Changeable parallelogram crawler-type in-pipe mobile operation robot

Abstract

The invention discloses a changeable parallelogram crawler-type in-pipe mobile operation robot. An existing pipe robot adapts to diameter change and angle change of a pipe only through a buffer mechanism, and the adaptive capacity defect exists. The changeable parallelogram crawler-type in-pipe mobile operation robot comprises a vehicle body module, double-slide-block suspension modules, and three changeable parallelogram crawler modules. The three changeable parallelogram crawler modules tightly press the inner wall of the pipe, each changeable parallelogram crawler module is connected with the vehicle body module through one double-slide-block suspension module, and the changeable parallelogram crawler modules spread or contract relative to the vehicle body module. Each double-slide-block suspension module comprises two double-slide-block mechanisms oppositely arranged, wherein each double-slide-block mechanism comprises a first crank, a first connecting rod, a second crank, a second connecting rod and a slide sleeve. The changeable parallelogram crawler-type in-pipe mobile operation robot can automatically adjust a crawler shape and accordingly and effectively improves the in-pipe unknown-barrier-crossing capacity and passing ability in various bent pipes and reducing pipes.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a pipeline detection robot, in particular to a variable parallelogram crawler-type mobile operation robot in a pipe. Background technique [0002] The working conditions of industrial pipeline systems are very complex. In order to ensure the safe and efficient operation of each pipeline system, it is necessary to use pipeline robots for internal inspection of pipelines. Existing pipeline robots can move and work in complex pipes such as straight pipes and U-shaped pipes, but when faced with variable diameter pipes and bent pipes at various angles, they only use buffer mechanisms to adapt to pipe diameter change and angle changes. There are serious flaws. Contents of the invention [0003] The object of the present invention is to address the deficiencies in the prior art, and propose a variable parallelogram crawler-type pipe mobile operation robot, which can automatically adjust...

AI Technical Summary

Problems solved by technology

Existing pipeline robots can move and work in complex pipes such as straight pipes and U-shaped pipes, but when faced with variable diameter pipes and bent pipes at various angles, they only use buffer mechanisms to adapt to pipe diameter change and angle changes. seriously flawed

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