阅读说明：本技术 一种两节轮足式管道攀爬机器人 (Two-section wheel foot type pipeline climbing robot ) 是由 侯宇 李浩男 蒋怡蔚 江厚清 金子涵 于 2021-08-03 设计创作，主要内容包括：本发明公开了一种两节轮足式管道攀爬机器人。其技术方案是：前攀爬机器人(1)与后攀爬机器人(3)通过机器人连接件(2)连接而成,前攀爬机器人(1)与后攀爬机器人(3)结构相同。前攀爬机器人(1)前端两侧通过对称固定的辅助支架(5)分别装有辅助轮(4)；前攀爬机器人(1)两侧对称地装有轮足复合机构(8)和磁吸附装置(10)。轮足复合机构(8)的2个编码电机通过联轴器与对应的麦克纳姆轮连接；分别控制2个编码电机能实现对应的麦克纳姆轮按特定转向转动,从而实现前攀爬机器人(1)前后左右方向的运动。轮足复合机构(8)的减震装置(20)连接在攀爬连接架(6)上,能使两节轮足式管道攀爬机器人在管道外壁平稳运动。本发明具有越障能力强、稳定性高和适应范围广的特点。(The invention discloses a two-section wheel-foot type pipeline climbing robot. The technical scheme is as follows: preceding climbing robot (1) is formed through connecting robot connecting piece (2) with back climbing robot (3), and preceding climbing robot (1) is the same with back climbing robot (3) structure. Auxiliary wheels (4) are respectively arranged on two sides of the front end of the front climbing robot (1) through symmetrically fixed auxiliary supports (5); wheel-foot composite mechanisms (8) and magnetic adsorption devices (10) are symmetrically arranged on two sides of the front climbing robot (1). 2 coding motors of the wheel foot composite mechanism (8) are connected with corresponding Mecanum wheels through couplers; the 2 coding motors are respectively controlled to realize that the corresponding Mecanum wheels rotate according to specific steering, so that the front climbing robot (1) moves in the front, back, left and right directions. Damping device (20) of sufficient combined mechanism of wheel (8) are connected on climbing link (6), enable the sufficient pipeline climbing robot of two-section wheel at pipeline outer wall steady motion. The invention has the characteristics of strong obstacle crossing capability, high stability and wide application range.)

1. The utility model provides a two-section wheel sufficient pipeline climbing robot which characterized in that in the two-section wheel sufficient pipeline climbing robot:

l₀represents the length, mm, of the climbing connecting frame (6),

b₀representing the width, mm, of the climbing attachment (6),

h₀represents the height, mm, of the climbing attachment (6);

the front climbing robot (1) is arranged in front, and the left side facing the front part of the two-section wheel-foot type pipeline climbing robot is arranged in the left side;

the two-section wheel-foot type pipeline climbing robot consists of a front climbing robot (1), a robot connecting piece (2) and a rear climbing robot (3), wherein the rear end of the front climbing robot (1) is connected with the front end of the rear climbing robot (3) through the robot connecting piece (2);

the front climbing robot (1) comprises 2 auxiliary wheels (4), 2 auxiliary supports (5), a climbing connecting frame (6), a motion control plate (7), 2 wheel foot composite mechanisms (8), a lithium battery (9) and 2 magnetic adsorption devices (10);

auxiliary supports (5) are symmetrically fixed on two sides of the front end of the climbing connecting frame (6), the lower ends of the 2 auxiliary supports (5) are flush with the lower plane of the climbing connecting frame (6), and the upper ends of the 2 auxiliary supports (5) are respectively and movably provided with auxiliary wheels (4);

the horizontal distance l between the axle center of the auxiliary wheel (4) and the front end of the climbing connecting frame (6)₁＝0.4～0.5l₀，

The vertical distance h between the axle center of the auxiliary wheel (4) and the lower plane of the climbing connecting frame (6)₁＝0.7～0.8h₀；

Climbing link (6) includes: an upper rectangular frame (11), a lower rectangular frame (13), a flat plate (16) and 4 upright posts (12); the upper rectangular frame (11) is a whole formed by encircling of 2 cross beams and 2 longitudinal beams, the upper rectangular frame (11) is the same as the lower rectangular frame (13), and 4 corners of the upper rectangular frame (11) are fixedly connected with 4 corresponding corners of the lower rectangular frame (13) through the upright posts (12);

wheel foot mounting holes (14) are symmetrically formed in the middle and the back of the 2 longitudinal beams of the upper rectangular frame (11), and the 2 wheel foot composite mechanisms (8) are fixedly connected with the corresponding wheel foot mounting holes (14) through bolts; the middle parts of the 2 longitudinal beams of the lower rectangular frame (13) are symmetrically provided with magnetic adsorption device mounting holes (15) near the rear part, and the 2 magnetic adsorption devices (10) are respectively fixedly connected with the corresponding magnetic adsorption device mounting holes (15) through bolts;

a flat plate (16) is horizontally fixed at the middle position of the bottom of the lower rectangular frame (13) along the front-back direction, and a motion control plate (7) and a lithium battery (9) are arranged on the upper plane of the flat plate (16);

the wheel-foot composite mechanism (8) comprises a front coding motor (17), a front Mecanum wheel (18), a front connecting piece (19), a damping device (20), a universal wheel (21), a rear connecting piece (22), a rear Mecanum wheel (23) and a rear coding motor (24);

the front connecting piece (19) is formed by fixedly connecting a front motor bracket (25), a front connecting rod (26), a front shaft sleeve (27), front two connecting rods (28) and a universal wheel connecting plate (29) in sequence from front to back; wherein:

the front connecting rod (26) is a straight rod, and the front connecting rods (28) are L-shaped rod pieces; the front motor bracket (25) is an integral body consisting of a horizontal plate and a vertical plate;

the vertical distance h between the center of the horizontal plate of the front motor bracket (25) and the axle center of the front shaft sleeve (27)₂＝0.22～0.23h₀，

The horizontal distance l between the center of the horizontal plate of the front motor bracket (25) and the axle center of the front shaft sleeve (27)₂＝0.26～0.27l₀，

The horizontal distance b between the center of the horizontal plate of the front motor bracket (25) and the right side surface of the vertical plate of the front motor bracket (25)₁＝0.06～0.07b₀，

The horizontal distance b between the center of the right side surface of the universal wheel connecting plate (29) and the center between the two end surfaces of the front shaft sleeve (27)₂＝0.15～0.16b₀；

