Initiative-driving spiral pipeline robot

Abstract

The invention discloses an initiative-driving spiral pipeline robot which comprises a machine body (1), a power unit (2), a driving shaft (6) and an axle (7); one end of the machine body (1) is provided with a driving wheel carrier (3); a reducing mechanism (4) is arranged on the driving wheel carrier (3); the axle (7) is arranged on the reducing mechanism (4); a driving wheel (8) is fixedly arranged on the axle (7); the driving shaft (6) and the axle (7) are connected through a connector (10); and the driving shaft (6) is connected with the output shaft of the power unit (2) through a transmission device. The initiative-driving spiral pipeline robot has the beneficial effects that the driving wheel is directly initiative-driving by the driving device, the scope of application of the robot is expanded, the operation is stable under the working conditions of different pipe diameters, and the axial force is large; and meanwhile, the axial position of the robot is adjusted by controlling the operation of the driving wheel, so that the adjustment precision is high, and the operation position of the robot is precisely controlled.

Description

technical field [0001] The invention relates to a robot walking in a pipeline, in particular to an actively driven spiral pipeline robot. Background technique [0002] At present, pipeline robot technology is a new type of technology that combines precision machinery, robotics, new materials, and control theory, which has emerged in recent years. Due to the use of many tiny pipes in modern industrial and agricultural production and daily life, such as steam generator heat transfer tubes in nuclear power plants, metallurgy, petroleum, chemical industry, urban plumbing supply, industrial pipes and gas pipes in the refrigeration industry, etc., these pipe systems The working environment is very harsh, prone to corrosion, fatigue damage, or the potential defects inside the pipeline develop into damage and cause leakage accidents. Therefore, the monitoring, diagnosis, cleaning and maintenance of pipelines have become the key to ensure the safe, smooth and efficient operation of ...

AI Technical Summary

Problems solved by technology

The existing screw moving device drives the drive frame with the drive wheel to rotate, and then the drive frame drives the drive wheel mounted on the edge of the drive frame to spiral along the inner wall of the pipeline to generate axial propulsion to make the robot go straight forward. The energy loss of this structure is large, and the transmission motion is unreliable

The speed of the robot is affected by the value of the included angle between the rotation axis of the driving wheel and the axis of the body. When the angle is small, the helical angle of the helical trajectory of the driving wheel is small, and the force driving the driving wheel to rotate is relatively large. The wheel speed is fast, and the robot runs smoothly, but because the helix angle of the helical trajectory is small, the forward speed is slow; with the increase of the angle, the force driving the driving wheel to rotate gradually becomes smaller, and the driving wheel speed decreases but the driving wheel moves faster. As the helix angle of the spiral trajectory increases, the forward speed of the robot will gradually increase with the increase of the angle, but when it exceeds a certain value, the rotation speed of the driving wheel will further decrease due to the force driving the driving wheel to rotate too small, resulting in the robot The forward speed decreases, while the stability of the robot operation decreases, and even the phenomenon that it cannot move forward

Therefore, the rotating speed of the driving wheel in the existing screw moving device will change with the change of the angle between the axis of rotation of the driving wheel and the axis of the body, and the running stability of the device is poor under different working conditions. At the same time, because the driving wheel is driven by The wheel frame drives the operation, therefore, it is difficult to realize the accurate positioning and small displacement adjustment of the robot, and the controllability is poor

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