Large variable diameter wheeled T-shaped pipeline robot

Abstract

The invention discloses a large reducing wheel-type T-shaped pipeline robot which comprises a spiral running mechanism, a front driving mechanism and an operating mechanism; the spiral running mechanism comprises a rotary stand plate; two reducing air cylinders I are arranged on the front end face of the rotary stand plate; a steering engine I is arranged on an output shaft of each reducing air cylinder I; a traction wheel is arranged on an output shaft of each steering engine I; the two traction wheels are arranged in the same vertical straight line; the rear end face of the rotary stand plate is fixedly connected with a front swinging rod; the front swinging rod is connected with a rear swinging rod by a duplex type universal joint; the rear swinging rod is driven by a motor I; the frontswinging rod is sleeved with a swinging sleeve which is driven by a shifting fork; the shifting fork is located at the front end of the duplex type universal joint; and the shifting fork is driven bya bevel gear driving mechanism I and is driven by a motor II. The large reducing wheel-type T-shaped pipeline robot can pass a straight pipe, an elbow pipe and a T-shaped pipe, has the characteristics of small size, large reducing and low cost and has wider reducing rang than an existing pipeline robot.

Description

technical field [0001] The invention belongs to the field of pipeline robots, and in particular relates to a robot capable of realizing large diameter change and passing through T-shaped pipelines. Background technique [0002] At present, pipeline transportation, as an effective means of material transportation, is widely used in the fields of industry, nuclear facilities, oil, gas, and military equipment. However, due to the space requirements of the pipeline, it is difficult for people to enter and work in the pipeline, and the advantages of robots are more obvious in harsh environments like nuclear pipelines. However, most of the pipeline robots on the market today cannot change the diameter or have a small diameter change range. And most pipeline robots on the market mostly walk straight pipes and some of them walk curved pipes. Robots that can walk on T-shaped pipes or even straight pipes, bent pipes, and T-shaped pipes need to be developed. At the same time, the pro...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problems existing in the existing technology are: most of the existing pipeline robots are not variable in diameter or have a small range of diameter change, and there are very few robots that can turn T-shaped pipes. When the diameter change range is required to be large , the cost is high, so there is an urgent need for a robot with a small size, a large variable diameter range and the ability to turn T-shaped tubes

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