阅读说明：本技术 一种用于天然气管道的防爆行走机器人 (A kind of explosion-proof walking robot for natural gas line ) 是由 桑勇 孙鹏 赵健龙 段富海 于 2019-08-31 设计创作，主要内容包括：一种用于天然气管道的防爆行走机器人,属于机器人技术领域。所述的防爆行走机器人包括底盘、摆动气缸、传动系统、传动控制系统、车轮系统和支撑系统。所述的四个车轮系统通过传动系统和传动控制系统安装在摆动气缸上；本发明通过传动控制系统控制传动齿轮A的啮合位置实现机器人的前进与后退。本发明通过设计双摆动气缸、双向棘轮机构协同工作,可实现天然气管道的防爆行走机器人的可靠连续运行,并且具有工作过程中稳定可靠、控制简单、易于操作的优点。(A kind of explosion-proof walking robot for natural gas line, belongs to robotic technology field.The explosion-proof walking robot includes chassis, oscillating cylinder, transmission system, driving control system, wheel system and support system.Four wheel systems are mounted on oscillating cylinder by transmission system and driving control system；The present invention realizes the advance and retrogressing of robot by the position of engagement that driving control system controls transmission gear A.The present invention by designing double oscillating cylinders, bidirectional ratchet mechanism cooperates, it can be achieved that the explosion-proof walking robot of natural gas line reliable continuous operation, and have the advantages that in the course of work it is reliable and stable, control it is simple, easily operated.)

1. a kind of explosion-proof walking robot for natural gas line, which is characterized in that the explosion-proof walking robot includes Chassis (1), oscillating cylinder (2), transmission system, driving control system, wheel system and support system；

The chassis (1) is square plate structure, and quadrangle is opened there are four through-hole；

There are two the oscillating cylinder (2) is total, front and back is mounted on chassis (1) upper surface side by side, and each oscillating cylinder (2) has two A output shaft (3), the axial direction of output shaft (3) are vertical with the direction of advance of robot, parallel with chassis (1)；

The transmission system shares four groups, and each rotation system is mounted on the output shaft (3) of oscillating cylinder (2)；Described Transmission system includes ratchet shell A (4), ratchet shell B (5), cylindrical shaft A (6), cylindrical shaft B (7), click A (8), ratchet Pawl B (9), ratchet spring A (10), ratchet spring B (11), transmission gear A (12) and transmission gear B (13)；The ratchet Shell A (4) is variable diameter cylindrical structure, and the reduced diameter section interior diameter of ratchet shell A (4) is identical as output shaft (3) diameter, outside ratchet Boss is provided at the enlarged diameter section end of shell A (4), ratchet shell A (4) is sleeved on output shaft (3), ratchet shell A (4) with It is clearance fit between output shaft (3), ratchet shell A (4) can be moved freely on output shaft (3)；The ratchet shell B It (5) is variable diameter cylindrical structure, the reduced diameter section interior diameter of ratchet shell B (5) is identical as output shaft (3) diameter, ratchet shell B (5) boss is provided at enlarged diameter section end；The fixed peace of (5) two boss of ratchet shell A (4) and ratchet shell B Dress, coaxially, the end of output shaft (3) is located in ratchet shell B (5) enlarged diameter section by ratchet shell A (4) and ratchet shell B (5) Portion is clearance fit between ratchet shell B (5) and output shaft (3), and ratchet shell B (5) can be moved freely on output shaft (3), Two boss are mounted in the groove of control sleeve (14), are clearance fit, ratchet shell A between boss and control sleeve (14) (4) it can be freely rotated in groove with ratchet shell B (5)；The transmission gear A (12) is fixedly mounted on output shaft (3) On, transmission gear A (12) is located in the space of (5) two enlarged diameter sections of ratchet shell A (4) and ratchet shell B formation；Described Click A (8) is mounted on inner surface at ratchet shell A (4) variable diameters by cylindrical shaft A (6), and click A (8) can be with Cylindrical shaft A (6) is freely rotated for axis；Described ratchet spring A (10) both ends be separately mounted to ratchet shell A (4) inner surface and On click A (8), for limiting the spatial position of (8) click A；Click A (8) installation site and biography The tooth slot position of moving gear A (12) is corresponding, i.e. when transmission gear A (12) moves to ratchet shell A (4) side, click A (8) in the tooth socket of transmission gear A (12), transmission gear A (12), click A (8) and ratchet shell A (4) formation at this time Single direction ratchet structure., for rotating counterclockwise for output shaft (3) to be passed to transmission gear A (12)；The click B (9) it is mounted on inner surface at ratchet shell B (5) variable diameters by cylindrical shaft B (7), click B (9) can be with cylindrical shaft B (7) it is freely rotated for axis；Described ratchet spring B (11) both ends are separately mounted to ratchet shell B (5) inner surface and click On B (9), for limiting the spatial position of (9) click B；Click B (8) installation site and transmission gear A (12) tooth slot position is corresponding, the installation control sleeve direction of click B (9) and the installation direction phase of click A (8) Instead, i.e. when transmission gear A (12) moves to ratchet shell B (5) side, click B (9) is located at the tooth of transmission gear A (12) In slot, transmission gear A (12), click A (8) and ratchet shell A (4) form single direction ratchet structure. at this time, for that will export Rotating clockwise for axis (3) passes to transmission gear A (12)；Transmission system realizes bidirectional ratchet function by above-mentioned design；Institute The transmission gear B (13) stated is fixedly mounted on the outside of ratchet shell B (5) reduced diameter section；

