Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure

Abstract

The invention relates to the field of pipeline robot research, in particular to a flexible peristaltic pipeline robot with a guide head and a one-way traveling wheel structure. The invention discloses a flexible peristaltic pipeline robot with a guide head and one-way traveling wheels, which comprises a front robot body, a guide head mechanism, a rear robot body, a flexible spring shaft and one-way traveling wheels, wherein the flexible spring shaft is fixed with the front robot body, penetrates through the rear robot body and is meshed with a motor shaft installed on the rear robot body to form helical drive, and a peristaltic traveling driving device is formed; the guide head mechanism is driven by a guide head motor fixed on the front robot body, and one tension spring is connected with the guide head and the front robot body; and four sets of one-way traveling wheels are respectively installed on the front robot body and the rear robot body, and each set of one-way traveling wheels comprises two one-way traveling wheels. The robot provided by the invention can smoothly pass through straight, T-shaped, L-shaped bent pipes and a reducing pipeline, the traveling wheels are always in contact with the inner wall of the pipeline in a movement process, and the robot has the advantages of easiness in control, good stability and high adaptability.

Description

technical field [0001] The invention relates to the research field of a pipeline robot, in particular to a flexible peristaltic pipeline robot with a guide head and a one-way wheel structure. Background technique [0002] The pipeline robot is a mechanical device that can walk in the pipeline. It works in the pipeline and is an intelligent device used to complete pipeline defect detection and repair. It is an important tool to ensure pipeline safety. In today's society, all kinds of pipelines have been widely used. Modern industry, agriculture and daily life are inseparable from pipelines. Pipelines have become one of the important tools for material transportation. Due to the effects of vibration, thermal cycle, corrosion, overload, etc. during use, and the inherent defects that may be hidden by the pipeline itself, the service life is always limited. However, pipelines are generally buried deep underground, in the air or in buildings. The internal structure is intricate, ...

AI Technical Summary

Problems solved by technology

[0003] There are related technologies disclosed in the prior art. For example, the patent application number ZL200910088008.7 discloses a flexible peristaltic pipeline robot with a guide head. This pipeline robot has a complex structure, is difficult to control, and has poor guiding ability.

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