WALKING ROBOT IN PIPELINE

WIPO Patent Application WO/2023/226806

A1

A walking robot in a pipeline, relating to the field of machinery and comprising a machine body (1), a driving device (2), walking assemblies (3), and an adjustment assembly (4). Side frames (5) are fixedly connected to left and right sides of the machine body (1), and three walking assemblies (3) are provided on each side frame (5); and compared with common spring passive change of an opening angle, the opening degree of the walking assemblies (3) is adjusted by means of the adjustment assembly (4), such that the opening degree can be controlled more accurately so as to adapt to walking work in different pipeline diameters. A pressure sensor (435) is provided in each supporting rod (43), such that pressure data between walking wheels and a pipeline wall can be indirectly obtained, and the objective of closed-loop control of an adjustment motor is achieved by using the pressure data; in the aspect of driving, worms (22) are used to synchronously drive worm gears (33) to rotate, and driving force is transmitted to the walking wheels, such that walking in the pipeline is achieved, and operation is more synchronous compared with using a plurality of actuators; and by using a self-locking principle of the worm gears and the worms, the robot can stably stay at a certain position in the pipeline and then operates.

YANG YU (CN)
ZHENG HAO (CN)
YANG JUNJIE (CN)
SHI YUNBO (CN)
CHEN YAO (CN)

PCT/CN2023/094152

November 30, 2023

May 15, 2023

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ANHUI INST INFORMATION TECH (CN)

F16L55/32

CN114776933A	2022-07-22
CN109253342A	2019-01-22
CN111365563A	2020-07-03
CN205824485U	2016-12-21
CN108480333A	2018-09-04
CN204328337U	2015-05-13
US20140020499A1	2014-01-23

WUHU SICHENG INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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