The driving control system includes control sleeve (14), bindiny mechanism (15), sliding block (16) and the pneumatic pawl of two-way guide rails (17)；The pneumatic pawl of the two-way guide rails (17) is mounted on chassis (1) upper surface middle, and is located at two oscillating cylinders (2) Between, the pneumatic pawl of two-way guide rails (17) installation there are two can be free to slide sliding block (16), the glide direction of sliding block (16) with The direction of advance of robot is vertical, parallel with chassis (1)；The bindiny mechanism (15) is rectangle structure, two connection machines One end of structure (15) is separately mounted on sliding block (16)；The control sleeve (14) is by annulus and is mounted on annulus outer surface Rectangle mounting plate composition, the inner surface of annulus are equipped with groove, and the boss of ratchet shell A (4) and ratchet shell B (5) are mounted on In groove, control sleeve (14) altogether there are four, the opposite end for being mounted on bindiny mechanism (15) in pairs, control sleeve (14) Annulus axis be overlapped with the axis of output shaft (3)；When sliding block (16) are mobile, can be covered by bindiny mechanism (15) and control Cylinder (14) drives transmission system mobile；

The wheel system shares four groups, and every group includes wheel (18), transmission gear C (19), bearing (20) and bearing block (21)；The transmission gear C (19) is fixedly mounted in wheel (18) shaft；The wheel (18) passes through on chassis (1) Through-hole, and be mounted on chassis (1) by two bearings (20) and bearing block (21)；The transmission gear C (19) and biography Moving gear B (13) engagement, realizes transmission；

The support system includes support wheel (22), two support rod A (23), two support rod B (24), support springs (25), supporting linkage (26) and four supporting rod seats (27)；The supporting rod seat (27) is mounted on the quadrangle of chassis (1) Place；The support rod A (23) is mounted on two supporting rod seats (27) of front side, and support rod B (24) is mounted on On two supporting rod seats (27) of rear side, support rod A (23) and support rod B (24) can be in the vertical planes of chassis (1) certainly By rotating, each support rod A, B (23,24) end is respectively mounted support wheel (22)；It is equipped between described two support rod A (23) Supporting linkage (26), intermediate be equipped with of support rod B (24) are slotted, and supporting linkage (26) passes through fluting and can be in slotting certainly By moving；Support spring (25) are installed between support rod A (23) in same rotational plane and support rod B (24), are used for Support system is tightened, support wheel (22) is made to be supported on inner wall of the pipe.

