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An intelligent pipeline 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: 2021-03-02
XI'AN PETROLEUM UNIVERSITY
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  • 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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  • An intelligent pipeline inner wall walking robot
  • An intelligent pipeline inner wall walking robot

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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

An intelligent pipeline inner wall walking robot includes two bodies, the two bodies are connected by universal joints, and the two unconnected ends of the body are respectively equipped with a walking mechanism and a telescopic leg structure; in the working process, through Connect the WIFI module remotely, control the driving wheel, the motor drives the driving wheel, and the driving wheel drives the body to move inside the pipeline; in the case of a curve, adjust the speed of the two driving wheel motors to make the two wheels out of sync. Turning is realized; when the pipe suddenly changes in diameter, the pipe diameter is adapted through the telescopic mechanism, specifically, the pipe wall exerts pressure on the driving wheel and the driven wheel, so that the three machine legs are retracted inward, and the sliding sleeve is driven to compress the spring at the same time. After the pipe diameter returns to normal, the spring pushes the sliding sleeve to drive the engine legs to expand outwards to adapt to the new pipe diameter; the invention has the characteristics of simple structure, convenience and practicality.

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 Patents(China)
IPC IPC(8): F16L55/32F16L101/30
CPCF16L55/32F16L2101/30
Inventor 曹银萍窦益华郑杰郭稚薇刘曼韩璐刘琼
Owner XI'AN PETROLEUM UNIVERSITY
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