CN1159183C - Moving mechanism of robot in pipe with self position changing four caterpillar feet - Google Patents
Moving mechanism of robot in pipe with self position changing four caterpillar feet Download PDFInfo
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- CN1159183C CN1159183C CNB031291546A CN03129154A CN1159183C CN 1159183 C CN1159183 C CN 1159183C CN B031291546 A CNB031291546 A CN B031291546A CN 03129154 A CN03129154 A CN 03129154A CN 1159183 C CN1159183 C CN 1159183C
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- crawler belt
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Abstract
The present invention discloses a walking mechanism of an automatic displacement four crawler belt foot in-pipe robot, which comprises a body (1), a crawler belt foot (2), a transversal swinging mechanism (3) and pipe diameter detection devices (4). The present invention is characterized in that the crawler belt foot is composed of a crawler belt wheel, a crawler belt, crawler belt support frames, supporting shafts and a swinging arm, each crawler belt foot can automatically swing around the supporting shafts, the transversal swinging mechanism is composed of a traverse motor, a worm wheel, a worm, a transverse shaft, two pairs of meshed bevel gears, a swinging short shaft and a swinging shaft support frame, the pipe diameter detection devices are fixed on the crawler belt support frames which are arranged on an inner surface and an outer surface of a front crawler belt foot and a rear crawler belt foot which are arranged at one side of a machine body, and the pipe diameter detection device is composed of a detection rod and a sensor seat. Compared with the existing robot, the present invention has the advantages that the crawler belt feet use a structure that a supporting shaft which is arranged in a lowering way, the crawler belt feet can automatically swing up and down around a respective supporting shaft, the front crawler belt foot and the rear crawler belt foot of the machine body can respectively swing in a transverse way, contact positions of the crawler belt feet and pipe walls can be automatically regulated according to a pipe diameter of a pipeline (20), the robot can walk and turn around in a pipe diameter changing rectangle or a circular pipeline, and the robot can cross an interface of the rectangle and the circular pipeline. The present invention also has advantages of simple structure, large traction force and stable walking.
Description
Technical field
The present invention relates to the running gear of a kind of four track-foot vehicle or robot, particularly relate to a kind of autonomous modification four track-foot in-pipe robot traveling gear.
Background technology
In existing in-pipe robot traveling gear, wheeled, crawler type is two kinds of most widely used traveling geaies, wherein to have an adhesion value good for crawler type in-pipe robot traveling gear, the advantage that tractive force is big, as: the double-crawler type in-pipe robot traveling gear of Canadian INUKTUN company, crawler belt adopts rigid supporting structure, the angle of two crawler belts can be regulated, to adapt to different operation calibers, when two crawler belts are adjusted to parallel position, can in level land or rectangular duct, walk, but two crawler belt angles of the double-crawler type in-pipe robot traveling gear of this non-yielding prop can't change in the process of walking, so the operation occasion of incompatibility caliber variation; And for example: the double-crawler type in-pipe robot of Chinese patent ZL01227512.3 then adopts the crawler belt of wedge shape section, to increase the area of contact of crawler belt and wall, and can adjust piece by overall width and regulate the distance of both sides wedge shape crawler belt and change, but the occasion that same incompatibility operation caliber changes to adapt to caliber; Two crawler belt in-pipe robot traveling geaies of existing rigid supporting structure are difficult to cross over the obstacle that is higher than the Athey wheel diameter in addition, and when the circular arc pipeline turned to, crawler belt and tube wall contact condition were bad, and tractive force descends, and has the relatively poor shortcoming of alerting ability and comformability.For another example: Chinese patent ZL99116942.5, denomination of invention " autonomous modification four track-foot robot walking mechanism " adopts four track-foot to drive, four track-foot is parallel to each other in twos, along frame longitudinal axis symmetric arrangement, adopt drive wheel to hang down the structure of putting, but can not in the circular pipe that becomes caliber, walk, turn to the track adjusting wheel aiding support.
