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A two-degree-of-freedom extension type pipe cleaning robot support arm

A pipe cleaning and stretching technology, applied in the directions of manipulators, cleaning hollow objects, cleaning methods and utensils, etc., can solve the problems of slippage and insufficient forward power of the rollers.

Active Publication Date: 2021-10-19
NUCLEAR POWER INSTITUTE OF CHINA
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AI Technical Summary

Problems solved by technology

Its limitation is that this structure is not suitable for cleaning operations with large pipe diameters and pipe diameters change. At the same time, the movement of the three rollers also has great requirements on the roughness of the inner wall of the pipe. When it is too much or greasy, it may cause insufficient forward power of the rollers and slipping, etc.

Method used

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  • A two-degree-of-freedom extension type pipe cleaning robot support arm
  • A two-degree-of-freedom extension type pipe cleaning robot support arm
  • A two-degree-of-freedom extension type pipe cleaning robot support arm

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Embodiment Construction

[0033] The two-degree-of-freedom extension type pipe cleaning robot support arm of the present invention will be described in detail below with reference to the drawings and embodiments.

[0034] A two-degree-of-freedom extension-type pipeline cleaning robot support arm of the present invention includes an extension-type mechanical arm based on a double parallelogram structure, and a roller driven by a synchronous belt at the end of the extension-type mechanical arm, and is used for the cleaning operation of the pipeline cleaning robot. Provides effective support and drive for movement within the pipe. The extended mechanical arm based on the double parallelogram structure is driven by a motor and a ball screw; the roller located at the end of the extended mechanical arm is driven by a motor and a worm gear.

[0035] A two-degree-of-freedom extension type pipe cleaning robot support arm of the present invention, the overall structure is as follows figure 1 shown.

[0036] li...

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Abstract

The invention belongs to the technical field of application of special robots, and in particular relates to a two-degree-of-freedom extension type pipeline cleaning robot support arm. The present invention includes a mechanical arm and a roller at the end of the mechanical arm: the mechanical arm is an extended mechanical arm with a double parallelogram structure, driven by a motor and a ball screw; the roller at the end of the mechanical arm is driven by a motor and Driven in the form of a worm gear. The invention is applicable to the cleaning tasks of pipelines with different diameters including super-large diameter pipelines, can reduce the radiation dose received by personnel, and improve the pipeline cleaning efficiency.

Description

technical field [0001] The invention belongs to the technical field of application of special robots, and in particular relates to a two-degree-of-freedom extension type pipeline cleaning robot support arm. Background technique [0002] The main functions of the pipeline cleaning robot include: automatic walking along the inside of the pipeline, fixed support inside the pipeline, and carrying certain cleaning tools for operation. [0003] The development of petroleum, chemical, natural gas and nuclear industries and the maintenance requirements of pipelines have stimulated the research of pipeline cleaning robots. Traditional pipeline cleaning robots mostly use wheel-type, crawler-type, abdominal wall-type, spiral-type and other driving methods, which are not suitable for cleaning the inner wall of pipelines with large diameters. Taking the three-stage circulating water loop of a nuclear power plant as an example, since the loop diameter is generally large (Φ1.9m~Φ3.0m), it...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B08B9/051B25J17/00
CPCB08B9/051B25J17/00
Inventor 张超瓮松峰罗英方才顺陈书华黄辉朱松伟谭文界
Owner NUCLEAR POWER INSTITUTE OF CHINA
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