Pipeline crawling robot

Abstract

The invention discloses a pipeline crawling robot, comprising a frame component, traveling devices, traveling driving devices, a radial support component, and a screw driving device. The screw drivingdevice is positioned inside; the traveling devices are positioned at the outer side of a frame; the screw driving device may drive the radial support component such that the traveling device expandsor contracts radially to adapt to pipelines of different diameters; spring supports can prevent robot or pipeline damage due to excessive pressure of traveling wheels upon the inner wall of a pipelinecaused by over-adjustment; the traveling driving device can drive the three traveling devices in the rear respectively so that the robot herein has better driving power. The pipeline crawling robot has the advantages of good pipeline adaptability, high traction force, good reliability and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a pipeline walking robot. Background technique [0002] With the development of society and the advancement of technology, pipeline transportation technology is widely used in various transportation occasions such as oil, natural gas, and water. However, pipeline transportation is always accompanied by corrosion, blockage or even rupture inside the pipeline, which is very easy to cause a series of transportation problems. Therefore, operations such as cleaning and testing must be performed on the inside of the pipeline, and a mechanism that can be used for walking inside the pipeline is required. In response to the above problems, many researchers have conducted research and developed a variety of mechanisms that can be used for walking inside the pipeline. The walking methods used include wheel type, crawler type, spiral type, etc., and corresponding results have been obtained. For examp...

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Problems solved by technology

For example, the Chinese patent document CN106015829B discloses a pipeline robot. The walking mode of the robot is wheeled, which can adapt to pipelines of different diameters and shapes, and has a strong ability to overcome obstacles. Telescopic, when the diameter of the pipe changes greatly, the spring will slip due to insufficient elastic force, resulting in low pressure between the wheels and the inner wall of the pipe; Chinese patent document CN102425709B discloses a pipeline robot walking mechanism, which does not require external spring force The closed force system relies on the worm to drive the planetary gear transmission to integrate the transmission mechanism and the adjustment mechanism to make the structure simpler. However, due to the interaction between the worm and the planetary wheels in three directions, when there are obstacles such as protrusions in the pipeline, the three directions The rotation angles of the planetary wheels are inconsistent, resulting in inconsistent forces of the three turbines on the worm, which may easily lead to damage to the mechanism

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