Force-doubling type pipeline robot

Abstract

The invention aims to provide a force-doubling type pipeline robot which comprises a lead screw and three same walking units, wherein the lead screw passes through the walking units and is connected with the walking units; each walking unit comprises a shell, two linear motors, an inner-tooth gearwheel with a cam mechanism on the outer surface, three pinions, a tension rod, a support wheel, a worm wheel and a worm; three pinions are meshed with the inner-tooth gearwheel and supported on the shell through a bearing; two linear motors are mounted in the shell; the first linear motor is connected with one of the three pinions; the second linear motor is connected with the worm; the worm is connected with the worm wheel; the support wheel is mounted outside the shell; the tension rod is mounted outside the inner-tooth gearwheel; and total of three walking units are arranged in the force-doubling type pipeline robot. The force-doubling type pipeline robot provided by the invention has novel design and reliable structure, doubles the tension force by tensioning the two walking units at the same time, realizes force doubling, is favorable to the walking stability of the pipeline robot, and can realize walking of the pipelines with different diameters.

Description

technical field [0001] The invention relates to a robot for pipeline operation. Background technique [0002] With the development of marine technology, there are more and more cases of using pipelines for connection. In order to reduce the economic losses caused by pipeline rupture and wear and the pollution to the ocean, it is very necessary to study the pipeline robot with high stability. Yes, most of the existing pipeline robots have cumbersome mechanisms, and the stability is not good enough, and the advantages of the mechanism are not fully utilized to achieve high-stability and high-efficiency robots. In view of the above situation, with low cost, high reliability, high stability, easy disassembly and maintenance, easy production, and simple structure as the main design ideas, this patent discloses a double-force pipeline robot. The pipeline robot passes through the Simultaneous tensioning of the two tensioning mechanisms achieves double force and meets good stabilit...

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Problems solved by technology

[0003] At the same time, there are also many pipeline operation robots in the literature searched, which can be roughly divided into the following main categories according to the principle of implementation: based on telescopic feet and left-right swinging legs, the feet of the left and right units step on and leave the pipe wall alternately, relying on When the legs swing, the whole robot moves left and right. Each unit has a foot telescopic mechanism for stretching the feet and a leg swing mechanism for swinging the legs. The radial linear motion of the feet leaving and stepping on the tube wall is driven by a small motor (Li Yuanzong, Shi Guanzhu , Zheng Lihong, Li Hongyan, Rong Guohong, walking robot in the tube, patent No. 95100242.2), although the robot has great traction and the ability to cross obstacles, but the stability of this robot will be limited, such as a leg stretched If the tightening mechanism fails, the robot cannot move and work; another walking robot in the pipe (Chen Jiong, walking robot in the pipe, patent No. 200410029964.5) has a walking mechanism, a robot controller, and a control power supply; The hinge connection between the upper arm and the forearm is hinged by the elbow joint shaft, and the forearm and the hand are articulated to form an articulated arm. The articulated arm is installed on the joint axis of the robot's waist, and the control power is installed on the robot's waist. In the electrical box, the waist of the robot is installed in the guide rail of the robot's walking mechanism. The single-chip microcomputer system is connected to the electrical box of the robot's shoulder, big arm, forearm, and wrist electromechanical modules through two sets of double-row 24-pin sockets, plugs and cables. The output end of the input interface circuit, the drive power of this kind of robot in the tube is small, the efficiency is low, and it is easy to damage

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