Pipeline flexible crawling robot

Abstract

The invention relates to a pipeline flexible crawling robot which comprises a forward walking mechanism, a backward walking mechanism and a steering mechanism, wherein the steering mechanism is arranged between the forward and backward walking mechanisms; each of the forward and backward walking mechanisms comprises an engine base, a primary motor, a secondary motor, a worm, a support disc, a leadscrew, a nut, a spring, a sliding sleeve, a baffle ring, a guide rod, a swinging arm component and a connecting rod; the swinging arm component comprises an arm rest, a chain, a worm gear set and a gear set. The primary motor drives the gear set to rotate through worm drive and chain wheel drive; the secondary motor flexibly drives a gear of the swing arm component to radially support or leave the inner wall of the pipeline through a screw drive pair composed of the nut and the lead screw, the spring, the sliding sleeve and the connecting rod; the steering mechanism comprises a motor, a cam,a driving lever, a support plate, a main spring and a connecting piece; the connecting piece passes through the cam and the support plate and then is connected with the forward and backward walking mechanisms. While the cam and the driving lever push / pull the connecting piece, the motor forces the forward and backward walking mechanisms to deflect mutually. The pipeline flexible crawling robot provided by the invention has the advantages of simple structure and great tractive force and can crawl and turn along the inner wall of the pipeline.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a pipeline flexible crawling robot. Background technique [0002] The pipeline robot is a special type of robot. They are used for working in narrow spaces of pipelines where people cannot enter, and for dangerous operations in toxic gas pipelines where people cannot adapt. The pipeline robot can walk along the inner wall of the pipeline. It can carry one or more sensors and operating devices, and perform a series of pipeline inspection and maintenance operations under the control of the operator outside the pipeline. Over the years, countries all over the world have attached great importance to the research of pipeline robots, and their research has gradually shifted from experimental research to practical application. At present, the integration of various technologies and the multi-agent network are the development directions of pipeline robot research, which play an important r...

AI Technical Summary

Problems solved by technology

[0003] At present, some pipeline robots can perform some detection and signal transmission and limited dredging and obstacle removal operations, but the ability to crawl in vertically rising pipelines, the flexibility to operate in pipelines with variable diameters and steep bends, and the ability to operate in long-distance sealed pipelines Capabilities such as the ability to pull cables are still poor

Pipeline robots for variable inner diameter, curved, crossing pipeline dredging and obstacle removal operations have not been reported

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