The front coding motor (17) is fixedly connected with the right side surface of a vertical plate of the front motor bracket (25), and an output shaft of the front coding motor (17) penetrates through the vertical plate of the front motor bracket (25) to be connected with a front Mecanum wheel (18) shaft;

the rear connecting piece (22) is formed by fixedly connecting a rear shaft sleeve (30), a rear connecting rod (31), a rear two shaft sleeves (32), a rear two connecting rods (33) and a rear motor bracket (34) from front to back in sequence; wherein:

the rear connecting rod (31) and the rear connecting rods (33) are straight rods,

the vertical distance h between the axle center of the rear shaft sleeve (30) and the axle centers of the rear shaft sleeves (32)₃＝0.20～0.21h₀，

The horizontal distance l between the axle center of the rear shaft sleeve (30) and the axle centers of the rear shaft sleeves (32)₃＝0.12～0.13l₀，

The rear motor support (34) and the front motor support (25) have the same structure, and the horizontal distance b between the center of the horizontal plate of the rear motor support (34) and the right side surface of the vertical plate of the rear motor support (34)₃＝0.11～0.12b₀；

The rear coding motor (24) is fixedly connected with the right side surface of a vertical plate of the rear motor bracket (34), and an output shaft of the rear coding motor (24) passes through the vertical plate of the rear motor bracket (34) and is connected with a rear Mecanum wheel (23) shaft;

the damping device (20) comprises a damping mounting plate (35), an arc-shaped inner baffle plate (37), an arc-shaped outer baffle plate (38), a spring (39), a damping mounting seat (40) and a support shaft (41); arc-shaped inner baffles (37) are arranged on the lower plane of the shock absorption mounting plate (35) in a central symmetry manner, arc-shaped outer baffles (38) are arranged on the upper plane of the shock absorption mounting seat (40) in a central symmetry manner, the nominal size of the inner surface curvature radius of each arc-shaped outer baffle (38) is the same as that of the outer surface curvature radius of each arc-shaped inner baffle (37), the arc length of the inner surface of each arc-shaped outer baffle (38) and the arc length of the outer surface of each arc-shaped inner baffle (37) are both 0.6-0.7 pi r, r represents the inner surface curvature radius of each arc-shaped outer baffle (38), and the outer surfaces of the arc-shaped inner baffles (37) and the inner surfaces of the arc-shaped outer baffles (38) are connected in a sliding manner;

a spring (39) is arranged between the shock absorption mounting plate (35) and the shock absorption mounting seat (40), the spring (39) is positioned in the center positions of the arc inner baffle (37) and the arc outer baffle (38), and the heights of the arc outer baffle (38) and the arc inner baffle (37) are both 60-70% of the distance between the lower plane of the shock absorption mounting plate (35) and the upper plane of the shock absorption mounting seat (40); a bracket shaft (41) is fixed at the center of the right side surface of the shock absorption mounting seat (40);

the wheel foot composite mechanism (8) is structurally characterized in that a front shaft sleeve (27) is movably connected with a rear shaft sleeve (30) through a pin shaft, a wheel frame of a universal wheel (21) is connected with the lower plane of a universal wheel connecting plate (29), and a rear shaft sleeve (32) is movably connected with a support shaft (41) of a damping device (20); the damping mounting plate (35) is provided with a wheel foot connecting through hole (36), and the wheel foot connecting through hole (36) is fixedly connected with a wheel foot mounting hole (14) of the climbing connecting frame (6) through a bolt;

the magnetic adsorption device (10) comprises a hexagonal flange surface nut (42), a rectangular bracket (43), a countersunk head screw (44), a hexagonal nut (46) and a permanent magnet (47);

the rectangular support (43) is an integral rectangular frame surrounded by 2 strip-shaped plates and 2 rectangular blocks, 4-6 screw holes are uniformly formed in the upper strip-shaped plate of the rectangular support (43) along the vertical direction, 4-6 through holes are correspondingly formed in the lower strip-shaped plate along the vertical direction, and the central lines of the 4-6 screw holes are respectively in the same straight line with the central lines of the corresponding through holes; one end of the head of the countersunk head screw rod (44) is fixedly connected with the permanent magnet (47) through a hexagonal nut (46), and the other end of the countersunk head screw rod (44) sequentially penetrates through the through hole of the lower strip-shaped plate and the screw hole of the upper strip-shaped plate and is fixed on the upper plane of the rectangular bracket (43) through a hexagonal flange nut (42); adsorption connecting through holes (45) are symmetrically formed in the center positions of the two rectangular blocks along the horizontal direction, and the adsorption connecting through holes (45) are fixedly connected with the magnetic adsorption device mounting holes (15) through bolts;

the rear climbing robot (3) has the same structure as the front climbing robot (1);

the robot connecting piece (2) comprises 2 transverse connecting rods (48) and 1 longitudinal connecting rod (49); the two ends of the longitudinal connecting rod (49) are symmetrically hinged with transverse connecting rods (48), the two ends of the longitudinal connecting rod (49) are respectively positioned at the middle positions of the transverse connecting rods (48), and the length of 2 transverse connecting rods (48) is the same as the distance between 2 upright columns (12) on the front side or the rear side of the climbing connecting frame (6); 1 transverse connecting rod (48) is fixed at the middle position of 2 upright columns (12) on the rear side of the front climbing robot (1), and the other 1 transverse connecting rod (48) is fixed at the middle position of 2 upright columns (12) on the front side of the rear climbing robot (3);

the connection relation of the motion control plate (7) is as follows: the positive pole and the negative pole of the lithium battery (9) are correspondingly connected with the positive pole and the negative pole of the power interface of the motion control panel (7), and the USB interface of the motion control panel (7) is connected with the USB interface of the PC upper computer; the left front coding motor (50) is connected with a motor interface 1 of the motion control panel (7), the right front coding motor (53) is connected with a motor interface 2 of the motion control panel (7), the left rear coding motor (51) is connected with a motor interface 3 of the motion control panel (7), and the right rear coding motor (52) is connected with a motor interface 4 of the motion control panel (7);

the 2 wheel foot composite mechanisms (8) are a left wheel foot composite mechanism and a right wheel foot composite mechanism: correspondingly, the front coding motor (17) is a left front coding motor (50) and a right front coding motor (53); the rear coding motors (24) are a left rear coding motor (51) and a right rear coding motor (52).

2. The two-joint wheel-foot type pipeline climbing robot according to claim 1, characterized in that the center of the horizontal plate of the front motor bracket (25) is the centroid of the connecting surface formed by the fixed connection of the horizontal plate of the front motor bracket (25) and the front connecting rod (26).