2. a kind of explosion-proof walking robot for natural gas line according to claim 1, which is characterized in that described The half with a thickness of control sleeve (14) recess width of boss at the enlarged diameter section end of ratchet shell A (4).

3. a kind of explosion-proof walking robot for natural gas line according to claim 1, which is characterized in that described The half with a thickness of control sleeve (14) recess width of boss at the enlarged diameter section end of ratchet shell B (5).

4. a kind of explosion-proof walking robot for natural gas line according to claim 1, which is characterized in that described Transmission gear C (19) thickness is 2-2.5 times of transmission gear B (13) thickness.

Technical field

The invention belongs to robotic technology field more particularly to a kind of explosion-proof walking robots for natural gas line.

Background technique

The main component of natural gas is alkane, and wherein methane accounts for the overwhelming majority, separately there is a small amount of ethane, propane, butane, this It is outer generally also to have hydrogen sulfide, carbon dioxide, nitrogen, aqueous vapor and a small amount of carbon monoxide and micro rare gas, such as helium, argon.

For natural gas by natural gas transportation to huge numbers of families generally by the way of pipeline, pipeline is longer using the time When, the inner wall of pipeline can be stained with dirt, and if do not carried out periodic cleaning to these dirts, can not only shorten pipeline uses the longevity Life, but also will affect the efficiency of the conveying of natural gas.On the one hand, existing pipe cleaning device can only be cleared up outside pipeline mostly Wall, cannot the dirt to inner wall of the pipe effectively cleared up；On the other hand, it is even more important that existing inner wall of the pipe cleaning Robot is mostly by motor components such as motor, steering engines, if line fault occurs, it is likely that cause natural gas line quick-fried It is fried.

Natural gas line is not mounted in underground entirely, such as with the development in marine oil gas field, occurs more and more Ocean gas pipeline, this portion of natural gas pipeline is among seawater；In addition in the gas pipeline of inland, if encountering river Etc. special circumstances, this portion of natural gas pipeline then install in water.If natural gas line inner inlet, it is likely that can make The electric component of pipe robot breaks down, and then the natural gas accident that initiation etc. is dangerous.

Summary of the invention

The present invention is proposed for the special purpose robot in the prior art without being used for natural gas line health detection, the present invention A kind of double oscillating cylinder drivings, the explosion-proof walking robot for natural gas line of no any electric component.This robot Compared to motor-driven robot, on the one hand, structure is simpler, under water have higher stability, will not because of into Water causes line fault；On the other hand, because not using electric component, natural gas line thing will not be caused because of line fault Therefore.In addition, design bidirectional ratchet mechanism cooperates double oscillating cylinder drivings.On the one hand can double continuous alternating movements of cylinder, walking Device can be with continuous walking；On the other hand, because cylinder standard stroke is certain, the displacement that may be implemented to a certain extent is accurately controlled System.

To achieve the above object, the technical scheme adopted by the invention is that:

A kind of explosion-proof walking robot for natural gas line, the explosion-proof walking robot include chassis 1, swing Cylinder 2, transmission system, driving control system, wheel system and support system.

The chassis 1 is square plate structure, and quadrangle is opened there are four square through hole.

The oscillating cylinder 2 altogether there are two, front and back (being defined in the front-back direction with robot direction of advance as reference) simultaneously Column are mounted on 1 upper surface of chassis, and there are two output shaft 3, the axial direction of output shaft 3 and the advance sides of robot for each oscillating cylinder 2 To vertical, parallel with chassis 1.

