CN114056453B - Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection - Google Patents
Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection Download PDFInfo
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- CN114056453B CN114056453B CN202111609285.5A CN202111609285A CN114056453B CN 114056453 B CN114056453 B CN 114056453B CN 202111609285 A CN202111609285 A CN 202111609285A CN 114056453 B CN114056453 B CN 114056453B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The crawler and leg double-motion-mode crawling robot for the underground pipe gallery inspection comprises a machine body and crawler devices which are oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels and crawler belts sleeved on the crawler wheels; the crawler wheels comprise driving crawler wheels and driven crawler wheels, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheels; the machine body is internally provided with a crawler belt moving mechanism connected with the driving crawler wheel, and the crawler belt moving mechanism is sleeved with a crawler belt rotating mechanism; compared with the prior art, the double-working mode is adopted, the crawler-type mechanism is used in daily working environment, good movement performance and certain obstacle surmounting capacity are guaranteed, and when special conditions are met, the leg-type mechanism is used, so that good obstacle surmounting capacity is provided, and environmental adaptability and emergency capacity are guaranteed.
Description
Technical Field
The invention relates to the field of crawling robots, in particular to a crawler and leg dual-motion mode crawling robot for underground pipe gallery inspection.
Background
The underground comprehensive pipe rack is an underground tunnel which is different from a subway and is used for serving public daily commute, and the middle of the pipe rack is covered with a pipeline which is buried underground in a separated mode, such as cables, optical cables, domestic water, production wastewater, natural gas supply and the like. Various pipelines in the underground comprehensive corridor are complicated, and possibly have dangerous situations such as leakage, electric shock, explosion and the like, so that the urban aorta is required to be detected and monitored in time in order to ensure the transportation safety of the urban aorta.
In the existing domestic and foreign inspection modes, the underground pipe gallery inspection modes are generally divided into manual inspection, wheeled robot inspection, crawler-type robot inspection and track-type robot inspection, and the inspection modes have certain defects.
The manual inspection requires paying more labor cost, and the life safety of inspection personnel cannot be ensured when conditions such as gas leakage and the like occur. The wheel mechanism structure of the wheel robot is fixed, the movement range is limited, the inspection range is smaller, and the environmental adaptability is poor. The crawler robot has poor movement efficiency due to the polygonal effect of the crawler mechanism. Orbital robots are limited by the orbit and may lose their ability to work in the event of a pipe bend break.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the crawler and leg double-motion-mode crawling robot which is safe and reliable, good in obstacle crossing capability and good in emergency capability and can be used for underground pipe gallery inspection.
In order to achieve the above object, the present invention adopts the following technical scheme: the crawler and leg double-motion-mode crawling robot for the underground pipe gallery inspection comprises a machine body and crawler devices which are oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels and crawler belts sleeved on the crawler wheels; the crawler belt is characterized in that the crawler belt wheel comprises a driving crawler belt wheel and a driven crawler belt wheel, crawling support legs are arranged on the outer sides of the crawler belt devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler belt wheel; the machine body is internally provided with a crawler belt moving mechanism connected with the driving crawler wheel, and the crawler belt moving mechanism is sleeved with a crawler belt rotating mechanism; the passive crawler wheel is internally provided with a supporting leg movement locking mechanism connected with the crawling supporting leg; the inner side and the outer side of the crawler device are respectively provided with a near-end crawler connecting plate and an outer-end crawler connecting plate, a crawler rotating mechanism and the near-end crawler connecting plate, and the near-end crawler belt connecting plate is connected with all the driving crawler wheels and all the driven crawler wheels, and the landing leg movement locking mechanism is provided with a positioning pin which is clamped with the outer-end crawler belt connecting plate.
As a preferable mode of the invention, the machine body comprises an upper supporting plate and a lower supporting plate which are connected at the end parts, and the crawler moving mechanism and the crawler rotating mechanism are respectively fixedly arranged on the upper supporting plate and the lower supporting plate.