3. The two-joint wheel-foot type pipeline climbing robot according to claim 1, wherein the center of the horizontal plate of the rear motor bracket (34) is the centroid of the connecting surface formed by the fixed connection of the horizontal plate of the rear motor bracket (34) and the rear two connecting rods (33).

Technical Field

The invention belongs to the technical field of robots. In particular to a two-section wheel foot type pipeline climbing robot.

Background

With the rapid development of economy in China, large pipelines are increasingly applied to industries such as petroleum, medicines, chemical engineering and the like, and when the pipelines are used for conveying fluid media such as high temperature, high pressure, high toxicity and the like, corrosion can occur after long-term use, so that potential safety hazards are caused.

Due to the limitation of detection methods and use conditions, domestic and foreign manufacturers only carry out manual sampling inspection or do not detect large pipelines for a long time, so that conveying pipeline accidents happen occasionally. In recent years, although a great step is taken for the periodic detection of pipelines section by section, the problem that the detection of the pipelines is affected by welding seams, pits, flanges and the like on the outer wall of a large pipeline is still not effectively solved, so that the development of the pipeline robot with the climbing function attracts the attention of technicians in the field.

For example, the patent technology of "a self-adaptive pipeline climbing robot" (CN 112077819a) adopts a flexible chassis system, which can actively adapt to the pipeline walls with different diameters, so that the robot can stably move along the pipeline wall for inspection, but has poor obstacle crossing capability, and cannot climb over when encountering a flange on the pipeline or has poor stability when encountering a large welding seam or pit.

As another example, the patent technology of "a pipeline crawling robot" (CN 106369245 a) adopts a hexapod design, and although the technology can be matched with an asynchronous state to pass through an obstacle to realize free walking of a complex pipeline, the motion is not smooth enough, and the stability is lacked.

In addition, as for an adjustable permanent magnet adsorption device based on the pipe climbing robot (CN 110949557A), the technology realizes the adjustable distance between a permanent magnet block and a pipe wall through structural design, can ensure the flexible and stable movement of the robot, but does not have the capability of crossing a reducing obstacle.

The technology of the patent of 'an oil tank rust removal wall climbing robot' (CN 113021375A) adopts various adsorption modes, has good stability, and also has no capability of crossing a variable-diameter obstacle.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a two-section wheel-foot type pipeline climbing robot which is simple in structure, strong in obstacle crossing capability, high in stability and wide in application range.

In order to achieve the purpose, the invention adopts the technical scheme that:

in the two-section wheel foot type pipeline climbing robot:

l₀represents the length of the climbing attachment, mm;

b₀represents the width of the climbing attachment, mm;

h₀indicating the height, mm, of the climbing attachment.

The front climbing robot is arranged in front of the robot, and the left side of the front part of the robot facing the two-section wheel-foot type pipeline climbing robot is arranged on the left side.

The two-section wheel-foot type pipeline climbing robot is composed of a front climbing robot, a robot connecting piece and a rear climbing robot, and the rear end of the front climbing robot is connected with the front end of the rear climbing robot through the robot connecting piece.

Preceding climbing robot includes 2 auxiliary wheels, 2 auxiliary stand, climbing link, motion control panel, 2 sufficient combined mechanism of wheel, lithium cell and 2 magnetic adsorption device.

The front end both sides symmetry at the climbing link are fixed with auxiliary stand, and the lower extreme of 2 auxiliary stands is equipped with the auxiliary wheel respectively with moving about with the lower plane parallel and level of climbing link, 2 auxiliary stands's upper end.

Horizontal distance l between the axle center of the auxiliary wheel and the front end of the climbing connecting frame₁＝0.4～0.5l₀；

Vertical distance h between axle center of auxiliary wheel and lower plane of climbing connecting frame₁＝0.7～0.8h₀。

Climbing link includes: the device comprises an upper rectangular frame, a lower rectangular frame, a flat plate and 4 upright posts; the upper rectangular frame is a whole formed by encircling 2 cross beams and 2 longitudinal beams, the upper rectangular frame is the same as the lower rectangular frame, and 4 corners of the upper rectangular frame are fixedly connected with 4 corresponding corners of the lower rectangular frame through the stand columns respectively.

Wheel foot mounting holes are symmetrically formed in the middle and the back of the 2 longitudinal beams of the upper rectangular frame, and the 2 wheel foot composite mechanisms are fixedly connected with the corresponding wheel foot mounting holes through bolts respectively; the middle of 2 longerons of lower rectangular frame is equipped with magnetism adsorption equipment mounting hole near the back department symmetrically, and 2 magnetism adsorption equipment pass through bolt and the magnetism adsorption equipment mounting hole fixed connection that corresponds respectively.

A flat plate is horizontally fixed at the middle position of the bottom of the lower rectangular frame along the front-back direction, and a motion control plate and a lithium battery are arranged on the upper plane of the flat plate.

The wheel-foot composite mechanism comprises a front coding motor, a front Mecanum wheel, a front connecting piece, a damping device, a universal wheel, a rear connecting piece, a rear Mecanum wheel and a rear coding motor.

The front connecting piece is formed by fixedly connecting a front motor support, a front connecting rod, a front shaft sleeve, a front two connecting rods and a universal wheel connecting plate in sequence from front to back. Wherein:

the front connecting rod is a straight rod, and the front two connecting rods are L-shaped rod pieces; the front motor bracket is an integral body consisting of a horizontal plate and a vertical plate;

the vertical distance h between the center of the horizontal plate of the front motor bracket and the axle center of the front shaft sleeve₂＝0.22～0.23h₀；

Horizontal distance l between center of horizontal plate of front motor support and axis of front shaft sleeve₂＝0.26～0.27l₀；

The horizontal distance b between the center of the horizontal plate of the front motor bracket and the right side surface of the vertical plate of the front motor bracket₁＝0.06～0.07b₀；

The horizontal distance b between the center of the right side surface of the universal wheel connecting plate and the center between the two end surfaces of the front shaft sleeve₂＝0.15～0.16b₀。

The front coding motor is fixedly connected with the right side face of the vertical plate of the front motor support, and an output shaft of the front coding motor penetrates through the vertical plate of the front motor support to be connected with a front Mecanum wheel shaft.

