Pipeline robot

Abstract

The invention relates to a pipeline robot which comprises a supporting mechanism, a walking mechanism connected with the supporting mechanism, anti-collision mechanisms, an operating mechanism and anouter connecting mechanism. The supporting mechanism comprises a supporting base and a bearing vehicle body, the bearing vehicle body is of an inner hollow structure with an opening in the side face,and the supporting base is located under the bearing vehicle body. The walking mechanism is connected with the supporting base through a self-adapting mechanism. The anti-collision mechanisms are arranged on the top and the two sides of the bearing vehicle body. The operating mechanism comprises a mechanical arm with multi-degree of freedom and an end executor, the first end of the mechanical armwith the multi-degree of freedom is fixed into the bearing vehicle body, and the second end of the mechanical arm of the multi-degree of freedom is connected with the end executor. The outer connecting mechanism comprises a material cable conveying device and a control system, the material cable conveying device is arranged in the bearing vehicle body and is connected with the outer portion of a pipeline, and the control system is used for controlling all the mechanisms to operate. The pipeline robot is wide in application range and adapts to operation environments of pipelines in various shapes.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a pipeline robot. Background technique [0002] In recent years, with the rapid development of my country's industrial level, more and more fields such as petroleum, chemical industry, nuclear industry, disaster relief, urban construction sewage, natural gas transportation, industrial material transportation and building ventilation systems have used pipeline systems. Corrosion, cracking, etc. have become its fatal injuries. In order to increase the life of the pipeline, improve its utilization rate, and prevent safety accidents, it is necessary to use pipeline robots to enter the pipeline for spraying, grinding, welding, maintenance and a series of tasks that are not easy for workers to directly operate. [0003] However, the current pipeline robots can only work in circular pipelines, and cannot adapt to rectangular pipelines or other shapes of pipelines. Moreover, they can only co...

AI Technical Summary

Problems solved by technology

[0003] However, the current pipeline robots can only work in circular pipelines, and cannot adapt to rectangular pipelines or other shapes of pipelines. Moreover, they can only complete a single operation mode under a single cross-section, and cannot adapt to continuous normal work under variable cross-section conditions. If there are uneven and irregular pipes, the walking stability will drop sharply, and there is no safety consideration when working, and dangerous situations such as explosions will easily occur

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