019-12-11 | 2019-12-11 | An adaptive crawler device attached to the outer wall of the pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911269157.3A CN110977922B (en) | 2019-12-11 | 2019-12-11 | An adaptive crawler device attached to the outer wall of the pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110977922A true CN110977922A (en) | 2020-04-10 |
| CN110977922B CN110977922B (en) | 2020-08-25 |
Family
ID=70092419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911269157.3A Active CN110977922B (en) | 2019-12-11 | 2019-12-11 | An adaptive crawler device attached to the outer wall of the pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110977922B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | Modular mobile robot |
| CN106182036A (en) * | 2016-08-31 | 2016-12-07 | 广州映博智能科技有限公司 | A kind of desktop machine people |
| CN206911875U (en) * | 2017-07-12 | 2018-01-23 | 湖北工业大学 | A kind of adjustable pipeline cleaning robot of diameter |
| CN108562644A (en) * | 2018-04-27 | 2018-09-21 | 东北石油大学 | Storage tank tank deck plate intelligent detection device and its detection method |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
-
2019
- 2019-12-11 CN CN201911269157.3A patent/CN110977922B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | Modular mobile robot |
| CN106182036A (en) * | 2016-08-31 | 2016-12-07 | 广州映博智能科技有限公司 | A kind of desktop machine people |
| CN206911875U (en) * | 2017-07-12 | 2018-01-23 | 湖北工业大学 | A kind of adjustable pipeline cleaning robot of diameter |
| CN108562644A (en) * | 2018-04-27 | 2018-09-21 | 东北石油大学 | Storage tank tank deck plate intelligent detection device and its detection method |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110977922B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113586840B (en) | Pipeline robot capable of self-adapting pipe diameter and curve detection and grabbing | |
| CN105135151B (en) | A kind of crawler belt type pipeline robot adapted to active with adaptation function | |
| CN104475405B (en) | Wall climbing cleaning robot for container and pipeline | |
| CN107314191A (en) | A kind of pipe robot based on fluid and motor composite flooding | |
| CN110274124A (en) | A kind of reducing power driven pipeline cleaning machine people | |
| CN208595355U (en) | A kind of steering tapered pipeline robot | |
| CN107263525A (en) | A kind of variation rigidity rope driving joint available for ectoskeleton and walking robot | |
| CN104369178B (en) | A robot with flexible arms | |
| CN206230509U (en) | The crawler belt angle adaptive mechanism of pipe robot | |
| CN108393879A (en) | Robot and its articulated driving equipment | |
| CN110977922A (en) | An adaptive crawler device attached to the outer wall of the pipeline | |
| CN106828648A (en) | A kind of barrier-crossing wall-climbing robot | |
| CN110405732A (en) | Industrial software grabbing robot and grabbing method | |
| CN207189528U (en) | A kind of nut spanner | |
| CN206704338U (en) | A kind of walking chassis device of Pa Bi magnetic sucks robot | |
| CN105997430B (en) | A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly | |
| CN105947002A (en) | Sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces | |
| CN104495441A (en) | Adhesive tape roll installation mechanism of processing device for spraying masking films | |
| CN207327036U (en) | A kind of robot steering engine | |
| CN105752183A (en) | Robot | |
| CN205574090U (en) | A sucking disc crawler drive bionic device for seeking connections with smooth surface | |
| CN204387575U (en) | A kind of small diameter pipeline vehicle | |
| CN111038669B (en) | A submarine pipeline detection type underwater robot | |
| CN208902427U (en) | A kind of steering wheel operating device for motor road test | |
| CN105171716B (en) | A multi-joint search and rescue robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |