Barrier-avoiding robot capable of walking in space pipeline and method

A walking robot and barrier-type technology, which is applied in the field of barrier-type space pipeline walking robots, can solve problems such as the inability of robots to complete crawling work and dangerous working environments, and achieve low maintenance costs, simple structure, and sufficient walking methods Effect

Active Publication Date: 2015-11-04
ZHEJIANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, many pipelines are detected manually, such as high-pressure oil transmission pipelines, voltage transmission pipelines, etc. Due to the dangerous working environment, accidents occur frequently, and there are connecting joints on the surface of these pipelines, and some pipelines have 90-degree turning connections. Make existing robots unable to complete the crawling work on it

Method used

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  • Barrier-avoiding robot capable of walking in space pipeline and method
  • Barrier-avoiding robot capable of walking in space pipeline and method
  • Barrier-avoiding robot capable of walking in space pipeline and method

Examples

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Embodiment 1

[0022] Embodiment 1, Figure 1 to Figure 5 Provided is a barrier-type space pipeline walking robot and method; the barrier-type space pipeline walking robot includes claws 100, a base 200, a telescopic arm 300, a drive motor (including a telescopic motor 440, a wall pendulum motor 430, a clamp Claw driving motor 410, base rotating motor 420), speed reducer, clutch 600, controller.

[0023] The barrier-type space pipeline walking robot of the present invention consists of two telescopic arms 300 to form a walking structure, which is arranged in an approximately symmetrical design, and its lower end is attached to the outer pipe wall in an open-jaw manner by setting claws 100, and thus Complete various movements of forward or backward.

[0024] like figure 1 As shown, in the present invention, two telescopic arms 300 are used. For the sake of clarity, they are respectively expressed as the main telescopic arm and the auxiliary telescopic arm; the main telescopic arm and the au...

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Abstract

The invention discloses a barrier-avoiding robot capable of walking in a space pipeline. The robot comprises a walking structure designed symmetrically. The walking structure is attached to the outer wall of the space pipeline in a split claw mode and comprises two telescopic arms (300), wherein the two telescopic arms (300) are driven by a telescopic motor (440) to rotate and be connected. Grabbing pipelines, disengagement pipelines and clamping claws (100) rotating around bases (200) are arranged at the lower ends of the telescopic arms (300) through the bases (200). The robot can cross over a barrier when walking in a straight pipeline and move on the space pipeline, and the solution is provided for detecting, maintaining and managing high-voltage electric pipelines and petroleum pipelines.

Description

technical field [0001] The invention relates to the field of pipeline crawling robots, in particular to a barrier-type space pipeline walking robot and method. Background technique [0002] The outer tube crawling robot has always been a hot spot in robot research. The outer tube crawling robot can complete many dangerous tasks on the tube wall, which greatly reduces the operational risk. [0003] Most of the existing external pipe wall crawling robots can only crawl on straight rods, and require no large protruding obstacles on the upper surface of the pipe, which greatly limits the range of motion of the robot. Manpower is required when pipeline changes are required. [0004] At present, many pipelines are detected manually, such as high-pressure oil pipelines, voltage transmission pipelines, etc. Due to the dangerous working environment, accidents occur frequently, and there are connecting joints on the surface of these pipelines, and some pipelines have 90-degree turnin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 唐建中谢凯源
Owner ZHEJIANG UNIV
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