Pipeline inspection robot based on reducing of gear rack

A rack-and-pinion and robot technology, applied in manipulators, special pipes, motor vehicles, etc., can solve problems such as difficult detection of narrow pipes, and achieve the effects of reliable mechanical structure, stable mechanical structure, and accurate transmission motion

Inactive Publication Date: 2018-09-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to propose a novel spherical robot that can flexibly change the diameter in order to solve the problem of difficult detection of...

Method used

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  • Pipeline inspection robot based on reducing of gear rack
  • Pipeline inspection robot based on reducing of gear rack

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Embodiment Construction

[0039] See attached figure 1 , a pipeline detection robot based on rack and pinion diameter reduction, including: support plate 8, motor bracket I17, rack and pinion gearbox 3, left hemispherical wheel 1, left inner gear 2, right hemispherical wheel 10, right inner gear 26 , motor support II23, motor support III6, pinion I5, pinion II24; the support plate 8 connects the motor support I17, the motor support II23 and the motor support III7 with them through screws, and the rack and pinion reduction box 3 passes through the support plate 8 The screws are fixed together, the left hemispherical wheel 1 and the right hemispherical wheel 10 are respectively connected with the left inner gear 2 and the right inner gear 26 by screws, the motor I18 is fixed with the pinion I5 through the jack screw, and the motor II22 is connected with the pinion I5 through the jack screw. The gear II24 is fixed; driven by the motor I18 and the motor II22, the pinion I5 and the pinion II24 drive the lef...

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Abstract

The invention discloses a pipeline inspection robot based on reducing of gear rack, and provides a ball type inspection robot capable of flexible reduction and a control method thereof. The pipeline inspection robot comprises a wheel set, a wheel driving device, a reducing device and a support plate (8). The wheel set includes a left hemisphere type wheel (1) and a right hemisphere type wheel (10). The wheel driving device is capable of driving the wheel set to enable the left hemisphere type wheel (1) and the right hemisphere type wheel (10) to rotate separately. The reducing device comprisesa gear rack reduction box (3) connected to the wheel set to drive the left hemisphere type wheel (1) and the right hemisphere type wheel (10) to move radially to achieve reduction. The support plate(8) enables the wheel driving device to be connected with the reducing device. The pipeline inspection robot based on reducing of the gear rack aims to solve the problem of difficult detection of small and narrow pipelines at present, and realizes most of pipeline operation at present.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a pipeline detection robot based on gear and rack variable diameter. Background technique [0002] Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. system. [0003] In Non-Patent Document 1 (“Current Status and Development Trend of Oil and Gas Pipeline Robot Technology”, Liu Qingyou et al., Journal of Xihua University, 2016(1).32), the author systematically expounds the research status of domestic and foreign pipeline robot technology; Analyze the two major technical difficulties of pipeline robots, motion control and positioning control, and point out that the research focus of future oil and g...

Claims

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Application Information

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IPC IPC(8): B25J11/00F16L55/32B62D57/02F16L101/30
CPCB25J11/00B62D57/02F16L55/32F16L2101/30
Inventor 石青王圣杰李昌麻孟超黄强福田敏男
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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