The transmission system shares four groups, and each rotation system is mounted on the output shaft 3 of oscillating cylinder 2；Described Transmission system includes ratchet shell A4, ratchet shell B5, cylindrical shaft A6, cylindrical shaft B7, click A8, click B9, spine Take turns spring A10, ratchet spring B11, transmission gear A12 and transmission gear B13.The ratchet shell A4 is variable diameter cylinder knot The reduced diameter section interior diameter of structure, ratchet shell A4 is identical as 3 diameter of output shaft, is arranged at the enlarged diameter section end of ratchet shell A4 There are boss, the half with a thickness of 14 recess width of control sleeve of boss, ratchet shell A4 is sleeved on output shaft 3, spine It is clearance fit between hub cap A4 and output shaft 3, ratchet shell A4 can be moved freely on output shaft 3；Outside the ratchet Shell B5 is variable diameter cylindrical structure, and the reduced diameter section interior diameter of ratchet shell B5 is identical as 3 diameter of output shaft, and ratchet shell B5's is big Boss, the half with a thickness of 14 recess width of control sleeve of boss are provided at diameter segment end；Outside the ratchet Two boss of shell A4 and ratchet shell B5 are fixedly mounted, and ratchet shell A4 and ratchet shell B5 are coaxial, and the end of output shaft 3 is located at It is clearance fit between ratchet shell B5 and output shaft 3, ratchet shell B5 can be in output shaft in the middle part of ratchet shell B5 enlarged diameter section It is moved freely on 3, two boss are mounted in the groove of control sleeve 14, are clearance fit, spine between boss and control sleeve 14 Hub cap A4 and ratchet shell B5 can be freely rotated in groove；The transmission gear A12 is fixedly mounted on output shaft 13 On, transmission gear A12 is located in the space of two enlarged diameter sections of ratchet shell A4 and ratchet shell B5 formation；The ratchet spine Pawl A8 is mounted on inner surface at ratchet shell A4 variable diameters by cylindrical shaft A6, click A8 can using cylindrical shaft A6 as axis from By rotating；The both ends ratchet spring A10 are separately mounted on ratchet shell A4 inner surface and click A8, for limiting The spatial position of click A8；The click A8 installation site is corresponding with the tooth slot position of transmission gear A12, that is, passes When moving gear A12 moves to the ratchet shell side A4, click A8 is located in the tooth socket of transmission gear A12, at this time driving cog It takes turns A12, click A8 and ratchet shell A4 and forms single direction ratchet structure., for output shaft 3 to be rotated counterclockwise transmitting Give transmission gear A12；The click B9 is mounted on inner surface at ratchet shell B5 variable diameters, ratchet by cylindrical shaft B7 Pawl B9 can be freely rotated using cylindrical shaft B7 as axis；The both ends ratchet spring B11 are separately mounted in ratchet shell B5 On surface and click B9, for limiting the spatial position of click B9；The click B8 installation site and biography The tooth slot position of moving gear A12 is corresponding, the installation control sleeve direction of click B9 and the installation direction phase of click A8 Instead, i.e. when transmission gear A12 moves to the ratchet shell side B5, click B9 is located in the tooth socket of transmission gear A12, at this time Transmission gear A12, click A8 and ratchet shell A4 form single direction ratchet structure., for rotating clockwise output shaft 3 Pass to transmission gear A12；Transmission system realizes bidirectional ratchet function by above-mentioned design；The transmission gear B13 is fixed It is mounted on the outside of ratchet shell B5 reduced diameter section.

The driving control system includes control sleeve 14, bindiny mechanism 15, sliding block 16 and the pneumatic pawl 17 of two-way guide rails. The pneumatic pawl 17 of the two-way guide rails is mounted on 1 upper surface middle of chassis, and is located between two oscillating cylinders 2, two-way to lead The pneumatic installation of pawl 17 of rail there are two sliding block 16 that can be free to slide, hang down by the glide direction of sliding block 16 and the direction of advance of robot Directly, parallel with chassis 1；The bindiny mechanism 15 is rectangle structure, and one end of Liang Ge bindiny mechanism 15 is separately mounted to slide On block 16, it can be slided with sliding block 16；The control sleeve 14 by annulus and be mounted on annulus outer surface rectangle install Board group is equipped with groove at the inner surface of, annulus, and the boss of ratchet shell A (4) and ratchet shell B (5) are mounted in groove, control There are four sleeve 14 is total, it is mounted on the end of bindiny mechanism 15, the annulus axis and output of control sleeve 14 relatively in pairs The axis of axis 3 is overlapped；When sliding block 16 is mobile, transmission system can be driven mobile by bindiny mechanism 15 and control sleeve 14.

