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Wheel and crawler compounding radial adjustable pipeline robot

A pipeline robot and wheel-track composite technology, applied in the field of robotics, can solve the problems of small traction, limited direction of gravity in the operating environment, limited climbing ability, etc., and achieve stable support, weight reduction, and good motion stability.

Inactive Publication Date: 2014-04-02
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its structure is simple and its size is small, but its operating environment is limited by the direction of gravity
If there is no additional sealing force, only relying on the gravity of the robot itself to provide the sealing force, it can only satisfy the bottom movement of the horizontal pipeline, its traction is small, the climbing ability is extremely limited, and it cannot enter the vertical pipeline

Method used

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  • Wheel and crawler compounding radial adjustable pipeline robot
  • Wheel and crawler compounding radial adjustable pipeline robot
  • Wheel and crawler compounding radial adjustable pipeline robot

Examples

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] Such as figure 1 and 2 As shown, a wheel-track composite radially adjustable pipeline robot includes three wheel-track composite mechanisms 1 connected in series through universal joints 3, and each wheel-track composite mechanism 1 includes a main housing 2, a radial adjustment mechanism 6, and crawler belts. Drive the walking mechanism 4 and the wheel support mechanism 5; the main casing 2 is a cylinder with end caps fixed on both ends, and the side wall is provided with three notches 2-1 uniformly distributed along the circumference, and two adjacent wheels The track compound mechanism 1 is connected through the universal joint 3, and the two ends of the universal joint 3 are respectively connected with the end covers of two adjacent wheel track compound mechanisms 1; the radial adjustment mechanism 6 is integrally arranged inside the main ca...

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Abstract

The invention discloses a wheel and crawler compounding radial adjustable pipeline robot. A bionic type pipeline robot has low moving speed and great fluctuation, the structure of a crawler type pipeline robot is complicated, and a vehicle type pipeline robot cannot enter a vertical pipeline. The wheel and crawler compound radial adjustable pipeline robot comprises a plurality of wheel and crawler compounding mechanisms, wherein each wheel and crawler compounding mechanism comprises a main casing, a radial adjusting mechanism, a crawler driving walking mechanism and a wheel type support mechanism, two installing side plates are connected through a driving belt wheel installing shaft and a driven belt wheel installing shaft, a driving belt wheel is fixedly arranged on the driving belt wheel installing shaft, a driven belt wheel is fixedly arranged on the driven belt wheel installing shaft, the driving belt wheel is connected with the driven belt wheel through a crawler, the installing side plates are hinged to the main casing through a driven swinging rod, each wheel type support mechanism comprises a bottom plate and a pulley, two ends of the bottom plate are respectively hinged to the main casing through the driven swinging rod, and the driven swinging rod arranged at one end is hinged to the other end of a driving swinging rod. The wheel and crawler compounding radial adjustable pipeline robot has good moving stability and is applicable to various complicated pipelines.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a pipeline robot, in particular to a wheel-track composite radially adjustable pipeline robot. Background technique [0002] At present, with the rapid development of transportation, energy, petroleum, chemical industry and urban construction, the application of pipelines is becoming more and more extensive. Pipeline robots have been widely used in the internal and external operations of pipes. However, the existing pipeline robots are mainly bionic movement type, crawler type, screw drive type, vehicle type and support wheel type, which have the following defects: [0003] The bionic pipeline robot uses the principle of bionics to move through the expansion and contraction of the robot body. Its moving speed in the pipeline is slow and fluctuates greatly, its stability is poor, its driving ability and moving speed are limited, its motion efficiency is not easy to improve, and its ...

Claims

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Application Information

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IPC IPC(8): F16L55/28F16L101/30
CPCF16L55/32F16L2101/30
Inventor 陆飞胡明撖亚頔李文娟章斌冯军孙宝龙周健
Owner ZHEJIANG SCI-TECH UNIV
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