A self-adaptive special-shaped pipe photoelectric measurement and processing integrated robot

Abstract

The invention provides a self-adaptive special-shaped pipeline photoelectric measurement and processing integrated robot. The robot comprises three self-driven track assemblies, three self-adaptive assemblies, a guide rod supporting assembly, a photoelectric measurement / processing assembly, a dynamic focusing assembly and an optical fiber adapter; each self-driven track assembly is arranged on theguide rod supporting assembly through the corresponding self-adaptive assembly, and each self-adaptive assembly comprises two self-adaptive connecting rods which are oppositely arranged, wherein theself-adaptive connecting rods are in an inverted-V shape, the top of the inverted-V shape is connected with the corresponding self-driven track assembly, and the bottom of the inverted-V shape is fixedly arranged on the guide rod supporting assembly; the photoelectric measurement / processing assembly is arranged at the front end of the guide rod supporting assembly, and the optical fiber adapter isarranged at the rear end of the guide rod supporting assembly; and the dynamic focusing assembly is mounted inside the guide rod supporting assembly in a positioned mode. The robot can adapt to pipelines with different diameters, is simple in structure and good in flexibility, and has extremely high trafficability.

Description

technical field [0001] The invention belongs to the field of precision measurement and processing, and in particular relates to an integrated robot for photoelectric measurement and processing of self-adapting special-shaped pipelines. Background technique [0002] As one of the important transportation tools for gaseous and liquid substances such as water, oil, and gas, pipelines are generally buried deep underground, on the seabed, in the air or in buildings, and are difficult to detect, clean and repair. Once the pipeline is polluted, corroded or damaged, it will Causes the pollution of transported materials, and even the collapse of the pipeline system, resulting in huge economic losses or human health and safety, so various pipeline robots have been born. The pipeline robot can enter the complex and changeable unstructured pipeline environment that is beyond the reach of humans. Through the non-destructive testing device and operating device it carries, it can complete ...

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Problems solved by technology

[0003] The research on pipeline robots at home and abroad has made great progress. The common walking methods are mostly inertial impact walking, creeping crawling, elastic drive walking or wheeled walking, etc. However, through comparative research, it is not difficult to find that the existing pipeline robots The overall structure and driving principle are relatively complex; non-centrosymmetric special-shaped pipes with complex diameter changes (such as ellipses, irregular polygons, etc.) cannot achieve self-adaptation; for these special-shaped pipes, there is an urgent need for adaptive robots to measure (especially non-contact, non-destructive testing) and processing operations, but there is no good solution on the market at present

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