公开(公告)号：US20240353049A1

公开(公告)日：2024-10-24

申请号：US18246425

申请日：2022-05-12

申请人： SOUTHEAST UNIVERSITY

发明人： Aiguo SONG ,  Shaohu WANG ,  Huijun LI ,  Tianyuan MIAO ,  Qinjie JI ,  Yuefeng XU ,  Bo XU

IPC分类号： F16L55/32 ,  F16L55/40 ,  F16L101/30

CPC分类号： F16L55/32 ,  F16L55/40 ,  F16L2101/30

摘要： The present disclosure discloses a pipeline inspection robot with crisscross structure-changeable crawler belts and a control method thereof. The pipeline inspection robot includes 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 mechanisms. 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 mechanisms are adjusted by means of supporting sliding blocks at the bottom of the robot main body. The crisscross structure-changeable crawler belt assembly includes a primary traveling crawler belt, an auxiliary traveling crawler belt, and a crisscross structure-changeable sliding block. The primary traveling crawler belt and the auxiliary traveling crawler belt are connected by means of the crisscross structure-changeable sliding block. According to the present disclosure, a crawler belt structure can be changed, and each set of structure-changeable crawler belt structure is independent and has very good flexibility for climbing and crossing over obstacles to adapt to complex environments in pipelines.