Multi-motion-mode pipeline outer wall climbing detection robot

Abstract

The invention discloses a multi-motion-mode pipeline outer wall climbing detection robot. The multi-motion-mode pipeline outer wall climbing detection robot is characterized by comprising two circular modules; and the two circular modules are connected with each other through a turnover device so that the two circular modules can realize relative rotations. Each circular module comprises a driving device, a transmission device, a steering device, a camera, a pressure sensor, a control box and so on. The multi-motion-mode pipeline outer wall climbing detection robot has multiple motion modes can realize motions such as linear motion along a pipeline, rotation motion around the pipeline, turnover and so on. The multi-motion-mode pipeline outer wall climbing detection robot can pass through elbow pipes with complicated shapes such as L shapes, T shapes and so on, is able to cross obstacles such as pipeline joints, valves and so on and can realize crossing motion between two pipelines. The multi-motion-mode pipeline outer wall climbing detection robot can adapt to pipeline diameters within a very large range by adjusting the displacement of a linear driver. After various operation tools are mounted on a semicircular frame, works such as maintenance and so on can also be carried out.

Description

technical field [0001] The invention belongs to the field of robot technology and automation, in particular to a multi-movement mode pipe outer wall climbing detection robot. Background technique [0002] Pipeline robot is an important part of the field of industrial robot, and it is getting more and more attention. Pipeline robots can be divided into two types: in-pipe robots and out-pipe robots. The robot outside the pipe can be used for inspection and maintenance of various pipes, cables and other external surfaces. A large number of pipelines are used in modern industrial and agricultural production and normal life, and most industrial pipelines contain toxic and high-temperature fluids. Once these fluids leak out, they will cause heavy casualties and property losses, and the consequences will be immeasurable. Therefore, it is essential to use robots outside the pipeline instead of humans for pipeline inspection and maintenance. If these tasks are still performed by h...

AI Technical Summary

Problems solved by technology

The technical problem to be solved by the present invention is: the existing external robots generally do not have the function of adapting to variable pipe diameters and passing through complex pipes such as L-shaped and T-shaped, and do not have the ability to pass through obstacles such as pipe joints and support beams. ability, it is also difficult to switch motion pipes between adjacent pipes

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