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Self-adaptive type inner pipe robot and pipe diameter self-adaptive, power-off protection and crawling method thereof

An adaptive and robotic technology, applied in the field of robotics, can solve the problems that pipeline robots are difficult to adapt to the change of pipeline diameter, so as to prevent sliding or falling, improve safety and reliability, and reduce self-weight.

Inactive Publication Date: 2017-09-26
MAANSHAN FULAIYI ENVIRONMENT PROTECTION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The invention provides an adaptive in-pipe robot, the purpose of which is to solve the problem that existing pipeline robots are difficult or unable to adapt well to changes in pipeline diameter

Method used

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  • Self-adaptive type inner pipe robot and pipe diameter self-adaptive, power-off protection and crawling method thereof
  • Self-adaptive type inner pipe robot and pipe diameter self-adaptive, power-off protection and crawling method thereof
  • Self-adaptive type inner pipe robot and pipe diameter self-adaptive, power-off protection and crawling method thereof

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Experimental program
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Effect test

Embodiment 1

[0039] Such as figure 1 As shown, an adaptive in-pipe robot of this embodiment is mainly composed of a fuselage, a climbing mechanism 5, and a climbing adjustment mechanism 6. Among them, the climbing mechanism 5 is used to support the fuselage and realize the crawling and climbing of the robot in the pipeline. The adjustment mechanism 6 can adjust the support width of the climbing mechanism 5, so that the robot can adapt to crawling of pipes of different diameters. Each part is described in detail below.

[0040] Combine figure 1 with figure 2 As shown, the climbing mechanism 5 has four mechanisms at the corners of the fuselage, which are respectively an upper left climbing mechanism 5-1, an upper right climbing mechanism 5-2, a lower left climbing mechanism 5-3, and a lower right climbing mechanism 5-4. , Their structures are the same, the climbing adjustment mechanism 6 is installed between the upper left climbing mechanism 5-1 and the upper right climbing mechanism 5-2, and ...

Embodiment 2

[0045] This embodiment is an adaptive method for the pipe diameter of an adaptive in-pipe robot. The adaptive in-pipe robot of embodiment 1 can be adapted to different pipe diameters. The operation steps are as follows: the climbing adjustment mechanism 6 operates and the motor 604 is adjusted. , The adjustment screw 602 is driven to rotate, and the angle between the swing rod 503 of the left upper climbing mechanism 5-1 and the swing rod 503 of the right upper climbing mechanism 5-2 is increased or decreased through the adjustment nut, and the left lower climbing mechanism 5- The angle between the swing rod 503 of 3 and the swing rod 503 of the lower right climbing mechanism 5-4 is increased or decreased, so that the roller 501 of the climbing mechanism 5 always presses the inner surface of the pipe; in this process, the sensor 605 The thrust of the adjusting screw 602 is detected, and the signal is transmitted to the control system. The control system controls and adjusts the ...

Embodiment 3

[0049] This embodiment is an adaptive power-off protection method for an in-tube robot. In the event of an accidental power-off, the robot can be locked to prevent the robot from falling or sliding due to gravity, thereby improving the operating safety of the robot.

[0050] The structure of the self-adaptive in-tube robot is basically the same as that of the first embodiment. The difference is that the driving motor 508 is connected to the driving wheel 507 through an electromagnetic clutch 509. The electromagnetic clutch 509 adopts an electromagnetic overrunning clutch. Override, the inner and outer rings are locked in the power-off state. The electromagnetic clutch 509 is relatively mature in the prior art, and its structure will not be described in detail here; at the same time, the adjustment screw 602 and the adjustment nut in the climbing adjustment mechanism 6 adopt trapezoidal thread cooperation , With self-locking function.

[0051] The steps of the power failure protecti...

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Abstract

The invention discloses an adaptive in-pipe robot and its pipe diameter self-adaptation, power-off protection and crawling methods, belonging to the technical field of robots. The robot includes a fuselage, a climbing mechanism and a climbing adjustment mechanism. The climbing mechanism is mainly composed of an upper left climbing mechanism, an upper right climbing mechanism, a lower left climbing mechanism and a lower right climbing mechanism arranged on four corners of the fuselage; Between the mechanisms, between the lower left climbing mechanism and the lower right climbing mechanism, a climbing adjustment mechanism is respectively installed, which are respectively used to adjust the left upper climbing mechanism and the right upper climbing mechanism, and the rotation of the left lower climbing mechanism and the right lower climbing mechanism relative to the fuselage , to accommodate different pipe diameters. The robot of the present invention can adapt to the change of pipe diameter, and it has power-off protection function, which can prevent the robot from slipping or falling on the pipe wall; in addition, it can have two motion modes of rolling climbing mode and alternating climbing mode according to different use environments. optional.

Description

Technical field [0001] The invention belongs to the technical field of robots, and relates to a robot used for pipeline inspection and maintenance, and more specifically, to an adaptive in-pipe robot and its pipe diameter self-adaptation, power-off protection and crawling method. Background technique [0002] In general industry, nuclear facilities, petroleum and natural gas, military equipment and other fields, pipelines are widely used as an effective means of material transportation. Year-round applications have made pipeline corrosion and blockage more and more serious, which can easily cause various hazards such as low transmission efficiency and pipeline damage. In order to improve the life of the pipeline and prevent leakage and other accidents, it is necessary to effectively perform the pipeline In order to meet the needs of inspection and maintenance, pipeline robots are produced. [0003] Pipeline robot is a kind of mechanical, electrical and instrument integration that ...

Claims

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Application Information

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IPC IPC(8): F16L55/32
CPCF16L55/32
Inventor 王明明钟泽明
Owner MAANSHAN FULAIYI ENVIRONMENT PROTECTION TECH CO LTD
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