Flexible wriggle pipeline robot with guide head
A pipeline robot and guide head technology, which is applied in the direction of pipes/pipe joints/fittings, pipe components, mechanical equipment, etc., can solve the problems of small adaptability of variable diameter pipes and the inability to realize T-shaped pipe turning, and achieve low manufacturing cost. The effect of ensuring stability and broad application prospects
Inactive Publication Date: 2010-01-13
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
[0003] There are related technologies disclosed in the prior art. For example, the patent application number 200810106352.X discloses a flexible peristaltic pipeline robot. This pipeline robot cannot realize T-shaped pipeline turning, and has less adaptability to variable diameter pipelines.
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[0039] like figure 1 , figure 2 and image 3As shown, a flexible peristaltic pipeline robot with a guide head includes: a left hemispherical shell 1 and a right hemispherical shell 2, the left end of the right hemispherical shell 2 is provided with a right flange 5, and the right end of the left hemispherical shell 1 is provided with a left The flange 4 and the left hemispherical shell 1 are provided with a driving device 6, which forms a screw drive with the threaded flexible shaft 3, and one end of the threaded flexible shaft 3 passes through the pipe body in the middle of the left hemispherical shell 1 and the left flange 4 is fixedly connected with the right flange 5, and the left end of the threaded flexible shaft 3 is provided with a baffle 31, which prevents the left hemispherical shell 1 from breaking away from the threaded flexible shaft 3, and the driving device 6 includes a motor 61, a gear 62 and a nut The gear nut 63 of gear teeth is set on the outer circumfere...
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The invention discloses a flexible wriggle pipeline robot with a guide head, comprising a left hemispheric shell and a right hemispheric shell, wherein the end parts of the left hemispheric shell and the right hemispheric shell are provided with a left ring flange and a right ring flange; the left hemispheric shell is internally provided with a driving device, screw drive is formed by the driving device and a threaded flexible shaft, and the right end of the threaded flexible shaft passes through the left hemispheric shell to fixedly connect the right ring flange; the top end of the right hemispheric shell is spherically articulated with the guide head, the left surface of a bottom plate of the guide head is provided with four chutes which are uniformly distributed along a circumferential direction, and the chutes are connected with guide mechanisms in a sliding way; the other ends of the guide mechanisms respectively correspond to four electromagnets positioned on the left ring flange, the right ring flange is provided with a retaining device which corresponds to the guide mechanisms, and the left ring flange and the right ring flange are respectively annularly provided with a plurality of push-pull wheel rod mechanisms and a plurality of supporting wheels. The flexible wriggle pipeline robot with the guide head can successfully pass through a T-shaped pipeline; in addition, electromagnetic wheels of push-pull wheel rods are contacted with the inner part of the pipeline all the time in the motion process, thereby achieving good stability.
Description
technical field [0001] The invention relates to the research field of pipeline robots, in particular to a flexible peristaltic pipeline robot with a guide head. Background technique [0002] A pipeline robot is a machine that can walk along the inner wall of a pipeline. It can carry various detection instruments or operating devices (such as CCD cameras, ultrasonic sensors, pipeline cleaning equipment, etc.), and enter the interior of the pipeline under the remote control or autonomous control of the operator to complete pipeline defect detection, identification and removal of debris in the pipeline, Inspection and coating of anti-corrosion coatings in pipelines, in-pipe processing and other tasks. It is produced under the impetus of modern petrochemical, urban construction and other pipeline construction technologies. With the continuous development of industrialization and urban construction, the cumulative length of pipelines laid in various industries will increase, th...
Claims
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Inventor 张延恒孙汉旭贾庆轩叶平高欣宋荆州
Owner BEIJING UNIV OF POSTS & TELECOMM