A multi-joint omnidirectional robot outside the tube

Abstract

The invention discloses a multi-joint omnibearing extra-pipe robot. The multi-joint omnibearing extra-pipe robot has the omnibearing movement ability, can be connected with pipe joints such as a tee joint and a four-way joint through an elbow pipe, can surmount the external obstacles such as a valve, a flange plate and a support and can step over two adjacent pipelines. The multi-joint omnibearing extra-pipe robot is characterized by comprising a bearing beam, a multi-joint clamping mechanism, turning joints, a clamping opening and closing mechanism, an axial driving mechanism and a circumferential mechanism, wherein the bearing beam is used for carrying equipment. The axial driving mechanism can make the robot move on a pipeline at a high movement speed in a wheel mode. The circumferential driving mechanism make the robot rotate around the pipeline by 360 degrees, spiral movement of the robot around the pipeline can be achieved by coupling the rotation of the robot and the axial movement of the robot together, and thus the robot can pass through the pipeline in a full-coverage mode. The robot can move freely between adjacent pipelines through a turning mechanism and a clamping mechanism, and thus working efficiency is further improved. The bearing beam can carry the devices such as fault detection equipment and maintenance mechanism arms, so that the work such as pipeline maintenance is achieved.

Description

technical field [0001] The invention relates to the field of pipeline robots, in particular to a multi-joint omnidirectional reversible external pipeline robot. Background technique [0002] Various types of pipelines are widely used in modern industrial production, civil transportation and other fields. The subsequent daily inspection and maintenance of pipelines has become a thorny issue. Similarly, high-altitude and high-risk operations in forestry, agriculture, construction and other fields often encounter difficulties that are difficult to deal with. Aiming at the shortcomings of the existing robot outside the pipe, such as low working efficiency, poor ability to pass through different pipe types, and insufficient application fields, it is different from the robot inside the pipe. The development and application of robots can realize pipeline inspection and maintenance work without stopping pipeline transportation. [0003] The existing industrial pipelines are charac...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: the existing climbing robots outside the pipe generally do not have the ability to pass through the joints of pipes such as pipes with various angles and three-way, four-way, etc., nor do they have the ability to climb over valves, flanges, Capability of various pipe external obstacles such as supports, and inability to run between adjacent pipes

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