Summary of the invention
Technical matters to be solved by this invention provides a kind of traveling gear of autonomous modification four track-foot in-pipe robot, with defective such as the variation that overcomes variation that prior art is difficult to adapt in the process of walking the difformity pipeline, different tube diameters and crawler belt and tube wall contact condition be bad.
For solving the problems of the technologies described above the technical solution used in the present invention be: a kind of autonomous modification four track-foot in-pipe robot traveling gear, comprise body, crawler belt foot, teeter mechanism, caliber detecting device, it is characterized in that: described crawler belt foot is made up of Athey wheel, crawler belt, crawler belt support, bolster, swing arm, the crawler belt hanging sleeve is on Athey wheel and crawler belt support, the crawler belt foot is along body Y symmetric arrangement, each is a pair of in front and back, the swing arm lower end is hinged on the bolster, and each crawler belt can be done autonomous swing around bolster completely; Described teeter mechanism is totally two covers, be arranged in the front and back end of body, every suit is by the motor that traverses, turbine, worm screw, transverse axis, two pairs of meshed bevel gears, the swing minor axis, the balance staff support is formed, the motor that traverses is fixed on the body below, worm screw is fixed on the motor shaft end that traverses, turbine is fixed on the transverse axis middle part, two pairs of meshed bevel gears are symmetrically distributed along the body longitudinal axis, each is made up of two finishing bevel gear cuters that are separately fixed at transverse axis end and adjacent swing minor axis end finishing bevel gear cuter, four balance staff support symmetries are fixed on the frame both sides, and the swing arm upper end is fixed with the swing minor axis; Described caliber detecting device is fixed on the crawler belt support on the inside and outside two sides of crawler belt foot before and after the side of body, is made up of feeler lever and sensor holder.
Crawler tensioning is on two Athey wheels, and bolster is positioned on the axial connecting line of two Athey wheels or the axial connecting line below, constitutes equicrural triangle, and the axial connecting line of two Athey wheels is leg-of-mutton base, and the axle center of bolster is a vertex of a triangle.Each crawler belt can be made the pitch angle scope around bolster separately completely and be ± 90 ° autonomous swing on working direction.
Two pairs of swing arms that are positioned at front part of a body and rear portion drive the crawler belt foot and make outer pendulum or interior pendular motion respectively by a cover teeter mechanism individual drive that is positioned at front part of a body and rear portion, and the swing angular range of every pair of swing arm is between ± 90 °.
Sensor holder in the caliber detecting device is fixed on the crawler belt support, is positioned at the both sides of bolster axis hole, and the feeler lever kink is in sensor holder.
The invention has the beneficial effects as follows: this mechanism adopts along the four track-foot of body Y symmetric arrangement and drives, the crawler belt foot adopts the low interposed structure of bolster, each crawler belt can independently be faced upward the swing of bowing around bolster separately completely, crawler belt before and after the body can be done teeter around the swing minor axis of body both sides respectively completely, the contact position of automatically regulating crawler belt foot and tube wall, can in the circular pipe of rectangle or change caliber, walk, turn to, can cross over rectangle and circular pipe interface, improve the alerting ability and the comformability of in-pipe robot greatly.
Description of drawings
Fig. 1 represents the state of autonomous modification four track-foot in-pipe robot traveling gear in pipe;
Wherein: 1-body, 2-crawler belt foot, 3-teeter mechanism, 4-caliber detecting device, the 5-Athey wheel, 6-crawler belt, 7-crawler belt support, the 8-bolster, 9-swing arm, the 10-motor that traverses, the 11-turbine, 12-worm screw, 13-transverse axis, 14,15-finishing bevel gear cuter, 16-swings minor axis, 17-balance staff support, the 18-feeler lever, 19-sensor holder, 20-pipe;
Fig. 2 is the partial enlarged drawing of Fig. 1;
The feeler lever of caliber detecting device and wall contact condition when Fig. 3 represents different tube diameters;
Wherein: 18-feeler lever, 21,22, the pipe of 23-different tube diameters;
Fig. 4 represents the state of autonomous modification four track-foot in-pipe robot traveling gear in rectangular tube
Fig. 5 represents the transition condition between autonomous modification four track-foot in-pipe robot traveling gear rectangular tube and pipe;
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is explained in detail.
