Novel pipeline robot

Abstract

The invention discloses a novel pipeline robot. The robot is composed of two robot bodies which are the same in structure and are in mirror symmetry connection through a universal rotating module connector. Each robot body comprises a robot main body of a prismoid, three crawler-type walking mechanisms evenly arranged in the circumferential direction of the robot main body, and a connecting mechanism connected with the robot main body and the walking mechanisms. Each connecting mechanism is further connected with a stepping motor through a lead screw nut and a lead screw, and the stepping motors rotate to control the expanding degree of crawler belt feet. The novel pipeline robot has the beneficial effects that the pipeline robot can go straight and turn in a pipeline and can also move ina horizontal-to-vertical pipeline. The expanding angles of the crawler belt feet can be adjusted at any time by adjusting the connecting mechanisms to meet the walking needs of different pipe diameters. The crawler-type walking mechanisms are high in road holding force, the multiple motors carry out independent driving, the robot can adapt to various pipeline environments, and the whole equipmenthas the function of preventing water and corrosion.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a pipeline robot capable of exploration and cleaning. Background technique [0002] With the great progress of automation technology and the remarkable improvement of national material living standards, the development of all walks of life is more dependent on material transportation. In particular, pipeline transportation occupies an increasing proportion of the national economy due to its advantages of large transportation volume, convenience, and low cost. It has been widely used in petroleum, chemical industry, energy, food processing, urban water supply and drainage, and agricultural irrigation. , nuclear industry and other fields. However, due to the chemical corrosion of the conveying medium, force majeure natural disasters and its own defects, serious accidents such as environmental pollution, combustible explosion, energy waste and other serious accidents caused...

AI Technical Summary

Problems solved by technology

However, at present, the underground pipelines in most areas are multi-layered after reconstruction, and the height difference is large and uneven; therefore, it is difficult to troubleshoot pipeline failures such as blockage and leakage.

Traditional pipeline inspections are carried out by relevant personnel, and there are mainly two positioning methods: manual instrument inspection and ground robot inspection; manual operation is time-consuming and labor-intensive, and multiple measurements are required to obtain accurate values, which is inefficient and the pipeline Most of them are difficult to reach by manpower; ground robot surveying and mapping has low accuracy, and the precision splicing of multiple scanning data needs to use GPS positioning, which has strong requirements for GPS signals, and pipelines are mostly buried below 0.7m underground, and many Metal coverage, weak GPS signal

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