A Soft Crawler Pipeline Robot

Abstract

Disclosed is a soft-bodied continuous track-type pipeline robot. Same comprises an inflatable main body (1) and a motion actuating apparatus. The motion actuating apparatus comprises drive motors (4) and a continuous track (5). The continuous track (5) is spiral and closedly arranged on the surface of the inflatable main body (1). Multiple drive wheels (6) driving the continuous track into motion are arranged at intervals below the continuous track (5). Each drive wheel (6) is connected to one drive motor (4) driving same into rotation and fixed onto the inflatable main body (1). The beneficial effects are such that: advantages of continuous track-type and spiral-type pipeline robots are combined, energy loss caused by transmission of an intermediate mechanism is reduced, transmission efficiency is high, axial traction is great, operation of the robot is stable and reliable, and robot traveling position control is of improved precision.

Description

technical field [0001] The invention relates to the technical field of walking devices in pipelines, in particular to a soft crawler pipeline robot. Background technique [0002] Pipeline robot technology is a comprehensive science and technology integrating automatic control technology, mechanical manufacturing technology, new materials, artificial intelligence testing technology and computer technology. At present, pipelines have been widely used in petroleum, chemical, natural gas and nuclear industries. After a period of operation, the pipeline will be damaged such as corrosion, cracks, dents or deformation. In order to avoid accidents and prolong the life of the pipeline, it is particularly important to carry out regular inspection and maintenance of the pipeline. In most cases, when the pipeline is damaged, repairs to the pipeline must also be carried out inside the pipeline. However, the space in the pipeline is narrow, and most of the transported substances are po...

AI Technical Summary

Problems solved by technology

However, this kind of drive has some disadvantages. Since the tilting wheel rotates under the drive of the rotating wheel frame, the friction of the intermediate mechanism will cause a large energy loss, and the transmission motion is unreliable. The speed of the robot is affected by the rotation axis of the driving wheel. The influence of the value of the included angle of the body axis, when the included angle is small, the helical angle of the helical trajectory of the drive wheel motion is small, the force driving the drive wheel to rotate is larger, the speed of the drive wheel is faster, and the robot runs smoothly, but due to The helix angle of the helical trajectory is small and the forward speed is slow; with the increase of the included angle, the force driving the driving wheel to rotate gradually decreases, the speed of the driving wheel decreases but the helix angle of the helical trajectory of the driving wheel increases, and the forward speed of the robot increases. It will gradually increase with the increase of the included angle, but when it exceeds a certain value, the rotation speed of the driving wheel will further decrease due to the force driving the driving wheel to rotate too small, resulting in a decrease in the forward speed of the robot and a decrease in the stability of the robot. even appear to be unable to move forward

Therefore, the rotating speed of the driving wheel in the existing screw moving device will change with the change of the angle between the axis of rotation of the driving wheel and the axis of the body, and the running stability of the device is poor under different working conditions. At the same time, because the driving wheel is driven by The wheel frame drives the operation, therefore, it is difficult to realize the accurate positioning and small displacement adjustment of the robot, and the controllability is poor

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