Moving device for gas pipeline inspection robot

Abstract

The invention discloses a moving device for a gas pipeline inspection robot. The moving device comprises a center supporting shaft, a shaft tube sleeving the center supporting shaft, a spiral driving wheel device, a spherical head moving device and a balance wheel device, wherein the spiral driving wheel device and the spherical head moving device are assembled onto the shaft tube; the balance wheel device is assembled onto the center supporting shaft. The spiral driving wheel device comprises at least two base leg clamps. The spherical head moving device is connected with the base leg clamps. The spherical head moving device drives the base leg clamps to rotate to make the base leg clamps be distributed spirally. The spiral driving wheel device and the balance wheel device are used for abutting against the inner wall of a gas pipeline. The spiral driving wheel device is used for being connected with a driving device and rotating around the pipeline wall of the gas pipeline so as to make the spiral driving wheel device and the balance wheel device move in the axial direction of the gas pipeline. The base leg clamps of the spiral driving wheel device abut against the pipeline wall of the gas pipeline. The moving device is applicable to gas pipelines with different pipe diameters and high in adaptability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mobile device for a gas pipeline inspection robot. Background technique [0002] In modern production and life, gas pipelines have been widely used in metallurgy, petroleum, chemical industry and city gas supply. The working environment of gas pipelines is very harsh. During long-term use, due to chemical corrosion, mechanical damage, crustal movement, wear of pipeline accessories, etc., corrosion, deformation, cracks, fatigue damage, or potential internal defects in the pipeline may develop into damage. cause leakage accidents. Moreover, a large part of pipelines are buried pipelines, and hidden dangers of pipeline leakage are difficult to find, which can easily cause serious accidents such as fires and explosions. [0003] Therefore, in order to take precautions, these pipelines must be regularly inspected and maintained. It is neither economical nor practical to dig out th...

AI Technical Summary

Problems solved by technology

At present, the traditional four-wheel drive is unstable in walking, easy to overturn, and the driving force is insufficient.

Helical robots, first of all, have insufficient power and cannot make full use of the power, the speed of travel is single, and turning is laborious

The pipeline robot with a single set of helical drive wheels cannot ensure that the helical surface is always parallel to the section of the pipeline due to the action of torque, and cannot ensure that the robot runs smoothly

In addition, in terms of adaptability to changes in pipeline cross-section, the adjustment mechanism controlled by a single spring used in the prior art has limited adaptability and is difficult to control. When the elastic pressure is large, the driving force will be insufficient and stuck, and a large amount of energy will be consumed.

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