A gait continuous in-pipe robot based on swashplate drive

Abstract

The invention relates to the technical field of pipeline robot mechanical mechanism design, in particular to a continuous-pace tube inner robot based on swash plate driving. A tubular robot body is arranged; the tubular robot body is characterized in that a driving device, self-locking devices and a supporting device are arranged on the two sides of the robot body respectively; the driving deviceis arranged on the right side of the robot body; the driving device is composed of a driving motor, a swash plate, a driving shaft, a coupler, an swash plate connecting shaft and a swash plate fastening nut; three self-locking devices are uniformly distributed on the left side of the robot body; each self-locking device consists of a sliding shoe, a connector, a tension spring, a guide rod, a guide rod sliding seat, a chute support, a self-locking block, a self-locking rod, a self-locking torsion spring, a rolling bearing, a self-locking sliding block, a pressing torsion spring and a pressingelastic block; the supporting device is composed of three supporting assemblies uniformly distributed on the outer wall of the circumference of the robot body; and each supporting assembly is composedof a supporting sleeve, a supporting spring, a supporting rod and rollers. The robot has the advantages of being simple in structure, small in radial size, sufficient in driving force, stable and reliable in operation and the like.

Description

technical field [0001] The invention relates to the technical field of mechanical mechanism design of pipeline robots, in particular to a swash plate-driven gait continuous in-pipe robot with simple structure, small radial size, sufficient driving force and stable and reliable operation. Background technique [0002] As we all know, the pipeline robot is a mechatronic product, which can carry one or more sensors and operating equipment, and complete a variety of in-pipe operations under the remote operation of the staff or the automatic control of the computer. It has been widely used in many industries. This field, such as: checking and accepting new pipelines, finding the source of illegal sewage discharge and checking the health status of pipelines, etc., has huge application prospects. In-depth research on pipeline robots has been done at home and abroad. [0003] At present, there are various structural forms and driving methods for pipeline robots running in pipelines....

AI Technical Summary

Problems solved by technology

Peristaltic robots generally adopt a two-stage type, that is, the front and rear racks are connected by cylinders, and the front and rear stages of the robot are alternately advanced by controlling the expansion and contraction of the cylinders. However, this driving structure connected by cylinders will make the robot’s overall The length becomes longer, which greatly reduces the performance of the pipe robot through the pipe bend. In addition, the robot drags the long pneumatic pipe during the movement, which greatly restricts the movement stroke.

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