As a preferable scheme of the invention, the crawler belt moving mechanism comprises a first direct current motor and an inner shaft which are connected, the inner shaft is connected to the middle part of the driving crawler wheel, the inner shaft and the driving crawler wheel synchronously rotate, and a first speed reducer and a first coupler which are connected are arranged between the inner shaft and the first direct current motor.
As a preferable scheme of the invention, the crawler belt rotating mechanism comprises a second direct current motor and an outer shaft which are connected, the outer shaft is sleeved outside the inner shaft, the inner shaft and the outer shaft are concentrically arranged, a flange plate connected with a near-end crawler belt connecting plate is arranged on the outer shaft, and a second speed reducer and a second coupling which are connected are arranged between the second direct current motor and the outer shaft.
As a preferable scheme of the invention, a bevel gear and a bevel gear shaft are arranged between the second coupler and the outer shaft, the bevel gear is sleeved on the outer shaft, the bevel gear and the outer shaft synchronously rotate, and the bevel gear shaft is connected with the second coupler.
As a preferable scheme of the invention, the landing leg movement locking mechanism comprises a third direct current motor, a screw rod, a nut, a connecting piece, a pushing piece and a telescopic rod, wherein a third coupler connected between the third direct current motor and the screw rod is arranged, the nut is connected to the screw rod in a threaded manner, and the connecting piece and the pushing piece are respectively connected to the inner side and the outer side of the nut.
As a preferable scheme of the invention, the screw rod and the nut form a screw rod sliding block structure, the nut drives the connecting piece and the pushing piece to move along the length direction of the screw rod, a connecting frame connected with the driven crawler wheel is arranged in the connecting piece, the connecting frame plays a guiding role on the connecting piece, the outer wall of the nut abuts against the inner wall of the connecting frame, and a clamping groove matched with the connecting piece is formed on the driven crawler wheel.
As a preferable scheme of the invention, two ends of the telescopic rod are respectively positioned on the moving paths of the pushing piece and the positioning pin, the two ends of the telescopic rod are of a sphere structure, the positioning pin and the telescopic rod are respectively sleeved with a reset spring, and the end part of the positioning pin is also provided with a sphere structure matched with the end part of the telescopic rod.
As a preferable scheme of the invention, the crawling landing leg comprises an inner cylinder and an outer cylinder sleeved outside the inner cylinder, the inner cylinder is connected with the landing leg movement locking mechanism, a linear bearing is arranged between the inner cylinder and the outer cylinder, a damping spring is sleeved outside the inner cylinder, a rubber seat is arranged at the end part of the outer cylinder, and a rubber pad is arranged on the rubber seat.
As a preferable scheme of the crawler belt device, the crawler belt device comprises a driving crawler wheel and at least two driven crawler wheels, and the driven crawler wheels are provided with leg movement locking mechanisms and crawling legs which are connected.