The rear connecting piece is formed by fixedly connecting a rear shaft sleeve, a rear connecting rod, a rear two shaft sleeves, a rear two connecting rods and a rear motor support in sequence from front to back. Wherein:

the rear connecting rod and the rear connecting rods are straight rods;

the vertical distance h between the axle center of the rear shaft sleeve and the axle center of the rear two shaft sleeves₃＝0.20～0.21h₀；

Horizontal distance l between axle center of rear axle sleeve and axle center of rear axle sleeve₃＝0.12～0.13l₀；

The rear motor support and the front motor support have the same structure, and the horizontal distance b between the center of the horizontal plate of the rear motor support and the right side surface of the vertical plate of the rear motor support₃＝0.11～0.12b₀。

The rear coding motor is fixedly connected with the right side face of the vertical plate of the rear motor support, and an output shaft of the rear coding motor penetrates through the vertical plate of the rear motor support to be connected with a rear Mecanum wheel shaft.

The damping device comprises a damping mounting plate, an arc inner baffle, an arc outer baffle, a spring, a damping mounting seat and a support shaft; the lower plane centrosymmetric of shock attenuation mounting panel is equipped with baffle in the arc, and the last plane centrosymmetric of shock attenuation mount pad is equipped with the outer baffle of arc, and the internal surface curvature radius of the outer baffle of arc is the same with the nominal size of the outer surface curvature radius of baffle in the arc, and the internal surface arc length of the outer baffle of arc and the outer surface arc length of baffle in the arc are 0.6 ~ 0.7 pi r, and r represents the internal surface curvature radius of the outer baffle of arc, the internal surface sliding connection of baffle and the internal surface of the outer baffle of arc in the arc.

A spring is arranged between the shock absorption mounting plate and the shock absorption mounting seat, the spring is positioned in the center positions of the arc inner baffle and the arc outer baffle, and the heights of the arc outer baffle and the arc inner baffle are both 60-70% of the distance between the lower plane of the shock absorption mounting plate and the upper plane of the shock absorption mounting seat; and a support shaft is fixed at the center of the right side surface of the damping mounting seat.

The wheel foot composite mechanism is structurally characterized in that a front shaft sleeve is movably connected with a rear shaft sleeve through a pin shaft, a wheel carrier of a universal wheel is connected with the lower plane of a universal wheel connecting plate, and a rear shaft sleeve is movably connected with a support shaft of a damping device; the shock attenuation mounting panel is equipped with the sufficient connect the via hole of wheel, and the sufficient connect the via hole of wheel passes through bolt and the sufficient mounting hole fixed connection of wheel of climbing link.

The magnetic adsorption device comprises a hexagonal flange face nut, a rectangular support, a countersunk head screw, a hexagonal nut and a permanent magnet.

The rectangular support is an integral rectangular frame surrounded by 2 strip-shaped plates and 2 rectangular blocks, 4-6 screw holes are uniformly formed in the upper strip-shaped plate of the rectangular support along the vertical direction, 4-6 through holes are correspondingly formed in the lower strip-shaped plate along the vertical direction, and the central lines of the 4-6 screw holes are respectively in the same straight line with the central lines of the corresponding through holes; one end of the head of the countersunk head screw is fixedly connected with the permanent magnet through a hexagon nut, and the other end of the countersunk head screw sequentially penetrates through the through hole of the lower strip-shaped plate and the screw hole of the upper strip-shaped plate and is fixed on the upper plane of the rectangular bracket through a hexagon flange nut; the central positions of the two rectangular blocks are symmetrically provided with adsorption connecting through holes along the horizontal direction, and the adsorption connecting through holes are fixedly connected with the magnetic adsorption device mounting holes through bolts.

The rear climbing robot has the same structure as the front climbing robot.

The robot connecting piece comprises 2 transverse connecting rods and 1 longitudinal connecting rod; the two ends of the longitudinal connecting rod are symmetrically hinged with transverse connecting rods, the two ends of the longitudinal connecting rod are respectively positioned in the middle positions of the transverse connecting rods, and the length of each transverse connecting rod is equal to the distance between each two upright columns on the front side or the rear side of the climbing connecting frame; 1 horizontal connecting rod is fixed in the intermediate position department of 2 stands of preceding climbing robot rear side, and 1 horizontal connecting rod is fixed in the intermediate position department of 2 stands of climbing robot front side behind in addition.

The connection relation of the motion control plate is as follows: the positive pole and the negative pole of the lithium battery are correspondingly connected with the positive pole and the negative pole of the power supply interface of the motion control panel, and the USB interface of the motion control panel is connected with the USB interface of the PC upper computer; the left front coding motor is connected with a motor interface 1 of the motion control panel, the right front coding motor is connected with a motor interface 2 of the motion control panel, the left rear coding motor is connected with a motor interface 3 of the motion control panel, and the right rear coding motor is connected with a motor interface 4 of the motion control panel.

The 2 wheel foot composite mechanisms are a left wheel foot composite mechanism and a right wheel foot composite mechanism: correspondingly, the front coding motors are a left front coding motor and a right front coding motor; the rear coding motors are a left rear coding motor and a right rear coding motor.

The center of the horizontal plate of the front motor support refers to the centroid of a connecting surface formed by fixedly connecting the horizontal plate of the front motor support and the front connecting rod.

The center of the horizontal plate of the rear motor support is the centroid of a connecting surface formed by fixedly connecting the horizontal plate of the rear motor support and the rear two connecting rods.

The invention has three working states on the outer wall of the pipeline: one is a working state without obstacles on the horizontal pipe wall; the other is a working state with an obstacle on the horizontal pipe wall; the other is the working state of running from the horizontal pipe wall to the vertical pipe wall.

Two-section wheel foot formula pipeline climbing robot (hereinafter referred to as the robot for short) can often meet the condition that has the barrier such as ring flange at work: when the robot works on the horizontal pipe wall without obstacles, the robot inevitably moves to the flange plate along the horizontal pipe wall, and at the moment, the robot continues to move forwards at the original speed, and the auxiliary support of the front climbing robot moves forwards to the flange plate along with the robot; at the moment, the front climbing robot and the rear climbing robot still move forward at the original speed, the auxiliary support moves forward at a constant speed to gradually lift the front end of the front climbing robot, and the front Mecanum wheel contacts the flange plate; the ring flange is crossed to climbing link under the effect of moving ahead of the back mecanum wheel of climbing robot in the front and the effect of moving ahead of back climbing robot afterwards, and immediately, preceding mecanum wheel, universal wheel, back mecanum wheel also cross the ring flange in proper order, and the ring flange is crossed completely to climbing robot before until. The process that the rear climbing robot crosses the flange plate is the same as that of the front climbing robot. The robot crossing the obstacle enters an obstacle-free operation state.