The wheel system shares four groups, and every group includes wheel 18, transmission gear C19, bearing 20 and bearing block 21.Institute The transmission gear C19 thickness stated is 2-2.5 times of transmission gear B13 thickness, and transmission gear C19 is fixedly mounted on turning for wheel 18 On axis；The wheel 18 is mounted on chassis 1 by two bearings 20 and bearing block 21, and wheel 18 passes through the One On The Chassis side Shape through-hole；The transmission gear C19 and transmission gear B13 engagement, realizes transmission.

The support system includes support wheel 22, support rod A23, support rod B24, support spring 25, supporting linkage 26 and supporting rod seat 27.There are four the supporting rod seat 27 is total, it is respectively and fixedly installed to the four corners on chassis 1；The branch Strut A23 altogether there are two, be separately mounted on two supporting rod seats 27 positioned at front side (or rear side), support rod A23 can be It is freely rotated in the vertical plane on chassis 1, the end each support rod A23 is equipped with a support wheel 22；Between two support rod A23 Supporting linkage 26 is installed；There are two the support rod B24 is total, it is separately mounted to two branch positioned at rear side (or front side) On strut socket 27, support rod B24 can be freely rotated in the vertical plane on chassis 1, and the end each support rod B24 is equipped with one Support wheel 22, the centre support rod B24 are equipped with fluting, and supporting linkage 26 passes through the fluting of support rod B24, and supporting linkage 26 can To be moved freely in the fluting of support rod B24；Pacify between support rod A23 and support rod B24 in same rotational plane Support wheel 22 is set to be supported on inner wall of the pipe for tightening support system equipped with support spring 25.

A kind of explosion-proof walking robot for natural gas line, traveling method are as follows:

1, it walks forward

The outside Slideslip of two sliding blocks 16 being mounted on the pneumatic pawl 17 of two-way guide rails drives four transmission systems mobile, Ratchet shell A4 is engaged close to transmission gear A12, transmission gear A12 with click A8；The output shaft 3 of oscillating cylinder 2 does past Multiple rotation, when output shaft 3 rotates clockwise, transmission gear A12 idle running, when output shaft 3 rotates counterclockwise, transmission gear A12 drives transmission rotation, and then rotates with motor car wheel 18, and robot travels forward；The output shaft 3 of former and later two oscillating cylinders 2 It works alternatively, realizes that robot continuously travels forward.

2, it walks backward

The inside Slideslip of two sliding blocks 16 being mounted on the pneumatic pawl 17 of two-way guide rails drives four transmission systems mobile, Shell B5 is engaged close to transmission gear A12 ratchet, transmission gear A12 with click B9；The output shaft 3 of oscillating cylinder 2 does past Multiple rotation, when output shaft 3 rotates counterclockwise, transmission gear A12 idle running, when output shaft 3 rotates clockwise, transmission gear A12 drives transmission rotation, and then rotates with motor car wheel 18, and robot moves backward；The output shaft 3 of former and later two oscillating cylinders 2 It works alternatively, realizes that robot continuously moves backward.

The beneficial effects of the present invention are:

(1) support system is set.On the one hand, pipe robot uses wheeled construction, the movement of primary friction power under water.Branch When support is withstood at the top of inner wall of the pipe, subaqueous pipe pipeline robot opposition, pressure increase, the friction that robot advances can be given Power increases, and walking can be relatively reliable accurate；On the other hand, trolley pipeline internal operation can be made more steady using support frame It is fixed.

(2) double oscillating cylinders are designed to cooperate, two oscillating cylinders of identical standard swing angle is selected, designs two-way The output shaft swing of oscillating cylinder is converted rotation by ratchet mechanism；Two oscillating cylinder alternating movements simultaneously, to make trolley It is continuously advanced.

(3) it designs double oscillating cylinders to cooperate, it is ensured that the minimum unit of each forward travel distance is the standard of cylinder Stroke realizes the accurate control of displacement to a certain extent.

