US 12,486,938 B2
Pipeline inspection robot with crisscross structure-changeable crawler belts and control method thereof
Aiguo Song, Nanjing (CN); Shaohu Wang, Nanjing (CN); Huijun Li, Nanjing (CN); Tianyuan Miao, Nanjing (CN); Qinjie Ji, Nanjing (CN); Yuefeng Xu, Nanjing (CN); and Bo Xu, Nanjing (CN)
Assigned to SOUTHEAST UNIVERSITY, Nanjing (CN)
Appl. No. 18/246,425
Filed by SOUTHEAST UNIVERSITY, Nanjing (CN)
PCT Filed May 12, 2022, PCT No. PCT/CN2022/092373
§ 371(c)(1), (2) Date Mar. 23, 2023,
PCT Pub. No. WO2023/212974, PCT Pub. Date Nov. 9, 2023.
Claims priority of application No. 202210479071.9 (CN), filed on May 5, 2022.
Prior Publication US 2024/0353049 A1, Oct. 24, 2024
Int. Cl. F16L 55/02 (2006.01); B62D 55/065 (2006.01); F16L 55/32 (2006.01); F16L 55/40 (2006.01); F16L 101/30 (2006.01); B62D 55/08 (2006.01)
CPC F16L 55/32 (2013.01) [F16L 55/40 (2013.01); F16L 2101/30 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A pipeline inspection robot with crisscross structure-changeable crawler belts, comprising a robot main body, crawler belt tilt angle adjustment mechanisms symmetrically provided on left and right sides of the robot main body, and crisscross structure-changeable crawler belt assemblies provided on the crawler belt tilt angle adjustment mechanism; wherein the robot main body is connected to the crisscross structure-changeable crawler belt assemblies at the left and right sides thereof by means of the crawler belt tilt angle adjustment mechanisms; the crawler belt tilt angle adjustment mechanism comprises a panel with a rotating shaft, which is connected to the robot main body, and a supporting sliding rail for adjusting a crawler belt tilt angle; a push rod motor is mounted on the supporting sliding rail; a power output shaft of the push rod motor drives a supporting sliding block capable of reciprocating on the supporting sliding rail; a supporting rod is mounted on the supporting sliding block; one end of the supporting rod is connected to the supporting sliding block and the other end thereof is connected to a supporting base on the panel with a rotating shaft; each crisscross structure-changeable crawler belt assembly comprises a primary traveling crawler belt, an auxiliary traveling crawler belt, and a crisscross structure-changeable sliding block; each of the primary traveling crawler belt and the auxiliary traveling crawler belt comprises a crawler belt supporting plate, a driving wheel, a driven wheel, a driving motor, and a crawler belt; a sliding rail and a lead screw are mounted in the middle of the crawler belt supporting plate and the lead screw is engaged with a gear of a stepping motor mounted on the crawler belt supporting plate to drive the lead screw to rotate; and the crisscross structure-changeable sliding block is composed of two sliding blocks and a torque motor.