As shown in the figure, the present invention includes body 1, crawler belt foot 2, teeter mechanism 3, caliber detecting device 4, it is characterized in that: described crawler belt foot 2 is made up of Athey wheel 5, crawler belt 6, crawler belt support 7, bolster 8, swing arm 9, crawler belt 6 hanging sleeves are on Athey wheel 5 and crawler belt support 7, crawler belt foot 2 is along body 1 Y symmetric arrangement, each is a pair of in front and back, and swing arm 9 lower ends are hinged on the bolster 8, and each crawler belt can be around the autonomous swing of bolster do separately; Described teeter mechanism 3 is totally two covers, be arranged in the front and back end of body 1, every suit is by the motor 10 that traverses, turbine 11, worm screw 12, transverse axis 13, two pairs of meshed bevel gears 14,15, swing minor axis 16, balance staff support 17 is formed, the motor 10 that traverses is fixed on body 1 below, worm screw 12 is fixed on motor 10 axle heads that traverse, turbine 11 is fixed on transverse axis 13 middle parts, two pairs of meshed bevel gears (14,15) be symmetrically distributed along the body longitudinal axis, each is made up of two finishing bevel gear cuters that are separately fixed at body transverse axis end and adjacent swing minor axis end finishing bevel gear cuter, four balance staff support 17 symmetries are fixed on body 1 both sides, and swing arm 9 upper ends are fixed with swing minor axis 16; Described caliber detecting device 4 is fixed on the crawler belt support 7 on the inside and outside two sides of crawler belt foot, body 1 one sides front and back, is made up of feeler lever 18, sensor holder 19.
In Fig. 1, autonomous modification four track-foot in-pipe robot traveling gear is in pipe 20 time, the feeler lever 18 that is positioned at the caliber detecting device 4 of crawler belt foot 2 inside and outside both sides sends control signal according to the state of touching wall, teeter mechanism 3 drives swing arm 9 swings of body 1 both sides, when swing arm 9 swung to the radius upright position of the bottom surface of crawler belt 6 and pipe, the feeler lever 18 of crawler belt foot 2 two sides caliber detecting devices 4 was not all touched wall.
In conjunction with each figure of front, in Fig. 3, when the present invention when pipe 22 moves towards pipe 21, the pipe diameter diminishes, the feeler lever 18 of the caliber detecting device 4 in crawler belt foot 2 outsides will be touched the pipe wall, teeter mechanism 3 drives swing arms 9 and outwards put, and when swing arm 9 swung to wall upright position with pipe, the feeler lever 18 of the caliber detecting device 4 of both sides was not all touched wall inside and outside the crawler belt foot 2; When the present invention when pipe 22 moves towards pipe 23, when the pipe diameter becomes big, the feeler lever 18 of crawler belt foot 2 inboard detecting devices 4 will be touched the pipe wall, teeter mechanism 3 drives swing arm 9 and inwardly puts, when swing arm 9 swings and pipe wall upright position, the feeler lever 18 of the caliber detecting device 4 of crawler belt foot 2 inside and outside both sides is not all touched wall, and autonomous modification four track-foot in-pipe robot traveling gear realizes that the autonomous caliber that adapts to changes thus.
In conjunction with each figure of front, in Fig. 4, in the time of in rectangular tube, front and back swing arm 9 all swings to and rectangle tube wall upright position, the swing arm 9 of body 1 both sides is parallel to each other, and this moment, the evolution of autonomous modification four track-foot in-pipe robot traveling gear was the described form of patent of invention ZL99116942.5 " autonomous modification four track-foot robot walking mechanism ".
