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Pipeline robot

A pipeline robot and controller technology, applied in the field of robotics, can solve problems such as poor stability

Active Publication Date: 2010-12-15
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the technical problem that the traditional wheeled robot with flat layout of the wheels is in line contact with the pipe wall and thus has poor stability, it is necessary to provide a pipe that can adapt to different pipe diameters, that is, to ensure that it can be used when working on pipes with different diameters. A pipeline robot that ensures the vertical contact between the wheel plane and the pipeline wall

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Embodiment Construction

[0027] Pipeline inspection robots generally include two parts, namely the remote monitoring system on the ground and the robot body in the pipeline. The communication methods between the two are wireless and wired. When using wireless communication, since there is no cable, the detection efficiency is high, but the image transmission effect is poor, and it is greatly affected by interference, and the mobile carrier needs to have its own battery, so the voyage distance is limited to a certain extent. In addition, once the mobile carrier of the robot body fails, it is necessary to manually enter the pipeline to recover the pipeline to detect the robot, which is difficult to recover. When the wired method is used, the quality of the communication signal is good, and the power supply can be supplied through the cable, which increases the sailing distance; however, due to the increased resistance and gravity of the cable, the traction force of the mobile carrier is required to be re...

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Abstract

The invention relates to a pipeline robot, which comprises a main pipeline robot body. The main pipeline robot body comprises a moving carrier, and the moving carrier comprises a carriage body, wheels, flexible wheel shafts, a rocker and slider mechanism, and also comprises a robot base, a holder, a rod mechanism, a lighting lamp and a camera connected with the holder, wherein the flexible wheel shafts are used for connecting the carriage body and the wheels; the rocker and the slider mechanism is connected with the carriage body and the flexible wheel shafts and used for adjusting included angles between the wheels and the carriage body; the robot base is arranged on the moving carrier; the rod mechanism is used for connecting the holder and the robot base; and the lighting lamp is arranged on the holder. The included angles between the robot wheels and the carriage body are adjustable so as to ensure that when the robot works in pipelines with different diameters, the peripheries of the wheels are still in vertical contact with wall surfaces, therefore, a contact area between the peripheries and the pipeline wall surface is increased, the robot can operate more stably in the pipeline; and moreover, the structure can provide larger driving force. The flexible shafts are adopted for connecting the driving wheels and the carriage body so that the included angles between the wheels and the main pipeline robot body are adjustable and the sufficient driving force can be ensured.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a pipeline robot. 【Background technique】 [0002] Pipelines are widely used as an effective means of material transportation. In order to improve the life of pipelines and prevent accidents such as leakage, it is necessary to carry out effective detection and maintenance of pipelines. In the case of many shortcomings in the manual inspection method, the pipeline inspection robot has been used more and more as an effective pipeline inspection equipment. [0003] At present, the existing pipeline inspection robots mainly use wheeled or crawler mobile carriers. Because the wheel drive has the advantages of simple structure and stable operation, the mobile carrier of the pipeline inspection robot mostly adopts the wheel drive mode. [0004] The layout of the traditional pipeline inspection robot with wheel structure is divided into two types: plane and space. All the wheels of the pipelin...

Claims

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Application Information

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IPC IPC(8): F16L55/32F16L55/28F16L101/30
Inventor 宋章军张建伟胡颖蔡阳春郑之增
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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