Compared with the prior art, the invention has the beneficial effects that:
1. the double-working mode is adopted, a crawler-type mechanism is used in a daily working environment, so that good movement performance and certain obstacle surmounting capability are guaranteed, and when special conditions are met, a leg-type mechanism is used, so that good obstacle surmounting capability is provided, and environmental adaptability and emergency capability are guaranteed;
2. the leg is fixedly arranged on the crawler device in the storage state, normal use of the crawler device is not affected, the leg is rotated and unfolded in the use state, and the leg is driven to move and swing by the leg movement locking mechanism;
3. the symmetrical structure and the four-foot support are used, so that the structural stability can be kept in the movement process, and the information acquisition is more accurate;
4. in the information acquisition process, a double-work mode can be flexibly used, and the activity space of the robot is expanded, so that the information acquisition is more comprehensive;
5. when the crawler belt device lifts, spans and the like, the rotation angle and the freedom degree of the crawler belt device are large, and the crawler belt device is not easy to topple;
6. the adopted bidirectional inner and outer cylinder damping modules are used for buffering and damping, so that the service lives of parts are prolonged, and meanwhile, response is delayed, and collision is avoided.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a sectional view of the installation of the track movement mechanism and track rotation mechanism;
FIG. 3 is a cross-sectional view of the leg movement locking mechanism and the crawling leg;
FIG. 4 is a system block diagram of the present invention;
reference numerals: the lower support plate 1, the upper support plate 2, the first direct current motor 3, the first speed reducer 4, the first coupler 5, the inner shaft 6, the track wheel 7, the track 8, the second direct current motor 9, the second speed reducer 10, the second coupler 11, the bevel gear shaft 12, the bevel gear 13, the outer shaft 14, the flange 15, the proximal track connection plate 16, the third direct current motor 17, the third coupler 18, the screw 19, the connection frame 20, the connection piece 21, the nut 22, the pushing piece 23, the telescopic rod 24, the outer track connection plate 25, the return spring 26, the positioning pin 27, the inner cylinder 28, the linear bearing 29, the outer cylinder 30, the damping spring 31, the rubber seat 32 and the rubber pad 33.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
1-4, the crawler and leg double-motion-mode crawling robot for the underground pipe gallery inspection comprises a machine body and crawler devices which are oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels 7 and crawler belts 8 sleeved on the crawler wheels 7; the crawler wheel 7 comprises a driving crawler wheel and a driven crawler wheel, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheel; the machine body is internally provided with a crawler belt moving mechanism connected with the driving crawler wheel, and the crawler belt moving mechanism is sleeved with a crawler belt rotating mechanism; the passive crawler wheel is internally provided with a supporting leg movement locking mechanism connected with the crawling supporting leg; the inner side and the outer side of the crawler device are respectively provided with a near-end crawler connection plate 16 and an outer-end crawler connection plate 25, a crawler rotating mechanism is connected with the near-end crawler connection plate 16, the near-end crawler connection plate 16 is connected with all driving crawler wheels and all driven crawler wheels, and a positioning pin 27 which is clamped with the outer-end crawler connection plate 25 is formed on the supporting leg movement locking mechanism.
The driving crawler wheel is meshed with the crawler belt 8, the crawler belt 8 is driven to drive in the rotation process of the driving crawler wheel, the driven crawler wheel is meshed with the crawler belt 8, and the driven crawler wheel is driven to synchronously rotate in the transmission process of the crawler belt 8.
The machine body is also internally provided with a control system, the control system is connected with the crawler movement mechanism, the crawler rotation mechanism and the supporting leg movement locking mechanism through wires, the control system comprises plc and a communication module, the communication module can be connected with an external computer or a mobile phone, and the crawler movement mechanism, the crawler rotation mechanism and the supporting leg movement locking mechanism can be driven to move under the action of the control system.
The proximal crawler connection plate 16 and the outer crawler connection plate 25 enclose a basic structure of the crawler device, the crawler 8 is meshed with the driving crawler wheel, and the transmission of the crawler 8 is driven in the process of the driving crawler wheel, so that the rotation of the driven crawler wheel is synchronously driven, and the proximal crawler connection plate 16 and the outer crawler connection plate 25 are used for supporting all the driving crawler wheel and the driven crawler wheel.
The camera connected with the control system is arranged on the machine body, so that the camera is used for capturing images in the underground pipe gallery in the moving process of the machine body, and the images are transmitted into the computer or the mobile phone through the communication module.
The machine body comprises an upper supporting plate 2 and a lower supporting plate 1, the end parts of which are connected, and the crawler moving mechanism and the crawler rotating mechanism are respectively and fixedly arranged on the upper supporting plate 2 and the lower supporting plate 1, so that the stress in the machine body is uniform, and the crawler moving mechanism and the crawler rotating mechanism are convenient to install and position.