In Fig. 5, expression autonomous modification four track-foot in-pipe robot traveling gear is from the transition of rectangular duct to circular pipe, in conjunction with each figure of front, when the straight obstacle that sufficient 2 front portions of current crawler belt touch rectangular tube and circular pipe interface hinders, under the thrust of straight wall to the friction force of preceding crawler belt foot 2 and back crawler belt foot 2, the front end of preceding crawler belt foot 2 upwarps automatically, along upwards climbing of wall, the crawler belt foot 2 front end bottoms are in pipe before the support reaction of 9 pairs of crawler belts 6 of swing arm makes, the feeler lever 18 in the meanwhile preceding crawler belt foot outside will be touched the mouth of pipe of pipe, make teeter mechanism 3 drive swing arm 9 and outwards put the position vertical with the pipe wall, with after crawler belt foot 2 by the process same with preceding crawler belt foot 2, climbing enters pipe, and make swing arm 9 swing to the position vertical with the pipe wall, finish autonomous modification four track-foot in-pipe robot traveling gear from the transition of rectangular duct to circular pipe; Otherwise, can realize that also autonomous modification four track-foot in-pipe robot traveling gear is from the transition of circular pipe to rectangular duct.
Autonomous modification four track-foot in-pipe robot traveling gear of the present invention is walking like this, every crawler belt foot 2 individual drive, in the crawler belt foot in-pipe robot walking process, no matter which kind of incipient state the swing arm 9 of autonomous modification four track-foot in-pipe robot traveling gear is in, an in case the wherein side feeler lever 18 touching walls of crawler belt foot 2 inside and outside both sides caliber detecting devices 4, all will send control signal, teeter mechanism 3 drives both sides swing arm 9 thereupon and does corresponding outwards swing or inwardly swing, does not touch wall until the feeler lever 18 of both sides.In pipeline, can independently climb the straight wall type obstacle that is higher than the Athey wheel diameter, crawler belt 6 front ends are run into vertical walls, under the thrust of straight wall to the friction force of crawler belt 6 and back crawler belt foot 2, the head end of preceding crawler belt foot 2 upwarps, along climbing on the straight wall, the head end bottom of crawler belt foot 2 was to the tube wall face before the support reaction of crawler belt foot 2 made before 9 pairs of swing arms, meanwhile if the side feeler lever 18 in the caliber detecting device 4 on crawler belt foot 2 two sides touches wall, swinging gear 3 drives both sides swing arm 9 thereupon and does corresponding outwards swing or inwardly swing, then back crawler belt foot 2 begins to climb the wall obstacle detouring, crawler belt foot 2 has contacted closely with tube wall before this moment, can produce bigger tractive force, help back crawler belt foot 2 clear an obstacles.
The front and back teeter mechanism 3 separate controls of autonomous modification four track-foot in-pipe robot traveling gear of the present invention, so autonomous modification four track-foot in-pipe robot traveling gear also can be walked in taper pipe.
The present invention is particularly suitable for doing the interior cleaning of pipe, inspection, the spray robot walking carrier of central air-conditioning pipeline, cleaning shaft, delivery duct.
The present invention is not limited to above-mentioned embodiment, no matter on its shape and structure, doing, what changes, and every autonomous modification that utilizes, the traveling gear that utilizes teeter mechanism and caliber detecting device to realize all falls within the scope of protection of the present invention.