(4) driving part of the design oscillating cylinder as robot, is not related to electric component.It on the one hand, can be by equipment The harm of water inlet is reduced to minimum, improves the stability of equipment；On the other hand, purposes more importantly, can be by equipment It, will not asking because of submarine pipeline robot because not being related to electric component in the scene inflammable and explosive for gas pipeline etc. Topic causes electric spark, so as to cause secondary disaster.

The present invention by designing double oscillating cylinders, bidirectional ratchet mechanism cooperates, it can be achieved that natural gas line it is explosion-proof The reliable continuous operation of walking robot, and have the advantages that in the course of work it is reliable and stable, control it is simple, easily operated.

Detailed description of the invention

Fig. 1 is that the explosion-proof walking robot of natural gas line runs whole three-dimensional figure；

Fig. 2 is the overall structure figure of the explosion-proof walking robot of natural gas line；

Fig. 3 is the overall structure figure for removing the explosion-proof walking robot of natural gas line of support frame；

Fig. 4 is the partial sectional view of bidirectional ratchet mechanism 10A；

Fig. 5 is the outside three-dimensional figure of bidirectional ratchet mechanism 10A；

Fig. 6 is the inside three-dimensional figure of bidirectional ratchet mechanism 10A；

Fig. 7 is the top view for removing the explosion-proof walking robot of natural gas line of support frame；

Fig. 8 is the three-dimensional figure of control sleeve.

In figure: 1 chassis；2 oscillating cylinders；3 output shafts；4 ratchet shell A；5 ratchet shell B；6 cylindrical shaft A；7 cylindrical shaft B； 8 click A；9 click B；10 ratchet spring A；11 ratchet spring B；12 transmission gear A；13 transmission gear B；14 controls Sleeve；15 bindiny mechanisms；16 sliding blocks；The pneumatic pawl of 17 two-way guide rails；18 wheels；19 transmission gear C；20 bearings；21 bearing blocks；22 Support wheel；23 support rod A；24 support rod B；25 support springs；26 supporting linkages；27 supporting rod seats.

Specific embodiment

The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1, Figure 2, Fig. 3, a kind of explosion-proof walking robot for natural gas line shown in Fig. 7, the machine People includes chassis 1, oscillating cylinder 2, transmission system, driving control system, wheel system and support system.

The chassis 1 is square plate structure, and quadrangle is opened there are four square through hole.

There are two oscillating cylinder 2 as shown in Figure 2 is total, front and back (is defined in the front-back direction with robot direction of advance as ginseng Examine) it is mounted on 1 upper surface of chassis side by side, each oscillating cylinder 2 is there are two output shaft 3, before the axial direction and robot of output shaft 3 It is vertical, parallel with chassis 1 into direction.