The crawler belt moving mechanism comprises a first direct current motor 3 and an inner shaft 6 which are connected, the inner shaft 6 is connected to the middle of a driving crawler wheel, the inner shaft 6 and the driving crawler wheel synchronously rotate, and a first speed reducer 4 and a first coupler 5 which are connected are arranged between the inner shaft 6 and the first direct current motor 3.
The first direct current motor 3 drives the inner shaft 6 to rotate through the first speed reducer 4 and the first coupler 5, and the inner shaft 6 is connected with the driving crawler wheel through a key and a key groove, so that the inner shaft 6 and the driving crawler wheel synchronously rotate, the driving crawler wheel is driven to rotate under the action of the first direct current motor 3, the crawler belt 8 is driven to drive, and the whole machine body moves in the transmission process of the crawler belt 8.
The crawler belt rotating mechanism comprises a second direct current motor 9 and an outer shaft 14 which are connected, the outer shaft 14 is sleeved outside the inner shaft 6, the inner shaft and the outer shaft 14 are concentrically arranged with the inner shaft 6, a flange 15 connected with a near-end crawler belt connecting plate 16 is arranged on the outer shaft 14, and a second speed reducer 10 and a second coupling 11 which are connected are arranged between the second direct current motor 9 and the outer shaft 14.
The bearing is arranged between the inner shaft 6 and the outer shaft 14, so that the inner shaft 6 and the outer shaft 14 are not interfered with each other in the rotation process, the outer shaft 14 is connected with the near-end crawler connecting plate 16 through the flange 15, and the whole rotation of the crawler is realized under the action of the outer shaft 14, so that the angle between the crawler and the machine body is adjusted, and the obstacle passing operation of the crawler is facilitated.
The bevel gear 13 and the bevel gear shaft 14 are arranged between the second coupler 11 and the outer shaft 14, the bevel gear 13 is sleeved on the outer shaft 14, the bevel gear 13 and the outer shaft 14 synchronously rotate, the bevel gear shaft 14 is connected with the second coupler 11, the bevel gear 13 and the bevel gear shaft 14 form bevel gear meshing transmission, and the output position of the second direct current motor 9 can be offset, so that the requirement that the outer shaft 14 is sleeved on the inner shaft 6 is met.
The bevel gear 13 is meshed with the bevel gear shaft 14, and the bevel gear 13 and the outer shaft 14 synchronously rotate in a key and key groove mode.
The supporting leg movement locking mechanism comprises a third direct current motor 17, a screw rod 19, a nut 22, a connecting piece 21, a pushing piece 23 and a telescopic rod 24, wherein a third coupler 18 connected between the third direct current motor 17 and the screw rod 19 is arranged, the nut 22 is connected to the screw rod 19 in a threaded manner, and the connecting piece 21 and the pushing piece 23 are respectively connected to the inner side and the outer side of the nut 22.
The screw rod 19 and the nut 22 form a screw rod sliding block structure, the nut 22 drives the connecting piece 21 and the pushing piece 23 to move along the length direction of the screw rod 19, the connecting piece 21 is internally provided with the connecting frame 20 connected with the driven crawler wheel, the connecting frame 20 plays a guiding role on the connecting piece 21, the outer wall of the nut 22 abuts against the inner wall of the connecting frame 20, and the driven crawler wheel is provided with a clamping groove matched with the connecting piece 21.
The telescopic link 24 both ends are located the travel path of impeller 23 and locating pin 27 respectively, and telescopic link 24 both ends are the sphere structure, have all cup jointed reset spring 26 on locating pin 27 and the telescopic link 24, and locating pin 27 tip also is formed with the sphere structure with telescopic link 24 tip looks adaptation, is formed with the spacing ring that offsets with reset spring 26 on locating pin 27 and the telescopic link 24.
