Robots for inspection of tubular structures

Abstract

The invention discloses a robot for detecting a tubular structure. The robot comprises a robot body, an acting mechanism, an attaching mechanism and a detecting mechanism, wherein the acting mechanism, the attaching mechanism and the detecting mechanism are connected to the robot body; the acting mechanism is capable of driving the whole robot body to move; the attaching mechanism is used for keeping the robot body balancing; the detecting mechanism is used for detecting the inner wall of a pipeline; the acting mechanism comprises at least three acting wheels which are uniformly distributed inthe circumferential direction of the robot body; and the attaching mechanism comprises a support, at least three attaching wheels which are uniformly arranged in the circumferential direction of thesupport, and a first motor for driving the attaching wheels to rotate. According to the robot, the attaching wheels are arranged; when detecting some vertical pipelines or inclined pipelines, the attaching wheels are rotated to cause friction with the inner walls of building pipelines so as to supply upward component force to the robot, and thus the overall gravity of the robot can be counteracted, and thus the supporting balance of the robot in the pipeline is achieved.

Description

technical field [0001] The invention relates to the technical field of pipeline operation robots, in particular to a robot for detecting tubular structures. Background technique [0002] Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. system. [0003] my country's in-pipe robot technology research has a history of more than 20 years. Harbin Institute of Technology, Shenyang Institute of Automation, Chinese Academy of Sciences, Shanghai Jiaotong University, Tsinghua University, Zhejiang University, Beijing Petrochemical Institute, Tianjin University, Taiyuan University of Technology, Daqing Petroleum Administration Bureau , Shengli Oilfield, Zhongyuan Oilfield and other units have carried out research work in thi...

AI Technical Summary

Problems solved by technology

[0004] Some existing pipeline robots are not well adapted to the detection of vertical or inclined pipelines, and cannot enter some bends for detection, etc., and can only perform detection in some horizontal pipelines, and the balance is poor and the device is complicated

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