A wheeled pipeline robot traction device

Abstract

The invention discloses a traction device for a wheeled pipeline robot. The traction device comprises a housing and a four-axis differential driving device, wherein a power output bevel gear for driving a driving wheel transmission mechanism is arranged on each of four output ends of the four-axis differential driving device; a pipeline diameter adapting mechanism is arranged above the center between two front driving wheel transmission mechanisms, and another pipeline diameter adapting mechanism is arranged above the center between two rear driving wheel transmission mechanisms. According to the traction device for the wheeled pipeline robot, the rotating speed of four axes can be self-adaptively adjusted according to related running conditions in a pipeline; whether in a transition state or a turning state, the four driving wheels can perform differential movement during turning, thus the problem of movement interference on the traction device of a pipeline robot in obstacle crossing or turning can be solved, the driving efficiency can be improved, the abrasion of a driving device can be reduced, and as a result, the service life of the traction device can be prolonged; in addition, the traction device has the advantages of being high in obstacle crossing performance and pipe diameter adapting performance, high in effective driving power, high in structure symmetry, and wide in applicable scope.

Description

technical field [0001] The invention belongs to the field of pipeline robots, in particular to a traction device for a wheeled pipeline robot. Background technique [0002] As an effective means of transporting materials, pipelines are widely used in industries, nuclear facilities, oil, gas, and military equipment. In order to prolong the service life of pipelines and prevent accidents such as leakage, it is necessary to effectively detect, clean and maintain pipelines on a regular basis. However, due to the limitation of the environment of the pipeline, the above work is difficult to do manually. In order to meet the above requirements, the pipeline robot came into being. The pipeline robot traction device is an important part of the pipeline robot. It mainly provides power for the pipeline robot. It can carry or connect detection, cleaning and other devices and provide traction for it to meet the movement requirements of the pipeline robot as a whole in the pipeline. [...

AI Technical Summary

Problems solved by technology

[0003] At this stage, the common traction devices of wheeled pipeline robots are independently driven by multiple motors. The speed of each driving motor is given by a series of algorithms based on the operation information of the traction device obtained by the servo controller based on the onboard sensor. However, due to the accurate acquisition of the above information It is relatively difficult, and the control algorithm is complex and has poor real-time performance. Therefore, when encountering irregular pipe walls or turning, the problem of motion interference still exists, resulting in increased power consumption, decreased effective traction force, and increased wear of the drive device, which seriously affects the performance of the traction device. Working efficiency and service life

At present, very few pipeline robot traction devices use differential drive to solve the above problems, but all of them are three-axis differential, and their drive motors need to be installed outside the symmetrical structure, occupying extra space, and because the three-axis differential can only realize the axis and For the differential speed between the axles, the two ends of each axle are in the same motion state. If the front and rear ends are driven, when the traction device is in the transition state of turning, that is, the front wheel has entered the corner and is in the differential state, and the rear end wheel is still in the straight tube. In the non-differential speed state, or the front wheel has already exited the corner and is in the non-differential speed state, and the rear wheel is still in the bend pipe and is in the differential speed state, the same motion state at both ends will lead to parasitic power and motion interference, and the above problems still exist; if If one end is driven and the other is driven, the pose of the driven end cannot be effectively controlled, and the motion stability of the traction device is greatly reduced. At the same time, the effective driving force of the traction device is low, and the ability to overcome obstacles is poor.

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