Composite driving pipe robot based on fluid and motor

Abstract

The invention relates to a composite driving pipe robot based on a fluid and a motor. The composite driving pipe robot is characterized by being composed of barrels, a leather cup mechanism, a throttling mechanism, an isolating plate, a driving mechanism, a motor, a battery, a controller, a coordinating mechanism and a supporting mechanism, wherein one end of each barrel is closed, the other end of each barrel is opened, the leather cup mechanism is composed of an annular leather cup, a first clamping plate and a second clamping plate, and the throttling mechanism is composed of a throttling plate, throttling springs and a supporting plate. The composite driving pipe robot based on the fluid and the motor has the beneficial effects that on the one hand, according to the hydraulic driving force of an in-pipe fluid on the robot, driving wheels can be made to compress or separate from the inner wall of a pipe by adjusting the coordinating structure, a single fluid driving manner and a fluid and motor combined composite driving manner can both be achieved, and therefore the robot has the advantages of being large in stroke and large in driving force, and the possibility of carrying a corresponding working module is provided; and on the other hand, the driving wheels are made to compress the pipe wall by pretightening coordinating springs, and therefore the robot in a composite driving state has the capacity of crossing obstacles and passing through a bent pipe.

Description

technical field [0001] The invention relates to a composite-driven pipeline robot, in particular to a composite-driven pipeline robot based on a fluid and a motor, and belongs to the field of structural design of pipeline robots. Background technique [0002] With the passage of working time, the transmission pipelines in the fields of petroleum, chemical industry, water supply and drainage are easily affected by natural factors and gradually aging, with varying degrees of corrosion, cracks, pipe expansion and other phenomena, which not only reduce the quality of the pipeline Transport efficiency, more serious will cause the occurrence of severe accidents such as fire, radiation, explosion. Therefore, it is of great significance to regularly carry out pipeline inspection, cleaning and maintenance work to ensure the safe and smooth operation of the pipeline system. However, due to the intricate structure and harsh internal environment of pipelines, it is difficult for mainte...

AI Technical Summary

Problems solved by technology

For pipeline robots supplied by cables, the main problem is that as the distance traveled by the pipeline robot increases, the frictional resistance between the cable and the pipe wall will gradually increase, even to the extent that the traction force of the robot cannot be overcome, which seriously affects the The maximum stroke of the pipeline robot; while the cable-free pipeline robot is driven by its own battery, which is limited by factors such as battery capacity, battery quality, and the overall size of the robot. The robot also faces the problem of limited stroke.

In addition, when the robot carries multiple functional modules to work, it is prone to insufficient driving force and stagnation in the pipeline

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