High-precision peristaltic pipeline crawl device and control method thereof

A technology of a pipeline crawler and a control method, which is applied in the direction of pipe components, pipes/pipe joints/pipes, mechanical equipment, etc., can solve the problems of poor adaptability, difficulty in adapting to pipes of different diameters, low depth accuracy of crawler, etc., to achieve dynamic wide range of effects

Inactive Publication Date: 2013-03-20
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The depth accuracy of the above-mentioned crawler is not high, it is difficult to adapt to pipes of different diameters, the requirements for working conditions are high, and the adaptability is poor

Method used

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  • High-precision peristaltic pipeline crawl device and control method thereof
  • High-precision peristaltic pipeline crawl device and control method thereof

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with specific embodiments.

[0021] refer to figure 1 and figure 2 , The peristaltic pipeline crawler includes three three-claw mechanisms, a screw P and a pipeline parameter measuring head H; the motor M1 drives the screw P to rotate, and the motor M2 drives the claws B1 to B3 to expand and contract. The screw P is the torso of the crawler, and it is universally rigidly connected with the pipe parameter measuring head H. The claws A1~A3, B1~B3, and C1~C3 are radially distributed symmetrically. Telescopic three-jaw mechanism. The connection modes between each three-jaw mechanism and the screw rod are different. The three-claw mechanism formed by claws B1~B3 is threadedly connected with the screw P, the three-claw mechanism formed by claws A1~A3, C1~C3 is connected with the screw P by rollers, and the claws A1~claw The three-claw mechanism formed by A3 and claws C1 to C3 cannot be relatively disp...

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Abstract

The invention discloses a high-precision peristaltic pipeline crawl device which comprises three three-claw mechanisms, a screw rod (P) and a pipeline parameter measuring head (H). The screw rod (P) is in universal rigid connection with the pipeline parameter measuring head (H). A three-claw mechanism formed by a claw (B1) to a claw (B3) is in threaded connection with the screw rod (P). A three-claw mechanism formed by a claw (A1) to a claw (A3) and a three-claw mechanism formed by a claw (C1) to a claw (C3) are connected with the screw rod (P) in a rolling shaft mode. the three-claw mechanism formed by the claw (A1) to the claw (A3) and the three-claw mechanism formed by the claw (C1) to the claw (C3) can not oppositely shift in an axial direction of the screw rod (P). The three three-claw mechanisms support the screw rod (P) and move coordinately. In a crawl process, slip can not occur, and the craw precision is high and error is less than 0.1 millimeter. Dynamic range of a stretch process is large and crawl in various pipelines with different calibers is achieved. Movement states and changes of step length speed and movement direction of the crawl device when the crawl device crawls can be precisely set and automatically controlled. Driving force or traction force in the axial direction of the crawl device is large, and the crawl device is suitable for pushing or pulling heavy load. The crawl device has an automatically locating center function.

Description

technical field [0001] The invention relates to a high-precision peristaltic pipeline crawler and a control method thereof. Background technique [0002] There are many researches on pipeline robots at home and abroad, such as the magnetic variable crawling robot based on the alternating magnetic field researched by Germany Zimmermann et al. and the tiny earthworm imitation robot using SMA wireless control and wireless power supply developed by Korea Kim et al. Domestic research on peristaltic robots mainly uses the shape memory effect of SMA to make the robot move forward in a peristaltic manner, and the movement uses wheels. The depth accuracy of the crawler mentioned above is not high, it is difficult to adapt to pipes of different calibers, the requirements for working conditions are high, and the adaptability is poor. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a high-precision peristaltic pipeline craw...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/34
Inventor 刘上乾韩保君王坚车琳李建中孙海涛赵九龙卢泉李亚鹏易翔方尧尹现军
Owner XIDIAN UNIV
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