When the robot works on the horizontal pipe wall, the robot can also work from the horizontal pipe wall to the vertical pipe wall: at the moment, the robot continues to move forwards at the original speed, the auxiliary wheels of the front climbing robot are firstly contacted with the vertical pipe, and then the front Mecanum wheels of the front climbing robot are contacted with the wall of the vertical pipe under the combined action of the front Mecanum wheels of the front climbing robot and the front climbing robot; with the continuous forward movement of the rear climbing robot, the front climbing robot then climbs onto the vertical pipe wall, and the auxiliary wheels on the rear climbing robot are contacted with the vertical pipe wall; along with climbing robot upwards at vertical pipe wall before, the preceding mecanum wheel of back climbing robot contacts with vertical pipe wall, and back climbing robot is along with climbing robot constantly ascending and climbing to vertical pipe wall at the uniform velocity before, and the robot will continue upwards to creep along vertical pipe wall with original speed.

The operation with obstacles on the vertical pipe wall is the same as the operation with obstacles on the horizontal pipe wall.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention is formed by connecting a rear climbing robot with the same structure with a front climbing robot through a robot connecting piece, wherein wheel-foot composite mechanisms and magnetic adsorption devices are symmetrically arranged on two sides of the front climbing robot, and auxiliary wheels are respectively arranged on two sides of the front end of the front climbing robot through symmetrically fixed auxiliary supports, so the structure is simple.

2. The wheel-foot composite mechanism adopted by the invention is a six-wheel rocker arm type moving mechanism, so that the obstacle crossing capability of the robot depends on the length of the rocker arm and is not limited by the size of the wheel diameter, and therefore, the robot can cross large obstacles such as flange plates and the like. In addition, the damping device of the wheel-foot composite mechanism is connected with the climbing connecting frame, so that when the robot encounters small obstacles such as rust and welding seams in the moving process, the distance between the climbing connecting frame and the surface of the pipeline can be kept unchanged, namely, the distance between the magnetic adsorption device and the surface of the pipeline can be kept unchanged, namely, the magnetic adsorption force of the robot can be kept unchanged, the robot can be kept stable in the walking process, the passing rate is high, and the obstacle crossing capability is strong. The invention respectively controls the starting, stopping and steering of each coding motor through the motion control plate, thereby controlling the motion state of the Mecanum wheel.

3. The auxiliary wheel adopted by the invention is used for assisting transition movement when a robot running in a horizontal pipeline meets a vertical pipeline, and the auxiliary support is used for leaning against a barrier to be guided for overall obstacle crossing when the robot crosses variable-diameter obstacles such as a flange plate and the like, so that the ability of the robot for climbing the variable-diameter obstacles is improved, and the application range is wide.

4. The invention adopts a structure that the front climbing robot is connected with the rear climbing robot, so that at least one climbing robot is adsorbed on the pipe wall in the obstacle crossing process of the robot, and the robot is prevented from falling off the pipe wall, thereby improving the stability of the robot in the pipeline climbing process.

5. The magnetic adsorption device adopted by the invention has the advantages that the adsorption force can be adjusted, the hexagonal flange nut is loosened, the countersunk head screw rod can be rotated to adjust the height of the permanent magnet so as to change the distance between the permanent magnet and the surface of the pipeline and further adjust the adsorption force, the robot can be stably adsorbed on the pipe wall, the situation that the moving resistance is increased due to the excessively strong adsorption force when the robot climbs the pipeline can be avoided, and the stability of the robot in the walking and obstacle crossing processes can be effectively ensured.

Therefore, the invention has the characteristics of simple structure, strong obstacle crossing capability, high stability and wide application range.

Drawings

FIG. 1 is a schematic structural diagram of the present invention;

FIG. 2 is an enlarged schematic view of a structure of the front climbing robot 1 in FIG. 1;

FIG. 3 is an enlarged schematic view of one configuration of the climbing attachment 6 of FIG. 2;

FIG. 4 is an enlarged view of the wheel-foot combination mechanism 8 of FIG. 1;

FIG. 5 is a schematic view of the front connecting member 19 of FIG. 4;

FIG. 6 is a schematic structural view of the rear connector 22 of FIG. 4;

FIG. 7 is an enlarged schematic view of the structure of the shock absorbing device 20 shown in FIG. 4;

FIG. 8 is an enlarged schematic view of one configuration of the magnetic attachment apparatus 10 of FIG. 2;

fig. 9 is an enlarged schematic view of the robotic connector 2 of fig. 1;

FIG. 10 is a schematic view of the present invention in operation with an obstruction in the horizontal duct wall;

FIG. 11 is a schematic view of the invention in its operating condition as it travels from the horizontal wall to the vertical wall;

fig. 12 is a schematic view showing the connection relationship of the motion control plate 7 in fig. 2.

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific embodiments, which are given by way of illustration only and are not intended to limit the scope of the invention.

Example 1

A two-section wheel-foot type pipeline climbing robot. The two-section wheel-foot type pipeline climbing robot is shown in figure 1 and comprises a front climbing robot 1, a robot connecting piece 2 and a rear climbing robot 3, wherein the rear end of the front climbing robot 1 is connected with the front end of the rear climbing robot 3 through the robot connecting piece 2.

For the convenience of narration, it is the place ahead to establish preceding climbing robot 1, and the left side that faces the anterior of two sections wheel sufficient pipeline climbing robot is the left.

For convenience of description, the following letters will be described collectively as follows:

l₀represents the length, mm, of the climbing attachment 6;

b₀representing the width, mm, of the climbing attachment 6;

h₀indicating the height, mm, of the climbing attachment 6.

As shown in fig. 2, the front climbing robot 1 includes 2 auxiliary wheels 4, 2 auxiliary supports 5, a climbing connection frame 6, a motion control plate 7, 2 wheel-foot composite mechanisms 8, a lithium battery 9 and 2 magnetic adsorption devices 10.

As shown in fig. 2, auxiliary supports 5 are symmetrically fixed on both sides of the front end of the climbing connecting frame 6, the lower ends of the 2 auxiliary supports 5 are flush with the lower plane of the climbing connecting frame 6, and the upper ends of the 2 auxiliary supports 5 are respectively and movably provided with auxiliary wheels 4.

