A helical traveling robot with variable diameter outside the pipe

Abstract

A spiral-traveling variable-diameter external robot, including a lifting support mechanism, a variable-diameter driving mechanism, a traveling driving mechanism, and a walking mechanism. The traveling driving mechanism includes an outer ring gear, a cylindrical body, an external gear b, and a motor b. The mechanism drives the robot to move in a spiral; a set of variable-diameter drive mechanisms and at least three sets of lifting support mechanisms are arranged inside the cylindrical body, and a set of walking mechanisms is installed on each set of lifting support mechanisms; the variable-diameter drive mechanisms are mainly composed of motor a, inner Composed of ring gear and driving gear; the lifting support mechanism includes external gear a, screw and crank slider mechanism connected in sequence, the external gear a drives the movement of the screw transmission mechanism, and drives the slider of the crank slider mechanism to interlock, so that the traveling mechanism is close to the pipeline outer wall. The invention solves the problem of moving the robot outside the pipe, and has the advantages of strong pipe diameter adaptability, simple structure, etc., and can be used for the inspection, maintenance, repairing and processing of the outside quality of various pipes.

Description

technical field [0001] The invention relates to a robot outside the pipe, in particular to a helical traveling robot with variable diameter outside the pipe, which belongs to the field of special robots. Background technique [0002] Pipelines play an important role in industrial production and urban life, and the traditional method of manual maintenance of pipelines can no longer meet the needs of production and life in the new era. The development and application of pipeline robots have injected new vitality into the continuous prosperity and development of the pipeline industry. Due to the corrosion of the conveying medium, the damage of natural disasters, and the influence of its own process defects, the pipeline will inevitably have cracks, damage, leaks, etc., which will cause production safety such as environmental pollution, flammable explosions, and energy waste. Therefore, it is particularly necessary to carry out regular inspection, maintenance and cleaning of the...

AI Technical Summary

Problems solved by technology

[0005] 1. It can only realize the operation tasks inside the pipeline, and cannot change the diameter to adapt to pipelines of different diameters;

[0006] 2. It cannot provide enough adhesion between the robot and the pipeline, and cannot realize horizontal, inclined and vertical pipeline operations;

[0007] 3. It cannot be flexibly turned around the bend, that is, it can only adapt to the straight pipe, and cannot realize the bend operation or is easy to get stuck;

[0008] 4. The structure is complex, the adaptability is weak, the versatility is not strong, and most of them are rigid parts, and the ability to overcome obstacles is insufficient;

[0009] 5. If camera acquisition equipment is used, the pipeline robot adopts mobile type. Compared with the spiral traveling type of this scheme, it cannot carry out comprehensive pipeline inspection

[0012] 1. The pipeline robot only relies on the spring to provide the adhesion force of the robot on the pipeline, which cannot be adjusted to a suitable range, especially for inclined (or vertical pipelines), it is very easy to cause difficulty in traveling due to insufficient adhesion:

[0013] 2. The pipeline robot cannot work on pipelines with different pipe diameters, the adjustment range is very small, and the pipe diameter adaptability is insufficient;

[0014] 3. There is no feedback adjustment device when overcoming obstacles, and the mechanical deformation depends on the spring, which is not easy to adjust, or when the obstacle is slightly large, it is easy to get stuck;

[0015] 4. It cannot be applied to non-equal-diameter pipes (such as the diameter of the pipe gradually becomes larger), and the versatility and applicability to the working environment are insufficient

Images