A crawler-wheeled pipeline detection robot with active self-adaptation to pipe diameter changes

Abstract

The invention discloses a circumferentially-distributed crawler wheel type pipeline detection robot capable of actively adapting to pipe diameter changes. The robot comprises a crawler wheel travelingmechanism and a detection mechanism connected to the front end of the crawler wheel traveling mechanism through a turning mechanism, the crawler wheel traveling mechanism comprises a cylindrical mainbody sleeve, multiple crawler wheels controlled by a crawler driving motor are evenly distributed on the periphery of the cylindrical main body sleeve, the crawler wheels are installed on a ball screw through a pressing adjusting crank sliding block mechanism, and the ball screw is fixed to the outer wall of the cylindrical main body sleeve. The detection mechanism comprises a cylindrical detection barrel, an ultrasonic probe and a wide-angle camera stretch out of a detection barrel front end cover of the cylindrical detection barrel, the front end of the ultrasonic probe is provided with anultrasonic reflector, an electrical control system is arranged inside the cylindrical main body sleeve, and the electrical control system is connected with a battery. The circumferentially-distributedcrawler wheel type pipeline detection robot is good in movement controllability, outstanding in climbing and obstacle crossing ability and capable of actively adapting to pipe diameter working conditions.

Description

technical field [0001] The invention belongs to the field of robot manufacturing, and in particular relates to a crawler-wheeled pipeline detection robot that actively adapts to changes in pipe diameter, which can handle the traveling detection work under the conditions of small obstacles inside the pipeline, defects in the inner wall, and variable pipe diameters. Background technique [0002] At present, pipeline robots have been widely used in the detection and maintenance of oil and gas pipelines and other industrial and living pipelines. The existing pipeline robots are mainly wheeled pipeline robots, and there are fewer crawler pipeline robots, and the existing crawler pipeline robots are driving In terms of configuration, the trolley-type tracked chassis structure is the main structure, and there are fewer pipeline robots with track wheels. Although the crawler-chassis pipeline robot has improved motion stability and climbing ability, the motion stability of the robot ...

AI Technical Summary

Problems solved by technology

Although the crawler chassis-type pipeline robot has improved in motion stability and climbing ability, but for the large-scale defects and obstacles in the pipeline, the motion stability of the robot is insufficient.

Secondly, under the condition of large slope, due to the limited positive pressure between the crawler and the pipe wall provided by the robot's own weight, the friction between the track wheel and the pipe wall is small, and the climbing ability of the pipe is limited.

Some crawler-type pipeline robots adopt a spring-compressed circumferential crawler wheel structure, but this passive adaptive structure, the pressing force between the track wheel and the pipe wall cannot be adjusted, and the controllability of the track wheel is poor, resulting in robot failure. Overall movement flexibility and reliability are limited

In addition, the existing pipeline robot uses universal joints to connect multiple joints of the robot. The direction selection of the robot at the corner is completely passive, and there is no ability to control the direction of the autonomous turn. It is not suitable for working conditions with branch pipes.

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