The third direct current motor 17 is connected with the screw rod 19 through the third coupling 18, and in the rotation process of the screw rod 19, the telescopic movement of the nut 22 is driven, the connecting piece 21 and the pushing piece 23 are fixedly connected to the nut 22, the connecting piece 21 and the nut 22 are fixedly connected through screws, the pushing piece 23 and the nut 22 are fixedly connected through bolts, the end part of the pushing piece 23 forms a bending structure, and the end part of the pushing piece 23 forms an inclined plane.
In the telescopic movement process of the connecting piece 21 and the pushing piece 23, the outer wall of the connecting frame 20 is always propped against the inner movable crawler wheel, so that the guiding effect on the connecting piece 21 is achieved, the connecting piece 21 has better stability in the movement process, when the connecting piece 21 moves into the clamping groove, the rotation of the driven crawler wheel is driven under the transmission effect of the crawler 8, and the rotation of the driven crawler wheel drives the synchronous rotation of the connecting piece 20, so that the crawling support leg is driven to rotate around the screw 19.
The leg movement locking mechanism is connected with the driven crawler wheel through the connecting piece 21, so that the leg movement locking mechanism is driven to rotate in the rotation process of the driven crawler wheel, and after the connecting piece 21 moves into the clamping groove, the driven crawler wheel is driven to repeatedly drive through the repeated rotation of the crawler 8, so that the crawling leg on the leg movement locking mechanism can swing through the rotation of the connecting frame 20.
When the crawling support leg is in a retracted state, the positioning pin 27 is inserted into the outer end crawler connecting plate 25, and the support leg movement locking mechanism is connected with the outer end crawler connecting plate 25, so that the support leg movement locking mechanism is fixedly connected with the crawler device, and the crawling support leg does not influence movement of the crawler device.
At this time, the bending part of the pushing piece 23 abuts against the telescopic rod 24, the return spring 26 on the telescopic rod 24 is in a contracted state, the telescopic rod 24 is located on the moving path of the locating pin 27, so that the locating pin 27 is pressed under the action of the telescopic rod 24, the locating pin 27 is inserted into the outer end track connecting plate 25, and the return spring 26 on the locating pin 27 is also in a contracted state.
When the crawling leg is in a use state, the positioning pin 27 is separated from the outer end crawler connecting plate 25, the leg movement locking mechanism is only connected with the driven crawler wheel, and the driven crawler wheel is driven to repeatedly rotate through repeated rotation of the crawler 8, so that the crawling leg on the leg movement locking mechanism swings through rotation of the connecting frame 20, and the leg movement locking mechanism rotates to a use position.
At this time, the connecting piece 21 is clamped with the driven crawler wheel, the pushing piece 23 and the connecting piece 21 synchronously move, so that the pushing piece 23 abuts against the top of the telescopic rod 24, the telescopic rod 24 rebounds under the action of the return spring 26, the telescopic rod 24 is not contacted with the locating pin 27, the locating pin 27 rebounds under the action of the return spring 26, and the locating pin 27 is separated from the outer crawler connecting plate 25.
The crawling support leg comprises an inner barrel 28 and an outer barrel 30 sleeved outside the inner barrel 28, the inner barrel 28 is connected with a support leg movement locking mechanism, a linear bearing 29 is arranged between the inner barrel 28 and the outer barrel 30, a damping spring 31 is sleeved outside the inner barrel 28, a rubber seat 32 is arranged at the end part of the outer barrel 30, and a rubber pad 33 is arranged on the rubber seat 32.
The inner cylinder 28 is connected with the supporting leg movement locking mechanism through bolts, so that the inner cylinder 28 is synchronously driven to rotate or swing in the rotating or swinging process of the supporting leg movement locking mechanism, the inner cylinder 28 and the outer cylinder 30 cannot be separated under the action of the linear bearing 29, relative sliding can be generated between the inner cylinder 28 and the outer cylinder 30, the damping spring 31 is used for damping movement between the inner cylinder 28 and the outer cylinder 30, the rubber pad 33 is used for being in contact with the surface of an underground pipe gallery, and the contact area between the surface of the underground pipe gallery and the crawling supporting leg is increased.
