A push-pull self-locking pipeline inspection robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a push-and-pull self-locking type pipeline internal detection robot. The push-and-pull self-locking type pipeline internal detection robot mainly comprises a front machine body, a rear machine body, a cam transmission mechanism, wedge-shaped self-locking mechanisms and supporting wheel mechanisms. The corresponding wedge-shaped self-locking mechanism is mounted in the middle of a main machine body of the front machine body, and the corresponding supporting wheel mechanisms are evenly arranged on the outer portion of the main machine body. The acting force of rolling wheels and the inner wall of a pipeline is controlled through the acting force of the wedge-shaped self-locking mechanisms and springs, and the two motion states of rolling and clamping of the rolling wheels are achieved. The structure of the rear machine body is the same as that of the front machine body, the rear machine body and the front machine body are mounted in the same direction, and the function that rolling wheels of the rear machine body and the rolling wheels of the front machine body move oppositely is achieved. The middle cam transmission mechanism is used for connecting the front machine body with the rear machine body, and telescopic motion of the front machine body and the rear machine body can be achieved. The robot can be controlled to advance or retreat by controlling forward and reverse rotation of a motor, in-pipeline operating of the robot is achieved, and the adaptability performance of the robot to different pipeline inner diameters is enhanced through the combined action of the wedge-shaped self-locking mechanisms and the springs.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an in-pipeline operating robot, which is a push-pull self-locking in-pipeline detection robot suitable for pipeline detection, operation maintenance and other power devices. Background technique [0002] With the acceleration of modernization, pipelines have entered every place where people live and work. There are pipelines for conveying fluids, water supply and drainage pipelines, oil pipelines and natural gas pipelines, etc., as well as protective pipelines, wires, and optical cables. Outsourced pipelines, etc. As one of the important transportation tools for oil, natural gas, chemical raw materials, water supply and drainage and other materials, pipelines of all kinds bring great convenience to people's life and work. Various problems, such as corrosion, cracks, rupture and wear, will have a serious impact on the normal use of pipelines. In order to ensure the sa...

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Problems solved by technology

[0004] During the operation of the robot, the operation of the robot will encounter many obstacles, such as variable diameter and large resistance. The existing robot solution is such as the "bevel gear direct drive pipeline detection robot" described in Chinese patent No. CN205278673U. The support wheel structure is adopted, the bevel gear is used as the main transmission component, and the direct drive method can realize the movement of the robot and can also adapt to different pipe inner diameters, but the transmission efficiency is low and the load capacity is limited, which is not suitable for large resistance and friction. working environment

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