All-wheel-drive squirming-type pipe robot

Abstract

The invention discloses an all-wheel-drive squirming-type pipe robot which comprises unit joints and a cardan joint connected with the unit joints. Each unit joint comprises an installation frame, wheel leg assemblies, locking assemblies and a transmission assembly, the wheel leg assemblies, the locking assemblies and the transmission assembly are installed on the installation frame, the wheel leg assemblies are used for supporting the robot to walk on the inner wall of a pipe, the locking assemblies are used for locking the unit joints, and the transmission assemblies are used for driving the locking assemblies to move and the unit joints to relatively move under motor driving. The all-wheel-drive squirming-type pipe robot has the advantages that screw pipes with inner threads and transmission lead screws with outer threads are adopted in the unit joints to be matched with a locking frame, the unit joints are driven by a motor to rotate forwards and backwards, the front unit joint and the back unit joint are alternatively locked, and the all-wheel-drive squirming-type pipe robot performs stretching advancing or retreating movement. According to the all-wheel-drive squirming-type pipe robot, the single-motor driving mode is adopted, the number of power sources is effectively decreased, the size of the all-wheel-drive squirming-type pipe robot is reduced, energy consumption is reduced, and therefore the all-wheel-drive squirming-type pipe robot is suitable for the pipe with the small diameter and the long distance, and has the wide application prospects in aspects such as pipe detection and pipe maintenance.

Description

technical field [0001] The invention belongs to the technical field of mechanical design, and relates to a pipeline walking device, in particular to a fully driven peristaltic pipeline robot for pipelines. Background technique [0002] With the rapid development of social economy, pipelines, as an important transportation method, play an important role in oil, natural gas, drainage and water supply projects, and ventilation systems. As the service life of the pipeline increases, problems such as aging, cracks, corrosion and deposition will inevitably occur in the pipeline. If the accident is not prevented and dealt with in time, it will inevitably bring certain economic losses and cause serious pollution to the environment. Therefore, in order to ensure the safety and unimpeded operation of the pipeline, it is very necessary to regularly investigate and maintain the existing pipeline. However, the position of the general pipeline is beyond the reach of human hands, and the...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the movement and locking of the above-mentioned existing peristaltic pipeline robots require separate power supply, the present invention proposes a full-drive peristaltic pipeline robot driven by a single power

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