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Pipeline robot

A pipeline robot and robot technology, which is applied to special pipes, pipe components, mechanical equipment, etc., can solve the problems of low degree of freedom, poor pipe adaptability, and inability to turn and walk in pipes, and achieve the effect of compact structure and remote control.

Inactive Publication Date: 2014-03-26
SHANGHAI DIANJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at providing a pipeline robot in the prior art, which has poor adaptability to pipelines, low degree of freedom, and inability to turn and walk according to the shape of the pipeline.

Method used

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Embodiment Construction

[0022] In order to describe in detail the technical content, structural features, achieved objects and effects created by the present invention, the following will be described in detail with reference to the embodiments and the accompanying drawings.

[0023] see figure 1 , figure 1 Shown is a schematic diagram of the structure of the pipeline robot of the present invention. The pipeline robot 1 includes: a robot skeleton 11, which is further formed by the first cross-axis universal hinge 111 and the second cross-axis universal hinge 112 in series; a support rod 12, the support One end of the rod 12 is hingedly connected to the robot frame 11, the other end of the support rod 12 is fixed with the transmission wheel 13, and the end of the support rod 12 connected to the robot frame 11 passes through the elastic element 14 Adjust the opening angle of the support rod 12; the transmission wheel 13, the transmission wheel 13 is arranged at the end of the support rod 12 that is d...

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Abstract

A pipeline robot comprises a robot framework, supporting rods, transmission wheels, sensors, a wireless signal transceiver and a control unit. The robot framework is formed by connecting first universal joint pin universal hinges and second universal joint pin universal hinges in series. One end of each supporting rod is connected to the robot framework in a hinged through a hinge, one transmission wheel is arranged at the other end of each supporting rod, and the opening angles of the supporting rods are adjusted by the ends, connected with the robot framework, of the supporting rods through elastic elements. Each transmission wheel is arranged at one end of the corresponding supporting rod, and the transmission wheels are electrically connected with a driving motor through conical teeth and universal couplings. The sensors are arranged at the two ends of the robot framework respectively. The wireless signal transceiver is arranged on the pipeline robot. The control unit controls the pipeline robot to work according to signals of the sensor and instructions of an external computer. The pipeline robot is compact in structure by adopting the robot framework formed by connecting the first universal joint pin universal hinges and the second universal joint pin universal hinges in series, the effect that the pipeline robot can turn freely in bent pipelines can be ensured, and meanwhile remote control can be achieved through the wireless signal transceiver.

Description

technical field [0001] The invention relates to the technical field of mechatronics, in particular to a pipeline robot. Background technique [0002] With the development of petroleum, chemical, natural gas and nuclear industries, as well as the needs of pipeline inspection or maintenance, pipeline robots have also been more deeply researched and widely used. For the safety inspection and maintenance of the transportation pipelines (water, steam, oil, etc.) of various production equipment and special equipment (high-pressure pipelines, etc.), pipeline robots have very important practical value in practical applications. [0003] Generally, the existing pipeline robots mostly adopt the following structures: a crawler vehicle structure, where the bottom adopts a crawler to drive the pipeline robot to walk in the pipeline; a support rod structure, which adopts a folding rod structure with wheels at the end to move the pipeline robot The pipeline robot is supported in the middl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32F16L101/30
CPCF16L55/32F16L2101/30
Inventor 刘栋曾佑轩杨博光陆蓉蓉辛绍杰
Owner SHANGHAI DIANJI UNIV
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