ADAPTIVE WHEEL SUPPORT OF TRANSPORT MODULE OF IN-LINE DIAGNOSTIC ROBOT Russian patent published in 2024 - IPC F17D5/06 B25J9/00 B62D57/00 

FIELD: transportation.

SUBSTANCE: invention relates to vehicles capable of moving inside pipelines. Adaptive wheel support of the transport module of the in-line diagnostic robot, which comprises a central link and two bearing bases connected to it by two-axis hinges, is one of three support legs installed on each bearing base, directed radially at angle of 120°, with independent drive wheel propulsors and consists of fixed housing and movable section with wheel propulsor installed at its end, wherein wheeled propulsor consists of two independent drive motor wheels, each of which is installed at the end of its lever, which by the second end is mounted on the movable section of the support leg by means of a cylindrical hinge and is spring-loaded relative to it by means of two identical compression springs, symmetrically located relative to the longitudinal axis of the lever, and the levers are made with possibility of changing the length of each lever, changing the position of the attachment point of each pair of springs on its lever and changing the value of the initial compression of each spring, spring compression limiters are provided. On each support there are sensors that control movement of the movable section relative to the fixed housing of the support, lever turn sensors and sensors of total spring compression force on each lever.

EFFECT: invention can be used as a supporting structural element of a transport module of an in-line autonomous diagnostic robot for diagnosing the state of pipelines, which are characterized by significant differences in pipe diameters, local changes in direction in vertical and horizontal planes, as well as pipeline branches.

1 cl, 3 dwg