A Flexible and Adaptive Supported In-Pipeline Inspection Robot

Abstract

The invention discloses a supporting type pipeline inside detection robot with the flexibility self-adapting function. The supporting type pipeline inside detection robot comprises a flexibility self-adapting supporting mechanism, a driving mechanism, a detection mechanism and a camera shooting mechanism. The camera shooting mechanism is installed at the front end of the flexibility self-adapting supporting mechanism. The flexibility self-adapting supporting mechanism is connected with the driving mechanism and used for guaranteeing that the robot has the capacity of automatically adapting to a reducer pipe or obstacles or bent pipes when the robot moves in a pipeline. The detection mechanism is installed on the driving mechanism, and when the robot conducts detection work in the pipeline, a probe part in the detection mechanism completely makes contact with the inner wall of the pipeline. Flexibility self-adapting of the robot to the pipeline and modularization of the supporting type pipeline inside robot are achieved, the walking capacity of the robot in the pipeline is enhanced, and overhauls of the robot are also facilitated. Meanwhile, the purpose that nondestructive testing equipment is carried on the pipeline inside detection robot is achieved, and therefore the detection capacity for the fault pipeline is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a support type in-pipeline detection robot, in particular to a flexible and self-adaptive support type in-pipeline detection robot. Background technique [0002] Industrial piping systems have been widely used in the fields of metallurgy, petroleum, chemical industry, and urban water heating supply. The working environment of industrial piping is very harsh. After long-term use, it is prone to corrosion, fatigue damage, or potential internal defects of the piping develop into damage and cause leakage accidents, etc. . Toxic, harmful, flammable and explosive materials leaking and discharging into the atmosphere out of control will seriously affect people's normal production and living order. Therefore, the pipeline must be inspected and maintained regularly. However, due to the environment in which the pipeline is often limited or out of reach of manpower, it is very difficult to o...

AI Technical Summary

Problems solved by technology

[0006] Generally speaking, most of the current in-pipeline inspection robots can only carry simple inspection devices such as cameras, and cannot carry non-destructive inspection devices into the pipeline for pipeline inspection

Most robots use wheels as the walking device, and the towing cable is not enough

Robots generally adopt only one way to adapt to pipelines, that is, passive self-adaptation or active self-adaptation. In complex pipeline environments, the adaptability is limited.

Moreover, the modularization and integration of the current robots are insufficient, the structure of the robot itself is complex, and it is inconvenient to repair and replace parts

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