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Pipeline crawling robot

A crawling robot and pipeline technology, applied in the field of robots, can solve the problems of low obstacle crossing ability and low traction ability, and achieve the effects of improving mobility, increasing adhesion, and increasing adhesion.

Active Publication Date: 2018-07-31
CHINA PETROLEUM & CHEM CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a pipeline crawling robot, which solves the problem that the pipeline crawling robot in the prior art has low obstacle-surmounting ability and low traction ability

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] Such as figure 1 As shown, a pipeline crawling robot of the present invention includes a wheel train 100 , a driving mechanism 200 , a steering mechanism 300 and a vehicle body 400 .

[0041] Such as figure 2 As shown, the gear train 100 includes a planetary carrier wheel 111, a sun gear 112 is arranged coaxially with the planetary carrier wheel 111 on the outer side of the planetary carrier wheel 111, and four planetary gears 106 are arranged around the sun gear 112, each An idler gear 110 is arranged between the planetary gears 106 and the sun gear 112, the idler gear 110 meshes with the planetary gears 106 and the sun gear 112, and the outer surface of the planetary gears 106 is coaxially provided with four bolts 107. Claw mechanism 105. The gear train 100 composed of four claw mechanisms 105, idler gear 110, sun gear 112 and planetary carrier wheel 111 forms a structure with an inner "ten" and an outer circle. The rotation of the planetary wheel drives the rotati...

Embodiment 2

[0057] This embodiment is basically the same as Embodiment 1. For the sake of brevity, in the description process of this embodiment, the same technical features as Embodiment 1 will not be described, and only the differences between this embodiment and Embodiment 1 will be described:

[0058] The claws extend along the radial direction of the claw body, and there are nine claws on each of the planet carrier wheels, and the direction of each claw is consistent with the radial direction of the planet carrier wheels.

[0059] In severely corroded pipelines, the inner surface of the pipeline has gully-like undulations, and the distance between the obstacles is small. If the angular distance between the claws is large, the planetary carrier wheel between the two claws is in contact with the pipeline surface, and its moving performance will be affected. reduce. Increase the number of claws, reduce the angular interval between the claws, set the claws to extend along the radial dire...

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Abstract

The invention provides a pipeline crawling robot which comprises a wheel train, a driving system, a steering system and a vehicle body. The wheel train comprises a planet carrier wheel and a planet wheel. The planet wheel is provided with a clamping jaw mechanism. The clamping jaw mechanism comprises a clamping jaw. The driving system comprises a wheel driving mechanism and a clamping jaw drivingmechanism and used for steering of the clamping jaw and rotation of the planet carrier wheel. The vehicle body comprises a front vehicle base and a rear vehicle base and is used for installing a driving shaft and a steering shaft. The steering system comprises a telescopic rod and a connection rod. The two ends of the telescopic rod are hinged to the front vehicle base and the rear vehicle base, one end of the connection rod is hinged to the front vehicle base, and the other end of the connection rod is fixedly connected with the rear vehicle base. The pipeline crawling robot is high in barrier striding ability, the barrier striding ability is improved through cooperated operation of the planet carrier wheel and the clamping jaw when the robot strides a barrier, and the telescopic rod is controlled to stretch and retract so as to control steering of the planet carrier wheel. The clamping jaw is downward, the adhesion force of the wheel to the contact face inside a municipal pipe is increased, and moving performance in the severe environment is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a pipeline crawling robot. Background technique [0002] With the development of economic and social construction, more and more various pipelines have appeared in cities, such as gas pipelines, sewage pipelines, air-conditioning pipelines, etc. operation is important. Due to the particularity of pipeline structure, it is difficult to detect or repair after pipeline aging or damage occurs; some important pipelines, such as gas pipelines, will cause great safety hazards once cracks appear. Pipeline crawling robot has become a research hotspot as an internal detection and non-excavation repair technology. [0003] At present, the common pipeline crawling robots include supporting wheel crawling mechanism, crawler crawling mechanism, peristaltic crawling mechanism and four types driven by fluid pressure difference. The support wheel mechanism is suitable for circular pipes; the crawler craw...

Claims

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Application Information

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IPC IPC(8): F16L55/32
CPCF16L55/32
Inventor 李雪王晓霖肖文涛王军防余红梅周中强
Owner CHINA PETROLEUM & CHEM CORP