Extensible robot for climbing inner wall of pipeline

Abstract

The invention provides an extensible robot for climbing an inner wall of a pipeline. The extensible robot comprises a middle connection mechanism, four extensible arms and two extensible mechanisms. Each extensible arm comprises a friction pad, an arm extensible motor, an arm extensible motor holder, an arm extensible pipe connection frame, an arm extensible lead screw, two outer arm extensible pipes and two inner arm extensible pipes. Each extensible mechanism is composed of an arm connection frame, an extensible motor, an extensible motor holder, an extensible pipe connection frame, an extensible lead screw, two outer extensible pipes and two inner extensible pipes. The middle connection mechanism comprises a center rotary frame I, a center rotary frame II, a steering motor I, a steering motor II and a center joint cross. The middle connection mechanism is fixedly connected with the extensible motor holders of the two extensible mechanisms through the center rotary frame I and the center rotary frame II. The arm connection frame of each extensible mechanism is fixedly connected with the arm extensible motor holder of the corresponding extensible arm. Each arm extensible motor holder is symmetrically provided with two extensible arms. The fixed position and the spatial two-freedom-degree rotation of the robot in the pipeline can be achieved.

Description

technical field [0001] The invention relates to a pipeline inner wall climbing robot. Background technique [0002] With the development of petroleum, chemical industry, natural gas, nuclear industry and the construction of modern cities, various types of pipelines have been put into practical use, so the needs of detection, maintenance and repair of various pipelines have greatly promoted the research of pipeline robots . At present, there are many studies on wheeled pipeline robots with multi-wheel support structures, but wheeled pipeline robots will interfere with movement when encountering curves or irregular pipelines. Due to internal friction, the driving force is insufficient, which easily causes the robot to deviate in the pipeline. In the correct posture position, rollover or even stuck phenomenon occurs. At present, researchers at home and abroad mainly solve it structurally, such as adopting differential gears and flexible connections, but this will make the str...

AI Technical Summary

Problems solved by technology

At present, there are many studies on wheeled pipeline robots with multi-wheel support structures, but wheeled pipeline robots will interfere with movement when encountering curves or irregular pipelines. Due to internal friction, the driving force is insufficient, which easily causes the robot to deviate in the pipeline. In the correct posture position, rollover or even stuck phenomenon occurs

At present, researchers at home and abroad mainly solve the problem in terms of structure, such as the use of differential gear and flexible connection, but this will make the structure very complicated and the cost will increase a lot

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