A self-acting, self-adaptive pipeline robot

Abstract

A self-acting and self-adaption pipeline robot comprise a motor, a framework, three tension springs, a worm and six driving mechanisms. The framework is composed of a front hexagonal frame, a rear hexagonal frame, a front bearing seat, a rear bearing seat, a front connecting rod, a middle connecting rod and a rear connecting rod. The front hexagonal frame and the rear hexagonal frame form a hexagonal prism frame through a middle connecting rod, the front end of the front hexagonal frame and the front end of the rear hexagonal frame are connected through the front connecting rod and the front bearing seat, and the rear end of the front hexagonal frame and the rear end of the rear hexagonal frame are connected through the rear connecting rod and the rear bearing seat. The worm is supported on the front bearing seats and the front bearing seats through bearings. One end of the worm is connected with the motor. The front hexagonal frame and the rear hexagonal frame are each formed by connecting six fixing mandrels. Three of the six fixing mandrels of the front hexagonal frame and three of the six fixing mandrels of the rear hexagonal frame are provided with worm wheels, driving belt wheels and swing rods in an idling mode. The driving belt wheels and the worm wheels are fixedly connected and rotate synchronously. The other ends of the swing rods are fixedly connected with pin shafts. The pin shafts are provided with driven belt wheels and rolling wheels in an idling mode. A synchronous cog belt is arranged on the driving belt wheels and the driven belt wheels in a sleeving mode. The tension springs are fastened between the front pin shaft and the rear pin shaft. The worm is engaged with the six worm wheels.

Description

[0001] Field [0002] The patent of the invention belongs to the field of pipeline robots, in particular to a straight-forward wheeled pipeline robot with self-acting and self-adaptive functions. Background technique [0003] The pipeline robot is a mechatronic system that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the control of the staff or the control of the automatic control system. Pipeline robots can be roughly divided into flow type, wheel type, crawler type, peristaltic type, leg type and inertial vibration type according to different driving methods. Wheeled pipeline robots can be divided into two types: straight wheeled and spiral wheeled. The basic principle of the movement of the straight-forward wheeled robot is the same as that of the car when driving straight. The axis of the walking wheel is perpendicular to the axis of the pipeline...

AI Technical Summary

Problems solved by technology

For example, in the method of using spring force to obtain positive pressure, the obtained positive pressure mainly depends on the compression or stretching of the spring, which is basically a constant value, and the generated traction force is also basically a constant value, while the pipeline robot is walking The traction force required during the process may vary. For example, the traction force required for horizontal walking is much smaller than that required for vertical walking. Of course, the robot can design the spring force according to the maximum traction force requirements, but in this way, on the one hand, the walking wheels Continuous high-pressure contact stress with the transmission parts will easily lead to failure of the road wheels and transmission parts due to contact fatigue; on the other hand, once overloaded, the road wheels are prone to slipping

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