Transmission system as shown in Figure 3, Figure 4 shares four groups, and each rotation system is mounted on the output shaft 3 of oscillating cylinder 2 On；The transmission system includes ratchet shell A4, ratchet shell B5, cylindrical shaft A6, cylindrical shaft B7, click A8, ratchet Pawl B9, ratchet spring A10, ratchet spring B11, transmission gear A12 and transmission gear B13.The ratchet shell A4 is to become The reduced diameter section interior diameter of diameter cylindrical structure, ratchet shell A4 is identical as 3 diameter of output shaft, the enlarged diameter section end of ratchet shell A4 Boss, the half with a thickness of 14 recess width of control sleeve of boss are provided at tail, ratchet shell A4 is sleeved on output It is clearance fit between ratchet shell A4 and output shaft 3 on axis 3, ratchet shell A4 can be moved freely on output shaft 3；It is described Ratchet shell B5 be variable diameter cylindrical structure, the reduced diameter section interior diameter of ratchet shell B5 is identical as 3 diameter of output shaft, outside ratchet Boss, the half with a thickness of 14 recess width of control sleeve of boss are provided at the enlarged diameter section end of shell B5；It is described Two boss of ratchet shell A4 and ratchet shell B5 be fixedly mounted, ratchet shell A4 and ratchet shell B5 are coaxial, output shaft 3 End is located in the middle part of ratchet shell B5 enlarged diameter section, is clearance fit between ratchet shell B5 and output shaft 3, and ratchet shell B5 can be with It is moved freely on output shaft 3, two boss are mounted in the groove of control sleeve 14, are gap between boss and control sleeve 14 Cooperation, ratchet shell A4 and ratchet shell B5 can be freely rotated in groove；The transmission gear A12 is fixedly mounted on defeated On shaft 13, transmission gear A12 is located in the space of two enlarged diameter sections of ratchet shell A4 and ratchet shell B5 formation；Described Click A8 is mounted on inner surface at ratchet shell A4 variable diameters by cylindrical shaft A6, and click A8 can be with cylindrical shaft A6 It is freely rotated for axis；The both ends ratchet spring A10 are separately mounted on ratchet shell A4 inner surface and click A8, are used In the spatial position of limitation click A8；The tooth slot position pair of the click A8 installation site and transmission gear A12 It answers, i.e. when transmission gear A12 moves to the ratchet shell side A4, click A8 is located in the tooth socket of transmission gear A12, at this time Transmission gear A12, click A8 and ratchet shell A4 form single direction ratchet structure., for turning counterclockwise by output shaft 3 It is dynamic to pass to transmission gear A12；The click B9 by cylindrical shaft B7 be mounted at ratchet shell B5 variable diameters in table Face, click B9 can be freely rotated using cylindrical shaft B7 as axis；The both ends ratchet spring B11 are separately mounted to outside ratchet On shell B5 inner surface and click B9, for limiting the spatial position of click B9；The installation position click B8 Set, the installation control sleeve direction of click B9 and the installation of click A8 corresponding with the tooth slot position of transmission gear A12 Contrary, i.e. when transmission gear A12 moves to the ratchet shell side B5, click B9 is located at the tooth socket of transmission gear A12 Interior, transmission gear A12, click A8 and ratchet shell A4 form single direction ratchet structure. at this time, for by the up time of output shaft 3 Needle rotation passes to transmission gear A12；Transmission system realizes bidirectional ratchet function by above-mentioned design；The transmission gear B13 is fixedly mounted on the outside of ratchet shell B5 reduced diameter section.

The driving control system includes control sleeve 14, bindiny mechanism 15, sliding block 16 and the pneumatic pawl 17 of two-way guide rails. The pneumatic pawl 17 of the two-way guide rails is mounted on 1 upper surface middle of chassis, and is located between two oscillating cylinders 2, two-way to lead The pneumatic installation of pawl 17 of rail there are two sliding block 16 that can be free to slide, hang down by the glide direction of sliding block 16 and the direction of advance of robot Directly, parallel with chassis 1；The bindiny mechanism 15 is rectangle structure, and one end of Liang Ge bindiny mechanism 15 is separately mounted to slide On block 16；Control sleeve 14 as shown in Figure 8 is by annulus and is mounted on the rectangle mounting plate of annulus outer surface and forms, annulus Inner surface is equipped with groove, and the boss of ratchet shell A (4) and ratchet shell B (5) are mounted in groove, and control sleeve 14 shares four It is a, it is mounted on the end of bindiny mechanism 15, the annulus axis of control sleeve 14 and the axis weight of output shaft 3 relatively in pairs It closes；When sliding block 16 is mobile, transmission system can be driven mobile by bindiny mechanism 15 and control sleeve 14.

The wheel system shares four groups, and every group includes wheel 18, transmission gear C19, bearing 20 and bearing block 21.Institute The transmission gear C19 thickness stated is 2-2.5 times of transmission gear B13 thickness, and transmission gear C19 is fixedly mounted on turning for wheel 18 On axis；The wheel 18 is mounted on chassis 1 by two bearings 20 and bearing block 21, and wheel 18 passes through the One On The Chassis side Shape through-hole；The transmission gear C19 and transmission gear B13 engagement, realizes transmission.

