Pipeline crawling robot

A crawling robot and pipeline technology, applied in the field of crawling robots, can solve problems such as poor versatility and inability to effectively avoid obstacles, and achieve the effect of expanding the scope of application

Active Publication Date: 2017-02-01
YANGJIANG NUCLEAR POWER +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide a pipeline crawling robot to solve the problems that the existing pipeline robots cannot effectively avoid obstacles in the pipeline and have poor versatility

Method used

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Embodiment Construction

[0026] Embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0027] Existing pipeline robots mainly include wheel type and telescopic rod type, but the problems of incapability of cornering, inability to avoid obstacles, and poor versatility seriously limit their use. The main innovation of the present invention is that the pipeline crawling robot adopts a bionic structure, which can imitate the movement mechanism and behavior of hexapods, improve the movement ability and efficiency of the robot movement, realize the integration of bionics and robot technology, and have good The maneuverability, the ability to overcome obstacles and the ability to pass through complex terrain have been greatly improved.

[0028] The robot has six legs, and each foot has three sets of servo motors, that is, three degrees of freedom, and a total of 18 degrees of freedom. Each degree of freedom allows the legs to rotate freely w...

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Abstract

The invention relates to a pipeline crawling robot which comprises a flat robot body (100), and six feet (200) symmetrically connected to the two sides of the robot body (100). Each foot (200) comprises a first joint (210) fixedly connected with the robot body (100), a second joint (220) rotationally connected with the first joint (210) through a first connecting device (240), and a third joint (230) rotationally connected with the second joint (220) through a second connecting device (250). The pipeline crawling robot has reasonable six-foot structural design, the robot can be allowed to pass through obstacles such as check valves and butterfly valves under the cooperation of different gaits, the function of freely walking on complex pipelines is achieved, and the robot can pass through turning pipelines; and a large amount of space is reserved on the flat robot body, expansion type tools can be loaded for achieving more functions, for example, a mechanical arm can be loaded for picking falling objects and an electric welding machine can be loaded for welding, and the application range of the pipeline robot is greatly enlarged.

Description

technical field [0001] The invention relates to the field of crawling robots, in particular to a pipeline crawling robot for nuclear power. Background technique [0002] Pipeline robots have developed explosively in recent years, but the application solutions are mainly the video collection and dredging functions of municipal pipelines. They are generally applied to large-diameter horizontal straight-through pipelines. There are two main application solutions: [0003] (1) Small wheel type pipeline robot: [0004] Can only walk in horizontal pipes, cannot run vertically or turn around, cannot avoid obstacles, has poor passability, and can only perform simple video detection; [0005] (2) Telescopic pole robot: [0006] It is limited to small-diameter pipes, and once it is finalized, it is often only suitable for a certain caliber of pipes. When the pipe caliber changes, the operation is poor, the versatility is poor, obstacles cannot be avoided, the space is limited, and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32F16L101/30F16L101/10
CPCF16L55/32F16L2101/10F16L2101/30
Inventor 陈利平张大勇李贵杰王树昌李克马大海吴文华陈永林刘浩
Owner YANGJIANG NUCLEAR POWER
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