Straight wheel driven variable diameter pipeline inspecting robot

Abstract

The invention discloses a straight wheel driven variable diameter pipeline inspecting robot, and belongs to the technical field of pipeline robots. The straight wheel driven variable diameter pipelineinspecting robot is capable of coping with complicated pipelines. The technical scheme is as follows: the structure of a driving unit is that two driving wheel systems are arranged on two sides of the rear end of a base plate, a universal supporting wheel is arranged on the front end of the base plate, and a variable diameter actively adjusting system is arranged on the base plate; the structureof a turning and centering system is that a square bar is vertically arranged, the lower end of the square bar is hinged with the front end of the base plate of the driving unit, the middle portion ofthe square bar is sleeved with a linear bearing, and a bearing connector is fixed on the linear bearing; and the structure of an inspecting unit is that a plurality of inspecting devices are arrangedon a shell body, the shell body is connected with the bearing connector through the bearing, one ends of a plurality of L-shaped like brackets are hinged on the shell body, the other ends of the plurality of L-shaped like brackets are provided with universal wheels, and a spring adaptively adjusting system is arranged between each L-shaped like bracket and the shell body. The straight wheel driven variable diameter pipeline inspecting robot is used for pipeline inspecting.

Description

technical field [0001] The invention relates to a direct-wheel-driven variable-diameter pipeline inspection robot, which belongs to the technical field of pipeline robots. Background technique [0002] Most of the existing pipeline robots are wheeled, crawler and spiral pipeline robots. The former two cannot satisfy the self-regulation of the positive pressure of the driving wheel in a complex environment, and can only rely on the robot's own weight to provide positive pressure. The structure of the spiral robot is complex, and the output torque of the motor is used to drive the wheel frame to rotate. Under the friction between the wheel and the inner wall of the pipe, the driven wheel and the wheel frame are forced to rotate and revolve respectively to form a planetary gear train. The angular relationship between the axes provides a passive driving form of axial thrust, with small traction and low transmission efficiency. In addition, most of the existing pipeline robots a...

AI Technical Summary

Problems solved by technology

[0002] Most of the existing pipeline robots are wheeled, crawler and spiral pipeline robots. The former two cannot meet the autonomous adjustment of the positive pressure of the driving wheel in complex environments, and can only rely on the robot's own weight to provide positive pressure.

The structure of the spiral robot is complex, and the output torque of the motor is used to drive the wheel frame to rotate. Under the friction between the wheel and the inner wall of the pipe, the driven wheel and the wheel frame are forced to rotate and revolve respectively to form a planetary gear train. The angular relationship between the axes provides a passive driving form of axial thrust, with small traction and low transmission efficiency

In addition, most of the existing pipeline robots are fixed-diameter robots, which cannot automatically adapt to changes in pipe diameter, which seriously affects the versatility of pipeline robots.

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