| CPC F16L 55/32 (2013.01) [B62D 55/065 (2013.01)] | 6 Claims |
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1. A deformable tracked pipeline robot, comprising a robot main body (1), wherein three tracked foot modules (2) in a circular array are circumferentially arranged on an outer side surface of the robot main body (1); each of the three tracked foot modules (2) is connected to the robot main body (1) through a center variable-diameter module (3), and a spacing between said each of the three tracked foot modules (2) and the robot main body (1) is adjusted through the center variable-diameter module (3), making the three tracked foot modules (2) all in contact with an inner wall of the pipeline;
wherein each of the three tracked foot modules (2) comprises two main side plates (21) called a first main side plate and a second main side plate parallel to each other; a driving support leg module (22) is arranged between two ends of the two main side plates (21), a driven support leg module (23) is arranged between an other ends of the two main side plates (21), and the driving support leg module (22) is connected to the driven support leg module (23) through a synchronous belt transmission mechanism (24); tracked wheels are arranged in interiors of both the driving support leg module (22) and the driven support leg module (23); the tracked wheels of the driving support leg module (22) and the driven support leg module (23) are sleeved with a same track (25); a driving motor (2204) is arranged on the first main side plate (21) at the driving support leg module (22), and a brake (2305) is arranged on the first main side plate (21) at the driven support leg module (23);
when the brake (2305) is in a power-on locking state, the synchronous belt transmission mechanism (24) stops running, and the driving motor (2204) controls the tracked wheel inside the driving support leg module (22) to rotate to drive the track (25) to run; when the brake (2305) is in a power-off unlocking state, the synchronous belt transmission mechanism (24) starts running, and the driving motor (2204) controls the driving support leg module (22) to rotate integrally, and the driving support leg module (22) drives the driven support leg module (23) to rotate synchronously through the synchronous belt transmission mechanism (24);
wherein the driving support leg module (22) comprises two driving side plates (2201) called a first driving side plate and a second driving side plate; the two driving side plates (2201) are located between the two main side plates (21), and the two driving side plates (2201) are fixedly connected to each other through a plurality of connecting rods; a first tracked wheel (2202) is rotatably arranged between ends of the two driving side plates (2201), and a second tracked wheel (2203) is rotatably arranged between other ends of the two driving side plates (2201); a driven spur gear (2209) is fixedly arranged on a rotating shaft of the first tracked wheel (2202), and a driven spur gear (2209) rotates synchronously with the first tracked wheel (2202);
the driving motor (2204) is fixedly arranged on an outer side surface of the first main side plate (21) close to the driving support leg module (22), and a driving bevel gear (2205) is fixedly arranged at an output shaft of the driving motor (2204); an input shaft (2207) is rotatably arranged at the first main side plate (21), a driven bevel gear (2206) is fixedly arranged at an outer end of the input shaft (2207), and the driving bevel gear (2205) is meshed with the driven bevel gear (2206);
wherein an inner end of the input shaft (2207) extends between the two driving side plates (2201), a driving spur gear (2208) is fixedly arranged at the inner end of the input shaft (2207), and the driving spur gear (2208) is meshed with the driven spur gear (2209); a transmission shaft (2210) is arranged between the two driving side plates (2201), and a coupling (2211) is inserted in a fixed connection manner into an interior of the second driving side plate (2201) at an other side away from the input shaft (2207); and one end of the transmission shaft (2210) is fixedly connected to the driving spur gear (2208), and an other end of the transmission shaft (2210) is rotatably connected to an inner end of the coupling (2211) through a bearing;
wherein the driven support leg module (23) comprises two driven side plates (2301) called a first driven side plate and a second driven side plate; the two driven side plates (2301) are located between the two main side plates (21), and the two driven side plates (2301) are fixedly connected to each other through a plurality of connecting rods; a third tracked wheel (2302) is rotatably arranged between an ipsilateral ends of the two driven side plates (2301), and a fourth tracked wheel (2303) is rotatably arranged between other ends of the two driven side plates (2301); a driven shaft (2304) is arranged between the third tracked wheel (2302) and the fourth tracked wheel (2303); two ends of the driven shaft (2304) are inserted in a fixed connection manner into an interior of the two driven side plates (2301) and extend out of the two driven side plates (2301); the brake (2305) is fixedly arranged on an outer side surface of the first main side plate (21) close to the driven support leg module (23), and an output shaft of the brake (2305) is fixedly connected to one end of the driven shaft (2304); when the brake (2305) is in a power-off unlocking state, the driven shaft (2304) and the output shaft of the brake (2305) are able to rotate freely; when the brake (2305) is in a power-on locking state, the output shaft of the brake (2305) and the driven shaft are both unable to rotate freely; one end, close to the brake (2305), of the driven shaft (2304) is sleeved with a torsional spring (2306), and two ends of the torsional spring (2306) are fixedly connected to the main side plate (21) and the driven side plate (2301), respectively; and one end, away from the brake (2305), of the driven shaft (2304) extends out of an outside of the second main side plate (21) which is away from the brake (2305).
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