Horizontal distance l between the axle center of the auxiliary wheel 4 and the front end of the climbing connecting frame 6₁＝0.5l₀；

The axle center of the auxiliary wheel 4 is connected with the climbingVertical distance h of lower plane of shelf 6₁＝0.8h₀。

As shown in fig. 3, the climbing attachment 6 comprises: an upper rectangular frame 11, a lower rectangular frame 13, a flat plate 16 and 4 upright posts 12; the upper rectangular frame 11 is a whole formed by enclosing 2 cross beams and 2 longitudinal beams, the upper rectangular frame 11 is the same as the lower rectangular frame 13, and 4 corners of the upper rectangular frame 11 are fixedly connected with 4 corresponding corners of the lower rectangular frame 13 through the upright posts 12.

As shown in fig. 2 and 3, wheel foot mounting holes 14 are symmetrically formed in the middle and the rear of the 2 longitudinal beams of the upper rectangular frame 11, and the 2 wheel foot composite mechanisms 8 are fixedly connected with the corresponding wheel foot mounting holes 14 through bolts; the middle of 2 longerons of lower rectangular frame 13 is equipped with magnetism adsorption equipment mounting hole 15 near the back symmetrically, and 2 magnetism adsorption equipment 10 are respectively through bolt and corresponding magnetism adsorption equipment mounting hole 15 fixed connection.

As shown in fig. 2 and 3, a flat plate 16 is horizontally fixed at a middle position of the bottom of the lower rectangular frame 13 in the front-rear direction, and the motion control plate 7 and the lithium battery 9 are disposed on the upper plane of the flat plate 16.

As shown in fig. 4, the wheel-foot compound mechanism 8 includes a front encoder motor 17, a front mecanum wheel 18, a front link 19, a shock absorbing device 20, a universal wheel 21, a rear link 22, a rear mecanum wheel 23, and a rear encoder motor 24.

As shown in fig. 5, the front connecting member 19 is formed by fixedly connecting a front motor bracket 25, a front connecting rod 26, a front shaft sleeve 27, a front two connecting rods 28 and a universal wheel connecting plate 29 in sequence from front to back. Wherein:

the front connecting rod 26 is a straight rod, and the front connecting rods 28 are L-shaped rod pieces; the front motor bracket 25 is an integral body composed of a horizontal plate and a vertical plate.

The vertical distance h between the center of the horizontal plate of the front motor bracket 25 and the axle center of the front shaft sleeve 27₂＝0.23h₀；

Horizontal distance l between the center of the horizontal plate of the front motor bracket 25 and the axle center of the front axle sleeve 27₂＝0.27l₀；

The horizontal distance b between the center of the horizontal plate of the front motor bracket 25 and the right side surface of the vertical plate of the front motor bracket 25₁＝0.07b₀；

Horizontal distance b between the center of the right side surface of the universal wheel connecting plate 29 and the center between the two end surfaces of the previous shaft sleeve 27₂＝0.16b₀。

As shown in fig. 4 and 5, the front encoder motor 17 is fixedly connected to the right side of the vertical plate of the front motor bracket 25, and the output shaft of the front encoder motor 17 passes through the vertical plate of the front motor bracket 25 and is connected to the front mecanum wheel 18.

As shown in fig. 6, the rear connecting member 22 is formed by fixedly connecting a rear shaft sleeve 30, a rear connecting rod 31, a rear two shaft sleeve 32, a rear two connecting rod 33 and a rear motor bracket 34 in sequence from front to rear. Wherein:

the rear connecting rod 31 and the rear connecting rods 33 are straight rods;

the vertical distance h between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.21h₀；

Horizontal distance l between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.13l₀；

As shown in FIGS. 5 and 6, the rear motor bracket 34 has the same structure as the front motor bracket 25, and the horizontal distance b between the center of the horizontal plate of the rear motor bracket 34 and the right side of the vertical plate of the rear motor bracket 34₃＝0.12b₀。

As shown in fig. 4 and 6, the rear encoder motor 24 is fixedly connected to the right side of the vertical plate of the rear motor bracket 34, and the output shaft of the rear encoder motor 24 passes through the vertical plate of the rear motor bracket 34 and is connected to the rear mecanum wheel 23.

As shown in fig. 7, the shock absorbing device 20 includes a shock absorbing mounting plate 35, an arc inner baffle 37, an arc outer baffle 38, a spring 39, a shock absorbing mounting seat 40 and a bracket shaft 41; the arc-shaped inner baffle plates 37 are arranged on the lower plane of the shock absorption mounting plate 35 in a centrosymmetric mode, the arc-shaped outer baffle plates 38 are arranged on the upper plane of the shock absorption mounting seat 40 in a centrosymmetric mode, the curvature radius of the inner surface of each arc-shaped outer baffle plate 38 is the same as the nominal size of the curvature radius of the outer surface of each arc-shaped inner baffle plate 37, the arc length of the inner surface of each arc-shaped outer baffle plate 38 and the arc length of the outer surface of each arc-shaped inner baffle plate 37 are both 0.7 pi r, r represents the curvature radius of the inner surface of each arc-shaped outer baffle plate 38, and the outer surfaces of the arc-shaped inner baffle plates 37 and the inner surfaces of the arc-shaped outer baffle plates 38 are connected in a sliding mode.

A spring 39 is arranged between the shock absorption mounting plate 35 and the shock absorption mounting seat 40, the spring 39 is positioned in the center positions of the arc-shaped inner baffle plate 37 and the arc-shaped outer baffle plate 38, and the heights of the arc-shaped outer baffle plate 38 and the arc-shaped inner baffle plate 37 are 70% of the distance between the lower plane of the shock absorption mounting plate 35 and the upper plane of the shock absorption mounting seat 40; a support shaft 41 is fixed at the center of the right side of the shock absorbing mounting base 40.

As shown in fig. 4 to 7, the wheel-foot combination mechanism 8 has the following structure: the front shaft sleeve 27 is movably connected with the rear shaft sleeve 30 through a pin shaft, a wheel carrier of the universal wheel 21 is connected with the lower plane of the universal wheel connecting plate 29, and the rear shaft sleeve 32 is movably connected with a support shaft 41 of the damping device 20; shock attenuation mounting panel 35 is equipped with sufficient connect the through-hole 36 of wheel, and sufficient connect the through-hole 36 of wheel passes through bolt and climbing link 6 the sufficient mounting hole 14 fixed connection of wheel.

As shown in fig. 8, the magnetic adsorption device 10 includes a hexagonal flange nut 42, a rectangular bracket 43, a countersunk head screw 44, a hexagonal nut 46, and a permanent magnet 47.

