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A single-acting pneumatic locking type flexible in-pipe robot and its working method

A technology of robots and flexible pipes, applied in the direction of pipe components, special pipes, mechanical equipment, etc., can solve the problems of load increase, complex control, and multiple power units, so as to reduce the traction load, compact and reliable structure, and realize cable-free Effect

Inactive Publication Date: 2019-05-21
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are not only vertical and horizontal straight pipes in the actual piping system, but also many bends and bifurcations. The existence of these bends connects the straight pipes into a complex pipeline system
When the in-pipe robot in the prior art passes through the curved part of the pipe, the size of the rigid unit is large, the joint with the pipe is not sufficient to achieve effective driving, there are many power units and the control is complicated, and the load is sharply increased by dragging the cable through the bend, etc. Technical problems; cannot well adapt to the work requirements of the bends in the pipeline system; for example, Chinese patent CN105715905A discloses a robot in a pipe with a spiral walking method, which uses a spiral walking method to solve the problems that the robot in the pipe is easy to shift or rollover ; But its overall structure is still a rigid structure, and may still be unable to overcome the above-mentioned problems in the prior art

Method used

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  • A single-acting pneumatic locking type flexible in-pipe robot and its working method
  • A single-acting pneumatic locking type flexible in-pipe robot and its working method
  • A single-acting pneumatic locking type flexible in-pipe robot and its working method

Examples

Experimental program
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Effect test

Embodiment 1

[0041] Such as figure 1 shown.

[0042] A single-acting pneumatic lock-type flexible in-pipe robot, including an energy module 1, a rear support mechanism 2 and a front support mechanism 4 connected by a telescopic mechanism 3;

[0043] The energy module 1 includes a motor 1-1, an airbag 1-2 and an air pump 1-3;

[0044] The rear support mechanism 2 includes a first truncated cone 2-1 and a first piston arranged on the circumference of the first truncated cone 2-1; the piston rod 2-4 of the first piston is connected with a first wedge 2- 5;

[0045] The telescopic mechanism 2 includes a telescopic spring 3-1 and a second air pipe 3-2 wrapped on the outside of the telescopic spring 3-1;

[0046] The front support mechanism 4 includes a second truncated cone 4-1 and a second piston arranged on the circumference of the second truncated cone 4-1; the piston rod 4-4 of the second piston is connected with a second wedge 4- 5;

[0047]The air pump 1-3 communicates with the cylin...

Embodiment 2

[0049] The difference is that the energy module further includes a wireless energy transmission module 1-5 for the single-acting pneumatic locking flexible in-pipe robot described in Embodiment 1. The wireless energy transmission modules 1-5 provide energy for the energy module 1 . The motor 1-1, the air pump 1-3 and the wireless energy transmission module 1-5 are wrapped in the airbag 1-2. In order to prevent rigid collision with the pipe wall during the movement.

Embodiment 3

[0051] Like the single-acting pneumatic locking flexible in-pipe robot described in Embodiment 1, the difference is that the rear support mechanism 2 includes three first pistons; the three first pistons are arranged at equal intervals on the first truncated cone 2 - on the circumference of 1; the front support mechanism 4 includes three second pistons; the three second pistons are arranged at equal intervals on the circumference of the second truncated cone 4-1.

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Abstract

The invention relates to a single-action pneumatic lock-up type flexible in-pipe robot and a working method thereof. According to the single-action pneumatic lock-up type flexible in-pipe robot, a power source is connected with a rear supporting mechanism by adopting an air pipe, combination of a spring and the air pipe is adopted to connect a front supporting mechanism and the rear supporting mechanism, and the flexibility of the robot is greatly enhanced, and the size of the rigid unit (the front supporting mechanism, the rear supporting mechanism) is limited well; and working requirements of a curve and a bifurcation port in a pipeline system are better adapted.

Description

technical field [0001] The invention relates to a single-acting pneumatic locking flexible in-pipe robot and its working method, belonging to the technical field of in-pipe robots. Background technique [0002] With the development of modern industrial technology, a large number of uneven and winding pipelines exist in petrochemical, refrigeration, nuclear power generation and daily life of residents. The development of in-pipe robot research technology provides a new way for inspection and maintenance inside the pipeline. The fundamental significance of the development of pipeline robots lies in the realization of cable threading, endoscopic detection and simple dredging and cleaning of pipelines; as well as improving the harsh working environment of workers when dredging pipelines, reducing the labor intensity of workers, ensuring the personal safety of workers and improving drainage. Efficiency of pipe cleaning. In-pipe robots can also be used in other fields such as: i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/26F16L55/28F16L101/12
Inventor 乔晋崴刘娜
Owner QILU UNIV OF TECH
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