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Pipeline robot driving mechanism

A pipeline robot and drive mechanism technology, applied in the field of robots, can solve problems such as relatively high requirements for brush materials, failure to work normally, robot stuck, etc., and achieve the effect of novel design, low cost and simple structure

Inactive Publication Date: 2011-04-27
张龙
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still many deficiencies in the existing pipeline robots. For example, the existing brush-type robots can only work in fixed-diameter pipelines. When the diameter of the pipeline changes, due to the increase or decrease of friction, the robot may be stuck in the pipeline. , can not work normally; and the material requirements for its brushes are relatively high, so the cost is increased

Method used

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Embodiment Construction

[0013] Such as figure 1 , this kind of pipe robot driving mechanism, which is composed of a front frame 1 and a rear frame 2 that are all located in the pipeline 7, and the front frame and the rear frame are connected by a universal joint 3.

[0014] The front frame 1 includes a front frame tube located in the center of the pipeline and three groups of front walking structures that can only move in one direction and are hinged on the outer circumference of the frame tube at 120 degrees. The front walking structure includes The first roller 101 of free rolling and the second roller 102 with one-way ratchet; The second roller pole 104 is long; the first roller pole 103 is connected to the second hinge point 111 after passing through the inner cavity of the first spring barrel 107 and the second spring 106, and the second roller pole 104 passes through the second spring barrel 108 The cavity and the first spring 105 are connected on the first hinge point 110; the outer wall of t...

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Abstract

The invention discloses a pipeline robot driving mechanism which is composed of a front rack and a rear rack, wherein the front rack and the rear rack are both arranged in a pipeline and are connected by a cardan joint; the front rack and the rear rack are respectively provided with a rack cylinder and three groups of traveling mechanisms which only can move unidirectionally, wherein the rack cylinders are arranged in the center of the pipeline, and the traveling mechanisms are articulated on the outer circumference of the rack cylinders and distributed by 120 degrees; a cylinder is fixed in the rear rack and is connected with a motor fixed in the rear rack cylinder by a crank link mechanism; the outer end of a cylinder piston rod is connected with the cardan joint; a first hinge point and a second hinge point are positioned on different planes; and a third hinge point and a fourth hinge point are also positioned on different planes. The pipeline robot driving mechanism can work in straight pipelines and elbow pipelines of different diameters, which is the most outstanding characteristic, and meanwhile, the pipeline robot driving mechanism has the characteristics of simple structure, novel design, good movement stability and lower cost.

Description

Technical field: [0001] The invention relates to the field of robots. It is a pipeline that cannot be directly accessed by humans. Robots are used to install sensors and operating machinery on it, such as manipulators, spray guns, welding torches, brushes, etc., to work in the pipeline to realize the detection and operation of the pipeline. repair. Background technique: [0002] The pipeline robot is a kind of special operation robot, and its visual inspection system provides a more advanced and valuable supplement for today's pipeline inspection methods. With the improvement of modern industrial level, there are more and more underground pipelines, aboveground pipelines, industrial pipelines, and civil pipelines. However, since most pipelines cannot be directly operated by humans, pipeline robots have become important working tools. However, there are still many deficiencies in the existing pipeline robots. For example, the existing brush-type robots can only work in fixed...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32F16L101/30
Inventor 张龙邓白泉常朝井伟尚俊何为万帅王晓于振国董元真刘运娇郭晓颖
Owner 张龙
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