The crawler device comprises a driving crawler wheel and a driven crawler wheel, the driven crawler wheels are respectively provided with a supporting leg movement locking mechanism and a crawling supporting leg which are connected, and preferably, the crawler device comprises a driving crawler wheel and a driven crawler wheel, so that 4 crawler devices are arranged on the whole machine body, respectively correspond to the 4 driving crawler wheels and the 4 crawling supporting legs, the 4 crawler devices are independently controlled, the flexibility is better, and the 4 crawling supporting legs support the machine body and have better stability.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more herein: the lower support plate 1, the upper support plate 2, the first direct current motor 3, the first decelerator 4, the first coupler 5, the inner shaft 6, the crawler wheel 7, the crawler belt 8, the second direct current motor 9, the second decelerator 10, the second coupler 11, the helical gear shaft 12, the helical gear 13, the outer shaft 14, the flange plate 15, the proximal crawler belt connection plate 16, the third direct current motor 17, the third coupler 18, the screw 19, the connection frame 20, the connection member 21, the nut 22, the pushing member 23, the telescopic rod 24, the outer crawler belt connection plate 25, the return spring 26, the positioning pin 27, the inner cylinder 28, the linear bearing 29, the outer cylinder 30, the damper spring 31, the rubber seat 32, the rubber pad 33, and the like, but the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (8)
1. The crawler and leg double-motion-mode crawling robot for the underground pipe gallery inspection comprises a machine body and crawler devices which are oppositely arranged on two sides of the machine body, wherein each crawler device consists of a plurality of crawler wheels (7) and crawler belts (8) sleeved on the crawler wheels (7); the crawler wheel (7) comprises a driving crawler wheel and a driven crawler wheel, crawling support legs are arranged on the outer sides of the crawler devices which are oppositely arranged, and the crawling support legs are connected to the driven crawler wheel; the machine body is internally provided with a crawler belt moving mechanism connected with the driving crawler wheel, and the crawler belt moving mechanism is sleeved with a crawler belt rotating mechanism; the passive crawler wheel is internally provided with a supporting leg movement locking mechanism connected with the crawling supporting leg; a near-end crawler belt connecting plate (16) and an outer-end crawler belt connecting plate (25) are respectively formed on the inner side and the outer side of the crawler belt device, a crawler belt rotating mechanism is connected with the near-end crawler belt connecting plate (16), the near-end crawler belt connecting plate (16) is connected with all driving crawler wheels and all driven crawler wheels, and a positioning pin (27) which is clamped with the outer-end crawler belt connecting plate (25) is formed on the supporting leg movement locking mechanism; the crawler belt moving mechanism comprises a first direct current motor (3) and an inner shaft (6) which are connected, the inner shaft (6) is connected to the middle part of a driving crawler wheel, the inner shaft (6) and the driving crawler wheel synchronously rotate, and a first speed reducer (4) and a first coupler (5) which are connected are arranged between the inner shaft (6) and the first direct current motor (3); the crawler belt rotating mechanism comprises a second direct current motor (9) and an outer shaft (14) which are connected, the outer shaft (14) is sleeved outside the inner shaft (6), the inner shaft (14) and the outer shaft (6) are concentrically arranged, a flange plate (15) connected with a near-end crawler belt connecting plate (16) is arranged on the outer shaft (14), and a second speed reducer (10) and a second coupler (11) which are connected are arranged between the second direct current motor (9) and the outer shaft (14).
2. The crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection according to claim 1, wherein the machine body comprises an upper supporting plate (2) and a lower supporting plate (1) which are connected at the end parts, and the crawler motion mechanism and the crawler rotation mechanism are respectively fixedly arranged on the upper supporting plate (2) and the lower supporting plate (1).
