Flexible wriggle pipeline robot with guide head

Abstract

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 drivingdevice 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 circumferentialdirection, 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

Flexible Peristaltic Pipeline Robot with Guiding Head technical field The invention relates to the research field of pipeline robots, in particular to a flexible peristaltic pipeline robot with a guide head. Background technique 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...

AI Technical Summary

Problems solved by technology

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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