Crawling type micro pipeline robot

Abstract

The invention discloses a creeping motion type mini pipeline robot, which comprises a middle stretching part and two supporting parts being able to be supported in the mini pipeline. The two supporting parts are respectively connected with the both ends of the middle stretching part, the supporting parts comprise nut supporting frames and driving devices driving the nut supporting frames to move backward and forward, rear supporting legs are hinged on the driving devices, front supporting legs are hinged on the nut supporting frames, and the rear supporting legs are hinged with the front supporting legs. The creeping motion type mini pipeline robot with enough driving traction force can freely move frontward and rearward in the mini pipeline with an arbitrary slope angle, can also creep in an upright pipeline, and can be embarked an extended function module, to realize the examining, the detecting and the maintenance of the condition in the mini pipeline.

Description

technical field [0001] The invention relates to the field of micro-robots, in particular to a peristaltic micro-pipeline robot used for crawling and detecting in micro-pipelines with an inner diameter of 15-20mm. Background technique [0002] At present, micro-pipe robot technology is a new type of technology that combines precision machinery, robotics, new materials, and control theory, which has emerged in recent years. Due to the use of many tiny pipes in modern industrial and agricultural production and daily life, such as steam generator heat transfer tubes in nuclear power plants, metallurgy, petroleum, chemical industry, urban water heating supply, industrial pipes and gas pipes in the refrigeration industry, etc., these pipe systems The working environment is very harsh, and it is prone to corrosion, fatigue damage, or potential defects inside the pipeline to develop into damage and cause leakage accidents. Therefore, the monitoring, diagnosis, cleaning and maintena...

AI Technical Summary

Problems solved by technology

The control system is relatively complicated, and it is difficult to achieve precise control; the motor-external screw moving device developed by Tokyo Institute of Technology in Japan has a fast speed, but the auxiliary equipment outside the tube is complicated; there have been reports on the development of several kinds of moving mechanisms inside the tube at home and abroad, but most of them The traction force is small, and there is still a big gap from practical application

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