3. The crawler and leg double-motion-mode crawling robot for underground pipe gallery inspection according to claim 1, wherein a bevel gear (13) and a bevel gear shaft (12) are arranged between the second coupler (11) and the outer shaft (14), the bevel gear (13) is sleeved on the outer shaft (14), the bevel gear (13) and the outer shaft (14) synchronously rotate, and the bevel gear shaft (12) is connected with the second coupler (11).
4. The crawler and leg dual-motion-mode crawling robot for underground pipe gallery inspection according to claim 1, wherein the leg motion locking mechanism comprises a third direct current motor (17), a screw (19), a nut (22), a connecting piece (21), a pushing piece (23) and a telescopic rod (24), a third coupling (18) connected between the third direct current motor (17) and the screw (19) is arranged, the nut (22) is in threaded connection with the screw (19), and the connecting piece (21) and the pushing piece (23) are respectively connected to the inner side and the outer side of the nut (22).
5. The crawler and leg dual-motion-mode crawling robot for underground pipe gallery inspection according to claim 4, wherein the screw rod (19) and the nut (22) form a screw rod sliding block structure, the nut (22) drives the connecting piece (21) and the pushing piece (23) to move along the length direction of the screw rod (19), a connecting frame (20) connected with a driven crawler wheel is arranged in the connecting piece (21), the connecting frame (20) plays a guiding role on the connecting piece (21), the outer wall of the nut (22) abuts against the inner wall of the connecting frame (20), and a clamping groove matched with the connecting piece (21) is formed on the driven crawler wheel.
6. The crawler and leg dual-motion-mode crawling robot for underground pipe gallery inspection according to claim 5, wherein two ends of the telescopic rod (24) are respectively located on the moving paths of the pushing piece (23) and the locating pin (27), the two ends of the telescopic rod (24) are of a spherical structure, the locating pin (27) and the telescopic rod (24) are sleeved with a reset spring (26), and the end part of the locating pin (27) is also provided with a spherical structure matched with the end part of the telescopic rod (24).
7. The crawler and leg dual-motion-mode crawling robot for underground pipe gallery inspection according to claim 1, wherein the crawling support leg comprises an inner barrel (28) and an outer barrel (30) sleeved outside the inner barrel (28), the inner barrel (28) is connected with a support leg motion locking mechanism, a linear bearing (29) is arranged between the inner barrel (28) and the outer barrel (30), a damping spring (31) is sleeved outside the inner barrel (28), a rubber seat (32) is arranged at the end part of the outer barrel (30), and a rubber pad (33) is arranged on the rubber seat (32).
8. The dual motion mode crawling robot for a track and leg for an underground pipe gallery inspection of claim 1, wherein the crawler comprises a driving crawler wheel and a driven crawler wheel, and the driven crawler wheel is provided with a leg motion locking mechanism and crawling legs which are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111609285.5A CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111609285.5A CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
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| Publication Number | Publication Date |
|---|---|
| CN114056453A CN114056453A (en) | 2022-02-18 |
| CN114056453B true CN114056453B (en) | 2023-06-30 |
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| CN202111609285.5A Active CN114056453B (en) | 2021-12-27 | 2021-12-27 | Crawler belt and leg double-movement-mode crawling robot for underground pipe gallery inspection |
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| JP4150536B2 (en) * | 2002-06-17 | 2008-09-17 | 俊仁 岡本 | Building demolition machine moving equipment |
| CN100354171C (en) * | 2004-06-30 | 2007-12-12 | 中国科学院沈阳自动化研究所 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
| CN101716961B (en) * | 2009-11-06 | 2011-06-22 | 北京理工大学 | Track-leg combined ground robot |
| CN106004281B (en) * | 2016-05-24 | 2018-01-12 | 西北工业大学 | A kind of amphibious multi-locomotion mode robot |
| CN111376227B (en) * | 2018-12-29 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Pipe gallery inspection robot moving mechanism |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
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