Intelligent pipe inner wall walking robot

A walking robot and intelligent pipeline technology, applied in the field of robotics, can solve problems such as stuck, cumbersome structure, and weak turning performance, and achieve the effects of preventing stuck, enhancing cornering ability, and better turning ability

Active Publication Date: 2017-02-22
XI'AN PETROLEUM UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure of the existing pipeline robot is relatively cumbersome, the turning performance is weak, and it is easy to get stuck in the process of turning

Method used

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Experimental program
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Embodiment Construction

[0016] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0017] Such as figure 1 As shown, an intelligent pipeline inner wall walking robot includes two bodies 3, the two bodies 3 are connected by a universal joint 4, and the two ends of the body 3 that are not connected are respectively equipped with telescopic leg structures and walking mechanism;

[0018] The telescopic leg structure includes a guide rod 7 installed at the end of each body 3 and three machine legs 5, the machine legs 5 are divided into a main machine leg and two auxiliary machine legs, and the two auxiliary machine legs After the tops of the machine legs are connected, they are connected to the end of the body 3 in a rotatable manner, and the legs of the main machine are directly connected to the ends of the body 3 in a rotatable manner; each machine leg 5 is provided with a spring 9, and the spring (9) slides The sleeve (8) is connected to on...

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Abstract

The invention discloses an intelligent pipe inner wall walking robot. The intelligent pipe inner wall walking robot comprises two machine bodies; the two machine bodies are connected through an universal joint; walking mechanisms and extension leg structures are respectively mounted at two unconnected ends of the machine bodies; in the working process, a WIFI module is remotely connected to control driving wheels; motors drive the driving wheels; the driving wheels drive the machine bodies to move in pipes; under the condition of meeting with curves, the rotating speeds of two driving wheel motors are adjusted, and the rotating speeds of the two wheels are asynchronous to realize curving; when the pipes suddenly change the diameters, the adaption to the pipe diameters is realized through extension mechanisms, specifically, the pressure is applied to the driving wheels and driven wheels by pipe walls, so that three machine legs are inwards gathered, and meanwhile, slide sleeves are driven to compress springs; and after normal pipe diameters are recovered, the springs push the slide sleeves to drive outward expansion of the machine legs so as to adapt to new pipe diameters. The intelligent pipe inner wall walking robot has the characteristics of simple structure, convenience and practicability.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to an intelligent pipeline inner wall walking robot. Background technique [0002] Pipelines are blood vessels in the industrial field, responsible for transporting raw materials required for various projects, and are an indispensable means of transportation in industrial production. The most important transport materials in the pipeline are generally liquids. Due to the material defects of the pipeline itself or the long-term service state, the pipeline is particularly prone to defects such as corrosion, rupture, and scaling, which leads to a decrease in pipeline transportation efficiency and may even cause safety accidents. Therefore, regular inspection and maintenance of pipelines is very important. Since the internal diameter of the pipeline is generally relatively small, it cannot accommodate people to pass through it. Generally, the inspection of the pipeline is carried out ou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/32F16L101/30
CPCF16L55/32F16L2101/30
Inventor 郑杰郭稚薇刘曼窦益华韩璐刘琼
Owner XI'AN PETROLEUM UNIVERSITY
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