Crawler-type pipeline robot with active adaptation and self-adaptation functions

Abstract

The invention belongs to the technical field of robots, and relates to a crawler-type pipeline robot with active adaptation and self-adaptation functions. A series combination mechanism, which is composed of a screw mechanism, a rocker slider mechanism and a parallelogram mechanism and driven by a stepper motor, is utilized to actively adapt to different pipeline diameters and keep a certain pressure between the crawler and pipeline inner wall. A set of butterfly springs arranged between the screw nut and slider are stressed to generate deformation to automatically adapt to the working conditions of pipeline joints, uneven-surface partial obstacles and the like in the pipeline. Three servomotors drive three sets of synchronous belt wheels to rotate through the transmission of a bevel gear and a cylindrical gear, thereby driving the three bifacial synchronous notched belts used as pipeline robot crawlers to move, and implementing the running function of the pipeline robot. The crawler-type pipeline robot has the simple structure, high operation and running safety, high environmental adaptability and wide application range, is convenient to use, and can work in pipelines with different diameters.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and relates to a crawler-type pipeline robot suitable for different pipeline diameters, in particular to a crawler-type pipeline robot with active adaptation and self-adaptation functions. technical background: [0002] At present, crawler-type pipeline robots have been gradually applied in the fields of oil pipeline and natural gas pipeline detection, central air-conditioning pipeline detection and cleaning, etc. The existing crawler-type pipeline robots are divided into those that can adapt to the working environment of specific-diameter pipelines and those that can adapt to the operation of variable-diameter pipelines. The crawler-type pipeline robot that can adapt to the working environment of a specific diameter pipeline can only adapt to the working environment of a single-diameter pipeline, and the environmental adaptability is poor. The crawler-type pipeline robot that can adapt to the wor...

AI Technical Summary

Problems solved by technology

[0002] At present, crawler-type pipeline robots have been gradually applied in the fields of oil pipeline and natural gas pipeline detection, central air-conditioning pipeline detection and cleaning, etc. The existing crawler-type pipeline robots are divided into those that can adapt to the working environment of specific-diameter pipelines and those that can adapt to the operation of variable-diameter pipelines. The crawler-type pipeline robot that can adapt to the working environment of a specific diameter pipeline can only adapt to the working environment of a single-diameter pipeline, and the environmental adaptability is poor. The crawler-type pipeline robot that can adapt to the working environment of variable-diameter pipelines is controlled by a special The controller drives a special motor for control, which can adapt to the working environment of different pipe diameters. However, in the actual use process, due to problems such as joints in the pipe and uneven local obstacles inside the pipe, the actual use effect is affected to a certain extent.

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