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Wheel type pipeline robot with steering of driving wheels being controllable

A pipeline robot and driving wheel technology, which is applied to special pipes, pipe components, mechanical equipment, etc., can solve the problems of weak obstacle avoidance, poor passability of curved pipes, difficult attitude adjustment, etc., to achieve easy control and improve driving efficiency. , the effect of accurate pipeline damage

Inactive Publication Date: 2016-10-12
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the complexity of the pipeline environment and the imbalance of its own force, the attitude of the robot will inevitably change during operation, which requires timely adjustment of the attitude of the robot. Weak, the elbow passing ability is poor

Method used

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  • Wheel type pipeline robot with steering of driving wheels being controllable
  • Wheel type pipeline robot with steering of driving wheels being controllable

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Experimental program
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Effect test

Embodiment Construction

[0033] Such as figure 1 As shown, a wheeled pipeline robot with controllable driving wheel steering includes two forearm units, two rear arm units and a body, wherein the two forearm units and the two rear arm units are evenly distributed around the body to form a cross-shaped structure. The body is composed of a front box cover, a box body, a rear box cover and a steering wheel steering mechanism arranged inside the body. The front box cover is fixed on the front surface of the box body, and the rear box cover is fixed on the rear end surface of the box body. superior.

[0034] Such as figure 2 As shown, the driving wheel steering and changing mechanism is composed of a steering motor, a reduction box, a large bevel gear, four small bevel gears and four transmission shafts; the reduction box and the steering motor form a reduction motor and are arranged on the front cover; On the output shaft of the reduction box, there is a large bevel gear inside the box, and the large b...

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Abstract

The invention relates to a wheel type pipeline robot with steering of driving wheels being controllable. The wheel type pipeline robot with steering of the driving wheels being controllable mainly consists of two front elastic arm units, two rear elastic arm units and a robot body. Driving motors are arranged on the two front elastic arm units separately to drive the robot to move forward or backward. The robot can pass through a bent pipeline efficiently and stably by differential speed control. A driving wheel steering and reversing mechanism is arranged in the robot body and the attitude of the robot in a pipeline can be adjusted rapidly by adjusting the included angles between the four driving wheels and the section of the pipeline simultaneously. The pipeline robot is simple in structure and capable of self-adaption of a tiny change of a pipe diameter and rapid adjustment of the attitude of the robot in the pipeline; furthermore, the pipeline robot has an obstacle crossing ability for efficiently and stably passing through the complicated pipeline such as the bent pipeline and a reducing pipeline with the best attitude angle, so that the normal inspection and maintenance of the pipeline can be guaranteed.

Description

technical field [0001] The invention relates to the research field of pipeline robots, in particular to a wheeled pipeline robot with controllable steering of driving wheels. Background technique [0002] Nowadays, pipelines are widely used in all walks of life. Modern industry, agriculture and daily life are inseparable from pipelines. Pipeline transportation has become one of the important ways to transport oil, natural gas and domestic water, but pipelines already exist. There are some defects, and in the process of use, due to vibration, thermal cycle, corrosion, etc., the pipeline will be damaged and leaked. In order to improve the life of pipelines and prevent accidents such as leakage, regular and effective inspection and maintenance of pipelines must be carried out. Since most pipelines are underground, the environment is complex and the diameter of the pipes is small, manual maintenance is not easy, and the maintenance detective robot came into being. . [0003] P...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32F16L55/40F16L101/10F16L101/30
CPCF16L55/32F16L55/40F16L2101/10F16L2101/30
Inventor 赵坤民陈还陈梁玉丁志杨吴寒翟华
Owner HEFEI UNIV OF TECH
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