Drive travelling mechanism of peristaltic pipeline robot

A pipeline robot and walking mechanism technology, which is applied in the direction of pipe components, mechanical equipment, pipes/pipe joints/pipes, etc., can solve problems such as difficulty in driving robots to walk, low drag force for driving walking mechanisms, and structural design in limited space. Achieve the effect of avoiding closed power flow, improving transmission efficiency, and compact structure

Inactive Publication Date: 2012-08-22
NORTHEAST GASOLINEEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main problems are energy supply, curve passability, drag force, limit space structure design, etc.
Especially in small and medium diameters (≤ Φ 300mm), the existing pipeline robot is difficult to drive the robot to travel a long distance in the pipeline due to the small drag force of the driving mechanism

Method used

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  • Drive travelling mechanism of peristaltic pipeline robot
  • Drive travelling mechanism of peristaltic pipeline robot
  • Drive travelling mechanism of peristaltic pipeline robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing:

[0022] First of all, in conjunction with the accompanying drawings, an overall description is made of the peristaltic pipeline robot-driven walking mechanism based on the combined mechanism of the present invention: figure 2 shown, combined with Figure 4 , Image 6 , this kind of drive walking mechanism has a body 1, and there are 3 longitudinal strip grooves on the body, forming 120 o Distribute evenly. The traveling drive unit 5 and the left and right supporting parts 36 and 42 of the worm shaft are placed in the body. The main function of the body 1 is to connect other parts and install other parts. In addition, the driving traveling mechanism also includes an auxiliary traveling wheel unit 2 located outside the machine body, an elastic link structure 4 and a traveling foot 3 . The walking foot 3 is hinged on two elastic connecting rod structures 4, and the elasti...

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Abstract

A drive traveling mechanism of a peristaltic pipeline robot mainly solves the problem that existing pipeline internal drive travelling mechanism are lower in driving force and hard to drive robots to run for long distance in pipelines. The drive traveling mechanism of the peristaltic pipeline robot is characterized in that the drive traveling mechanism consists of two crank-and-rocker mechanisms and a worm-and-gear mechanism which share a robot body as a framework, a connecting rod of one crank-and-rocker mechanism is of an elastic connecting rod structure, and the elastic connecting rod penetrates through a rocker which swings around the robot body to be further connected with a gear rotating around the robot body so as to form one crank-and-rocker mechanism. The two crank-and-rocker mechanisms identical in structure are respectively arranged from front to back. When a motor drives the worm to drive the gear to rotate, traveling legs connected to the two crank-and-rocker mechanisms arranged from front to back realize translational motion. The two crank-and-rocker mechanisms serving as components of the drive traveling mechanism are distributed along the radial direction of the worm by 120 degrees and are driven by the same worm. The drive traveling mechanism has the advantages that traveling legs can contact with walls of pipelines sufficiently to generate higher dragging force so that the robot can travel by a long distance in the pipelines.

Description

technical field [0001] The invention relates to a driving traveling mechanism used in the field of pipeline robots. Background technique [0002] As an important means of material transportation, pipelines play an important role in various aspects such as petroleum, natural gas, chemical raw materials, and municipal water supply and drainage projects. As the service life increases, various problems such as corrosion, cracks, deposition, etc. will appear in the pipeline, which will affect the use of the pipeline. In order to improve the service efficiency and life of the pipeline, it is necessary to carry out regular inspection or other operations on the pipeline. The ideal method of pipeline inspection is to enter the interior of the pipeline and use various non-destructive testing methods to inspect the pipeline. Since the diameter of the pipeline is usually small, it is generally a place that cannot be entered by humans, so the development of pipeline robots has emerged...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32
Inventor 许冯平耿岱耿超赵琦夏友山
Owner NORTHEAST GASOLINEEUM UNIV
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