The rectangular bracket 43 is an integral rectangular frame surrounded by 2 strip-shaped plates and 2 rectangular blocks, the upper strip-shaped plate of the rectangular bracket 43 is uniformly provided with 5 screw holes along the vertical direction, the lower strip-shaped plate is correspondingly provided with 5 through holes along the vertical direction, and the central lines of the 5 screw holes are respectively in the same straight line with the central lines of the corresponding through holes; one end of the head of the countersunk head screw 44 is fixedly connected with the permanent magnet 47 through a hexagonal nut 46, and the other end of the countersunk head screw 44 sequentially penetrates through the through hole of the lower strip-shaped plate and the screw hole of the upper strip-shaped plate and is fixed on the upper plane of the rectangular bracket 43 through a hexagonal flange nut 42; the central positions of the two rectangular blocks are symmetrically provided with adsorption connecting through holes 45 along the horizontal direction, and the adsorption connecting through holes 45 are fixedly connected with the magnetic adsorption device mounting holes 15 through bolts.

The rear climbing robot 3 has the same structure as the front climbing robot 1.

As shown in fig. 9, the robot joint 2 includes 2 transverse links 48 and 1 longitudinal link 49; the two ends of the longitudinal connecting rod 49 are symmetrically hinged with transverse connecting rods 48, the two ends of the longitudinal connecting rod 49 are respectively positioned at the middle positions of the transverse connecting rods 48, and the length of 2 transverse connecting rods 48 is the same as the distance between 2 upright columns 12 on the front side or the rear side of the climbing connecting frame 6; 1 transverse connecting rod 48 is fixed in the middle position department of 2 stands 12 of preceding climbing robot 1 rear side, and 1 other transverse connecting rod 48 is fixed in the middle position department of 2 stands 12 of back climbing robot 3 front side.

As shown in fig. 12, the connection relationship of the motion control board 7 is: the positive pole and the negative pole of the lithium battery 9 are correspondingly connected with the positive pole and the negative pole of the power interface of the motion control panel 7, and the USB interface of the motion control panel 7 is connected with the USB interface of the PC upper computer; the left front coding motor 50 is connected with a motor interface 1 of the motion control plate 7, the right front coding motor 53 is connected with a motor interface 2 of the motion control plate 7, the left rear coding motor 51 is connected with a motor interface 3 of the motion control plate 7, and the right rear coding motor 52 is connected with a motor interface 4 of the motion control plate 7.

As shown in fig. 1, fig. 2 and fig. 4, the 2 wheel-foot composite mechanisms 8 are a left wheel-foot composite mechanism and a right wheel-foot composite mechanism: accordingly, the front encoder motors 17 are a left front encoder motor 50 and a right front encoder motor 53; the rear encoder motors 24 are a left rear encoder motor 51 and a right rear encoder motor 52.

The center of the horizontal plate of the front motor bracket 25 refers to the centroid of the connecting surface formed by the fixed connection of the horizontal plate of the front motor bracket 25 and the front connecting rod 26.

The center of the horizontal plate of the rear motor bracket 34 refers to the centroid of the connecting surface formed by the fixed connection of the horizontal plate of the rear motor bracket 34 and the rear two connecting rods 33.

Example 2

A two-section wheel-foot type pipeline climbing robot. The procedure is as in example 1, except for the following parameters:

horizontal distance l between the axle center of the auxiliary wheel 4 and the front end of the climbing connecting frame 6₁＝0.4l₀；

Vertical distance h between the axle center of the auxiliary wheel 4 and the lower plane of the climbing connecting frame 6₁＝0.7h₀。

The vertical distance h between the center of the horizontal plate of the front motor bracket 25 and the axle center of the front shaft sleeve 27₂＝0.22h₀；

Front motor bracket 25 horizontal plate center and front axle sleeve 27Horizontal distance l of axis₂＝0.26l₀；

The horizontal distance b between the center of the horizontal plate of the front motor bracket 25 and the right side surface of the vertical plate of the front motor bracket 25₁＝0.06b₀；

Horizontal distance b between the center of the right side surface of the universal wheel connecting plate 29 and the center between the two end surfaces of the previous shaft sleeve 27₂＝0.15b₀。

The vertical distance h between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.20h₀；

Horizontal distance l between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.12l₀；

The rear motor bracket 34 and the front motor bracket 25 have the same structure, and the horizontal distance b between the center of the horizontal plate of the rear motor bracket 34 and the right side surface of the vertical plate of the rear motor bracket 34₃＝0.11b₀。

The arc length of the inner surface of the arc-shaped outer barrier 38 and the arc length of the outer surface of the arc-shaped inner barrier 37 are both 0.6 pi r, and r represents the radius of curvature of the inner surface of the arc-shaped outer barrier 38.

The heights of the arc-shaped outer baffle plate 38 and the arc-shaped inner baffle plate 37 are both 60% of the distance between the lower plane of the shock absorption mounting plate 35 and the upper plane of the shock absorption mounting seat 40.

The upper strip plate of the rectangular bracket 43 is uniformly provided with 6 screw holes along the vertical direction, the lower strip plate is correspondingly provided with 6 through holes along the vertical direction, and the central lines of the 6 screw holes are respectively in the same straight line with the central lines of the corresponding through holes.

Example 3

A two-section wheel-foot type pipeline climbing robot. The procedure is as in example 1, except for the following parameters:

horizontal distance l between the axle center of the auxiliary wheel 4 and the front end of the climbing connecting frame 6₁＝0.45l₀；

Vertical distance h between the axle center of the auxiliary wheel 4 and the lower plane of the climbing connecting frame 6₁＝0.75h₀。

The vertical distance h between the center of the horizontal plate of the front motor bracket 25 and the axle center of the front shaft sleeve 27₂＝0.225h₀；

Front motor supportHorizontal distance l between the center of the horizontal plate of the frame 25 and the axle center of the front axle sleeve 27₂＝0.265l₀；

The horizontal distance b between the center of the horizontal plate of the front motor bracket 25 and the right side surface of the vertical plate of the front motor bracket 25₁＝0.065b₀；

Horizontal distance b between the center of the right side surface of the universal wheel connecting plate 29 and the center between the two end surfaces of the previous shaft sleeve 27₂＝0.155b₀。

The vertical distance h between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.205h₀；

Horizontal distance l between the axle center of the rear axle sleeve 30 and the axle center of the rear axle sleeve 32₃＝0.125l₀；

The rear motor bracket 34 and the front motor bracket 25 have the same structure, and the horizontal distance b between the center of the horizontal plate of the rear motor bracket 34 and the right side surface of the vertical plate of the rear motor bracket 34₃＝0.115b₀。

The arc length of the inner surface of the arc-shaped outer barrier 38 and the arc length of the outer surface of the arc-shaped inner barrier 37 are both 0.65 rr, and r represents the radius of curvature of the inner surface of the arc-shaped outer barrier 38.