Claims (6)
1. autonomous modification four track-foot in-pipe robot traveling gear, comprise body (1), crawler belt foot (2), teeter mechanism (3), caliber detecting device (4), it is characterized in that: described crawler belt foot (2) is by Athey wheel (5), crawler belt (6), crawler belt support (7), bolster (8), swing arm (9) is formed, crawler belt (6) hanging sleeve is on Athey wheel (5) and crawler belt support (7), crawler belt foot (2) is along body (1) Y symmetric arrangement, each is a pair of in front and back, swing arm (9) lower end is hinged on the bolster (8), and each crawler belt foot (2) can be done independently swing around bolster (8); Described teeter mechanism (3) is totally two covers, be separately positioned on the front and back end of body 1, every suit is by the motor that traverses (10), turbine (11), worm screw (12), transverse axis (13), two pairs of meshed bevel gears (14,15), swing minor axis (16), balance staff support (17) is formed, the motor (10) that traverses is fixed on body (1) below, worm screw (12) is fixed on the motor that traverses (10) axle head, turbine (11) is fixed on transverse axis (13) middle part, two pairs of meshed bevel gears (14,15) be symmetrically distributed along the body longitudinal axis, each is made up of two finishing bevel gear cuters that are separately fixed at transverse axis end and adjacent swing minor axis end finishing bevel gear cuter, four balance staff supports (17) symmetry is fixed on body (1) both sides, and swing arm (9) upper end is fixed with swing minor axis (16); Described caliber detecting device (4) is fixed on the crawler belt support (7) on the inside and outside two sides of crawler belt foot, body (1) one side front and back, is made up of feeler lever (18) and sensor holder (19).
2. autonomous modification four track-foot in-pipe robot traveling gear according to claim 1 is characterized in that: crawler belt (6) is stretched on two Athey wheels (5), and bolster (8) is positioned on the axial connecting line of two Athey wheels (5).
3. autonomous modification four track-foot in-pipe robot traveling gear according to claim 1 is characterized in that: crawler belt (6) is stretched on two Athey wheels (5), and bolster (8) is positioned at the axial connecting line below of two Athey wheels (5), constitutes equicrural triangle.
4. autonomous modification four track-foot in-pipe robot traveling gear according to claim 1 is characterized in that: the scope that each crawler belt foot (2) is done the pitch angle motion around bolster (8) separately is ± 90 °.
5. autonomous modification four track-foot in-pipe robot traveling gear according to claim 1, it is characterized in that: the two pairs of swing arms (9) that are positioned at body (1) front and rear are respectively by teeter mechanism (3) individual drive that is positioned at body (1) front and rear, and the swing angular range of every pair of swing arm (9) is between ± 90 °.
6. autonomous modification four track-foot in-pipe robot traveling gear according to claim 1, it is characterized in that: the sensor holder (19) in the caliber detecting device (4) is fixed on the crawler belt support (7), be positioned at the both sides of bolster (8) axis hole, feeler lever (18) kink is in sensor holder (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031291546A CN1159183C (en) | 2003-06-09 | 2003-06-09 | Moving mechanism of robot in pipe with self position changing four caterpillar feet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031291546A CN1159183C (en) | 2003-06-09 | 2003-06-09 | Moving mechanism of robot in pipe with self position changing four caterpillar feet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1456467A CN1456467A (en) | 2003-11-19 |
| CN1159183C true CN1159183C (en) | 2004-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031291546A Expired - Fee Related CN1159183C (en) | 2003-06-09 | 2003-06-09 | Moving mechanism of robot in pipe with self position changing four caterpillar feet |
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| Country | Link |
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| CN (1) | CN1159183C (en) |
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| CN101219683B (en) * | 2008-01-25 | 2010-09-08 | 清华大学 | Dual-purpose mobile robot of wheel and foot |
| CN101446203B (en) * | 2007-11-28 | 2011-09-28 | 上海市电力公司电缆输配电公司 | Method for checking dangerous environment of urban electric network tunnel by robot |
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-
2003
- 2003-06-09 CN CNB031291546A patent/CN1159183C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101446203B (en) * | 2007-11-28 | 2011-09-28 | 上海市电力公司电缆输配电公司 | Method for checking dangerous environment of urban electric network tunnel by robot |
| CN101219683B (en) * | 2008-01-25 | 2010-09-08 | 清华大学 | Dual-purpose mobile robot of wheel and foot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1456467A (en) | 2003-11-19 |
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