Compound drive pipeline robot

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...

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.

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