The invention discloses a pipeline inspection robot and a robot control method.The pipeline inspection robot comprises a robot body and a plurality of crawling mechanisms arranged on the periphery of the robot body, each crawling mechanism comprises a rotating arm, a driving assembly and a crawler crawling assembly, the rotating arms are rotationally connected with the robot body, and the driving assemblies are used for driving the rotating arms to rotate; the track crawling assembly comprises a transmission shaft, a first driving part, a track arm, an elastic part, a driving track wheel, a driven track wheel and a synchronous track, the transmission shaft is rotationally arranged on the rotating arm, the first driving part is used for driving the transmission shaft to rotate, the track arm is rotationally arranged on the transmission shaft, the elastic part is connected with the track arm, and the driving track wheel is connected with the transmission shaft; the driven crawler wheels are rotationally connected with the crawler arms, and the synchronous crawler is wound around the driving crawler wheels and the driven crawler wheels. When the driving assembly drives the crawler crawling assembly to adapt to pipelines with different inner diameters through the rotating arm, the rotating arm overcomes the elastic piece to rotate in a self-adaptive mode, and the synchronous crawler is pressed on the inner wall of the pipeline.
本发明公开一种管道巡检机器人及机器人控制方法,包括机身主体以及设置于其四周的多个爬行机构,其中,爬行机构包括转动臂、驱动组件与履带爬行组件,其中,转动臂与机身主体转动连接,驱动组件用于驱动转动臂转动;履带爬行组件包括传动轴、第一驱动件、履带臂、弹性件、主动履带轮、从动履带轮与同步履带,其中,传动轴转动设置于转动臂,第一驱动件用于驱动传动轴转动,履带臂转动设置于传动轴,弹性件与履带臂相连接,主动履带轮与传动轴相连接,从动履带轮与履带臂转动连接,同步履带绕设于主动履带轮与从动履带轮。驱动组件通过转动臂驱动履带爬行组件适配不同内径的管道时,转动臂克服弹性件以自适应转动,同步履带压合于管道的内壁。
Pipeline inspection robot and robot control method
一种管道巡检机器人及机器人控制方法
2024-11-05
Patent
Electronic Resource
Chinese