Changeable parallelogram crawler-type in-pipe mobile operation robot

A parallelogram and mobile operation technology, applied in the field of robotics, can solve problems such as deficiencies in adaptability, achieve strong obstacle-crossing capabilities, and reduce the risk of jamming

Active Publication Date: 2015-04-01
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Changeable parallelogram crawler-type in-pipe mobile operation robot
  • Changeable parallelogram crawler-type in-pipe mobile operation robot
  • Changeable parallelogram crawler-type in-pipe mobile operation robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Such as figure 1 and 2 As shown, a variable parallelogram crawler type pipe mobile working robot includes a car body assembly 1 , a double slider suspension assembly 2 and a variable parallelogram crawler assembly 3 . Three variable parallelogram crawler assemblies 3 press against the inner wall of the pipe, and each variable parallelogram crawler assembly 3 is connected to the vehicle body assembly 1 through a double-slider suspension assembly 2, and the variable parallelogram crawler assembly 3 drives the variable parallelogram The quadrilateral track assembly 3 expands or contracts relative to the vehicle body assembly 1 .

[0029] Such as image 3 As shown, the vehicle body assembly 1 includes a main support shaft 1-1, an auxiliary support shaft fixing block 1-2, an auxiliary support shaft 1-3, a sleeve positioning block 1-4, an auxiliary ...

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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...

Claims

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Application Information

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IPC IPC(8): B62D55/065B62D55/10B62D55/084
CPCB62D55/065B62D55/084B62D55/10
Inventor 王黎喆胡明张阳陈文华张鹏
Owner ZHEJIANG SCI-TECH UNIV
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