A pipe robot that can actively stepping

Abstract

The invention relates to a pipeline robot capable of active steering, and belongs to the technical field of pipeline robots. The pipeline robot capable of active steering comprises a plurality of driving knuckles and a plurality of steering knuckles. Every two adjacent driving knuckles are connected by one steering knuckle. A front end cover is disposed at a front end of the driving knuckle at the most front end. A sensor for detecting the pipeline path distribution of a pipe network in front of the pipeline robot is disposed at a center position of the front end cover. A universal spherical hinge is disposed at a rear end of the driving knuckle at the tail end. Each driving knuckle comprises a main frame, driving mechanisms and telescopic mechanisms, wherein a plurality of driving mechanisms are mounted on an outer sidewall of the main frame at uniform intervals; the telescopic mechanisms are mounted in the main frame and connected with the driving mechanisms, and capable of causing contraction of the driving mechanisms into the main frame. Every two adjacent driving knuckles are capable of realizing relative 360-degree rotation and active steering by means of the steering knuckle. The pipeline robot capable of active steering has the advantages that every two adjacent driving knuckles are capable of realizing relative 360-degree rotation and active steering, thereby meeting the requirements of detection of a complicated branched pipe network.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a pipeline robot that can actively steer. Background technique [0002] Pipeline is an important part of the national lifeline project and the main artery of national energy. Its safe operation has a great impact on the national economic development. In order to ensure the safety of the pipeline, after the pipeline has been in operation for a period of time, it needs to be inspected to find potential safety hazards in time. [0003] The pipeline robot is the main driving device for pipeline inspection, and it crawls along the pipeline with inspection equipment to complete the inspection work of the pipeline. With the continuous development of the scale of my country's oil, gas and water supply pipelines, the structure of the pipeline network is becoming more and more complex. In particular, there are a large number of branch pipelines in the urban gas and water supply pi...

AI Technical Summary

Problems solved by technology

Patent 2007100500568, 2012104818937 The body adopts an overall design, the cornering ability is poor, and it can only crawl along a single pipeline path with a large turning radius; With flexible connection, it can passively steer along the pipeline, which improves the cornering ability, but still can only crawl along a single pipeline path, and cannot realize active steering in a multi-branch pipeline network

Through research and analysis, it is found that most of the existing pipeline robots are passive steering. When encountering branch pipelines, they cannot actively steer and can only travel along a single pipeline path, which cannot meet the detection requirements of complex branch pipeline networks.

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