Pipeline inspection robot

Abstract

The invention discloses a pipeline inspection robot which comprises a first robot body. The first robot body comprises a rack, an adjusting mechanism and a transmission system, wherein the adjusting mechanism and the transmission system are installed on the rack. The transmission system is used for transmitting power to the adjusting mechanism. The adjusting mechanism comprises at least three sets of symmetric four-rod mechanisms rotating around the center of the rack. Each four-rod mechanism is a rocker-slider mechanism and comprises a rocker and a slider installed on the rack, wherein the fixing point of the rocker on the rack is located in the middle of the two ends of the rocker, the rocker and the slider are connected through a connecting rod, the end, away from the connecting rod, of the rocker is attached to the inner wall of a pipeline, and the rocker swings along with changes of the inner diameter of the pipeline. The pipeline inspection robot can adapt to the pipe diameter changing in a large range and can overcome the defect that an existing driving wheel skids due to the fact that driving power is not enough.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a pipeline inspection robot. Background technique [0002] With the improvement of living standards, gas has gradually become the main fuel source for urban residents’ daily life, but the large amount of impurities contained in the coke oven gas has a certain corrosive effect on the gas pipeline, and the pipe wall will be easily corroded over time. If it becomes thinner, it will cause gas leakage and accidents in severe cases. Therefore, in order to ensure the normal life of residents, the inspection of gas pipelines is particularly important. However, because the diameter of gas pipelines is smaller than that of ordinary pipelines, the inspection and repair work of gas pipelines often cannot be carried out smoothly. As a result, the research work of gas pipeline inspection robots becomes more and more meaningful. [0003] According to the way of passively adapting to the pipe diameter,...

AI Technical Summary

Problems solved by technology

The main feature of the telescopic passive adjustment mechanism is that there is a compression spring between the body and the driving wheel, and the support rod of the driving wheel, that is, the wheel leg, achieves the purpose of adapting to the change of the pipe diameter by doing telescopic movement in the direction perpendicular to the axial direction of the body. The structure of the robot is simple, but because the mechanical characteristic curve of the spring changes linearly, if the stroke of the spring is too large, the friction force between the wheel and the pipe wall will change greatly. In order to ensure the stability of the driving force due to problems such as slipping or insufficient driving power, the adjustment range of the spring is limited, that is, it cannot adapt to a wide range of pipe diameters.

[0004] The slider-type passive adjustment mechanism is the slider rocker mechanism. The main feature of this type of mechanism is that the movement of the slider is converted into the rotation of the wheel-leg mechanism, so that it can adapt to the change of the pipe diameter. This type of design is simple and convenient. It is easy to operate and has stable performance, which can meet the requirements of most experiments, but there are still shortcomings such as slippage of the drive wheel and insufficient drive, and it cannot adapt to a wide range of pipe diameters.

[0005] Therefore, the above mechanisms all have the problem of slipping of the driving wheel or insufficient driving power, that is, they cannot adapt to a wide range of pipe diameters.

Images