The heights of the arc-shaped outer baffle plate 38 and the arc-shaped inner baffle plate 37 are 65% of the distance between the lower plane of the shock absorption mounting plate 35 and the upper plane of the shock absorption mounting seat 40.

The upper strip plate of the rectangular bracket 43 is uniformly provided with 4 screw holes along the vertical direction, the lower strip plate is correspondingly provided with 4 through holes along the vertical direction, and the central lines of the 4 screw holes are respectively in the same straight line with the central lines of the corresponding through holes.

The working state of the pipeline outer wall of the concrete embodiment is three types: one is a working state without obstacles on the horizontal pipe wall; another operating condition is shown in fig. 10, in which there is an obstacle in the horizontal tube wall; yet another is the operational condition in which the horizontal wall runs to the vertical wall as shown in figure 11.

Two-section wheel foot formula pipeline climbing robot (hereinafter referred to as the robot for short) can often meet the condition that has the barrier such as ring flange at work: i.e. when the robot is working without obstacles on the horizontal pipe wall, it inevitably runs along the horizontal pipe wall to the flange. At this time, the robot will continue to move forward at the original speed, the auxiliary support 5 of the front climbing robot 1 will move forward to the flange plate, and the robot is in the state shown in fig. 10 a; at the moment, the front climbing robot 1 and the rear climbing robot 3 still move forward at the original speed, the auxiliary support 5 moves forward at the constant speed to gradually lift the front end of the front climbing robot 1, the front Mecanum wheel 18 contacts with the flange plate, and the robot is in a state shown in figure 10 b; then under the effect of the preceding walking of back mecanum wheel 23 and the preceding walking of back climbing robot 3 of preceding climbing robot 1, climbing link 6 crosses the ring flange, and immediately afterwards, preceding mecanum wheel 18, universal wheel 21, back mecanum 23 wheel also cross the ring flange in proper order, as shown in fig. 10c-10e, until preceding climbing robot 1 crosses the ring flange completely. The process that the rear climbing robot 3 crosses the flange plate is the same as that of the front climbing robot 1, as shown in FIGS. 10f-10 j; finally, as shown in fig. 10j, the robot passing over the obstacle enters an obstacle-free operation state.

When the robot works on the horizontal pipe wall, the robot can also work from the horizontal pipe wall to the vertical pipe wall continuously, and the robot is in the state shown in fig. 11 a; at this time, the robot continues to move forward at the original speed, the auxiliary wheels 4 of the front climbing robot 1 are firstly contacted with the vertical pipe, and then under the combined action of the front Mecanum wheels 23 of the front climbing robot 1 and the front climbing robot 3, the front Mecanum wheels 18 of the front climbing robot 1 are contacted with the vertical pipe wall, and at this time, the robot is in the state shown in FIG. 11 b; with the continuous forward movement of the rear climbing robot 3, the front climbing robot 1 then climbs onto the vertical pipe wall, the auxiliary wheels on the rear climbing robot 3 are in contact with the vertical pipe wall, and the robot is in a state shown in fig. 11 c; along with climbing robot 1 upwards at vertical pipe wall before, the preceding mecanum wheel of back climbing robot 3 contacts with vertical pipe wall, and the robot is in the state of 11d, and back climbing robot 3 is on climbing the vertical pipe wall at the uniform velocity along with the continuous ascending of preceding climbing robot 1, and the robot is in the state of 11 e. The robot will continue to crawl up the vertical pipe wall at its original speed.

The operation with obstacles on the vertical pipe wall is the same as the operation with obstacles on the horizontal pipe wall.

Compared with the prior art, the specific implementation mode has the following beneficial effects that:

1. this embodiment forms with preceding climbing robot 1 through robot connecting piece 2 with the same back climbing robot 3 of structure, and preceding climbing robot 1 bilateral symmetry is equipped with sufficient combined mechanism of wheel 8 and magnetic adsorption device 10, and preceding climbing robot 1 front end both sides are equipped with auxiliary wheel 4 respectively through symmetrical fixed auxiliary stand 5, so simple structure.

2. The wheel-foot composite mechanism 8 adopted by the embodiment is a six-wheel rocker arm type moving mechanism, so that the obstacle crossing capability of the robot depends on the length of the rocker arm and is not limited by the size of the wheel diameter, and therefore the robot can cross large obstacles such as flange plates. In addition, the damping device 20 of the wheel-foot composite mechanism 8 is connected with the climbing connecting frame 6, so that when the robot encounters small obstacles such as rust and welding seams in the moving process, the distance between the climbing connecting frame 6 and the surface of the pipeline can be kept unchanged, namely, the distance between the magnetic adsorption device 10 and the surface of the pipeline can be kept unchanged, namely, the magnetic adsorption force of the robot can be kept unchanged, the robot can be kept stable in the walking process, the passing rate is high, and the obstacle crossing capability is strong. In the embodiment, the motion control board 7 controls the start, stop and steering of each coding motor respectively, so as to control the motion state of the mecanum wheel.

3. The auxiliary wheel 4 that this embodiment adopted is used for the supplementary transition motion when running in perpendicular pipeline at the robot of horizontal pipeline, and auxiliary stand 5 is used for leaning on when the robot crosses reducing obstacles such as ring flange for the whole direction of crossing the obstacle, thereby has improved the ability of climbing reducing obstacle more of robot, and accommodation is wide.

4. This embodiment adopts preceding climbing robot 1 and the continuous structure of back climbing robot 3, enables the robot and has at least a lesson climbing robot absorption on the pipe wall in the in-process of surmounting the obstacle to prevent that the robot from droing from the pipe wall, thereby improve the stability of robot in the pipeline climbing in-process.

5. The magnetic adsorption device 10 that this embodiment adopted adsorbs the power size adjustable, loosen hexagon flange face nut 42, rotate countersunk screw 44 and can adjust permanent magnet 47's height, thereby adjust the size of adsorption power with the distance on pipeline surface with the change permanent magnet 47, can make the robot adsorb on the pipe wall steadily, can avoid the robot again because the adsorption power is too strong and increase the condition of removal resistance when climbing the pipeline, can effectively guarantee the robot at the walking and the stability of obstacle crossing in-process.

Therefore, the specific implementation mode has the characteristics of simple structure, strong obstacle crossing capability, high stability and wide application range.