The support system includes support wheel 22, support rod A23, support rod B24, support spring 25, supporting linkage 26 and supporting rod seat 27.There are four the supporting rod seat 27 is total, it is respectively and fixedly installed to the four corners on chassis 1；The branch Strut A23 altogether there are two, be separately mounted on two supporting rod seats 27 positioned at front side (or rear side), support rod A23 can be It is freely rotated in the vertical plane on chassis 1, the end each support rod A23 is equipped with a support wheel 22；Between two support rod A23 Supporting linkage 26 is installed；There are two the support rod B24 is total, it is separately mounted to two branch positioned at rear side (or front side) On strut socket 27, support rod B24 can be freely rotated in the vertical plane on chassis 1, and the end each support rod B24 is equipped with one Support wheel 22, the centre support rod B24 are equipped with fluting, and supporting linkage 26 passes through the fluting of support rod B24, and supporting linkage 26 can To be moved freely in the fluting of support rod B24；Pacify between support rod A23 and support rod B24 in same rotational plane Support wheel 22 is set to be supported on inner wall of the pipe for tightening support system equipped with support spring 25.

A kind of explosion-proof walking robot for natural gas line, traveling method are as follows:

1, it walks forward

The outside Slideslip of two sliding blocks 16 being mounted on the pneumatic pawl 17 of two-way guide rails drives four transmission systems mobile, Ratchet shell A4 is engaged close to transmission gear A12, transmission gear A12 with click A8；The output shaft 3 of oscillating cylinder 2 does past Multiple rotation, when output shaft 3 rotates clockwise, transmission gear A12 idle running, when output shaft 3 rotates counterclockwise, transmission gear A12 drives transmission rotation, and then rotates with motor car wheel 18, and robot travels forward；The output shaft 3 of former and later two oscillating cylinders 2 It works alternatively, realizes that robot continuously travels forward.

2, it walks backward

The inside Slideslip of two sliding blocks 16 being mounted on the pneumatic pawl 17 of two-way guide rails drives four transmission systems mobile, Shell B5 is engaged close to transmission gear A12 ratchet, transmission gear A12 with click B9；The output shaft 3 of oscillating cylinder 2 does past Multiple rotation, when output shaft 3 rotates counterclockwise, transmission gear A12 idle running, when output shaft 3 rotates clockwise, transmission gear A12 drives transmission rotation, and then rotates with motor car wheel 18, and robot moves backward；The output shaft 3 of former and later two oscillating cylinders 2 It works alternatively, realizes that robot continuously moves backward.

Support system is arranged in the present invention.On the one hand, pipe robot uses wheeled construction, primary friction power fortune under water It is dynamic.When support frame is withstood at the top of inner wall of the pipe, subaqueous pipe pipeline robot opposition can be given, pressure increase, robot advances Frictional force increase, walking can be relatively reliable accurate；On the other hand, trolley pipeline internal operation can be made more using support frame Add stabilization.

The present invention designs double oscillating cylinders and cooperates, and selects two oscillating cylinders of identical standard swing angle, design The output shaft swing of oscillating cylinder is converted rotation by bidirectional ratchet mechanism；Two oscillating cylinder alternating movements simultaneously, to make Trolley is continuously advanced.

The present invention designs double oscillating cylinders and cooperates, it is ensured that the minimum unit of each forward travel distance is the mark of cylinder There won't be any problem journey realizes the accurate control of displacement to a certain extent.

The present invention designs driving part of the oscillating cylinder as robot, is not related to electric component.On the one hand, it can will set The harm of standby water inlet is reduced to minimum, improves the stability of equipment；On the other hand, purposes more importantly, can will set It is ready for use in the inflammable and explosive scene such as gas pipeline, it, will not be because of submarine pipeline robot because not being related to electric component Problem causes electric spark, so as to cause secondary disaster.

The present invention by designing double oscillating cylinders, bidirectional ratchet mechanism cooperates, it can be achieved that natural gas line it is explosion-proof The reliable continuous operation of walking robot, and have the advantages that in the course of work it is reliable and stable, control it is simple, easily operated.