Hybrid drive pipeline robot

A pipeline robot and drive-type technology, applied in the field of robotics, can solve problems that are difficult to balance flexibility, accuracy, operating efficiency and carrying capacity, and achieve the effects of wide task adaptability, low energy consumption, and avoiding capacity exhaustion

Inactive Publication Date: 2014-03-05
ZHEJIANG FORESTRY UNIVERSITY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a compound-driven pipeline robot, which aims to solve the problem that the existing pipeline robot walking mode is represented by swimming and peristalsis, and it is difficult to balance flexibility, accuracy, operating efficiency and carrying capacity.

Method used

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0028] figure 1 The structure of the composite pipeline robot of the present invention is shown. As shown in the figure, the present invention is realized in this way. A composite driving pipeline robot includes a task unit 1, a steering unit 2, a front power unit 3, and a rear power unit 4 , Drive control unit.

[0029] The front end of the robot is the task unit 1, and the front end of the task unit 1 is equipped with functional components and drive control units. The steering unit 2 is connected between the task unit 1 and the front power unit 3, and the rear power unit 5 is installed on the f...

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Abstract

The invention discloses a hybrid drive pipeline robot comprising a task unit, a steering unit, a front power unit, a rear power unit, and a drive control unit. The task unit is disposed at the front-most end of the robot. A function component and the drive control unit are mounted at the front-most end of the task unit. The steering unit is connected between the task unit and the front power unit. The rear power unit is mounted behind the front power unit through a universal joint. When the robot moves, turbine blades rotating in opposite directions generate pushing force pushing the robot to walk, and the robot can move forward or back by changing the rotation directions of the turbine blades. When the robot has low power, a support wheel brake block brakes a support wheel under the elastic action of springs, and the robot is held in a pipeline; liquid axially penetrates a body of the robot through the head end, and the turbine blades generate power under the hydraulic action to charge batteries. The hybrid drive pipeline robot is widely applicable to tasks, efficient walking and precise positioning are unified, power consumption is low, and online failure detection can be implemented conveniently.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a compound-driven pipeline robot. Background technique [0002] Pipelines are characterized by complex geometries and environments, and narrow interior spaces. Constrained by the space of the working environment, the in-tube robot has strict restrictions on size and quality. At the same time, in order to meet the functional requirements, its limited body space must carry as many payloads as possible, such as CCD sensors, lights, sensors, operating Devices, etc. must also integrate modules such as control, communication, and energy distribution and transmission. [0003] Choosing a reasonable driving method is the most important link in the research of in-pipe robots. The existing driving methods have their own characteristics, such as the swimming method, which is suitable for occasions where the load requirement is not high but the flexibility is high, while the peristaltic meth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/28
CPCF16L55/32
Inventor 赵大旭李秦川黎淑芬顾玉琦寿国忠
Owner ZHEJIANG FORESTRY UNIVERSITY
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