Stretch-draw integrated pipeline robot

Abstract

The invention provides a stretch-draw integrated pipeline robot comprising platforms arranged in pairs. The platforms include the upper platform and the lower platform. Multiple flexible supporting chains and multiple rigid supporting chains are arranged between the upper platform and the lower platform in a supporting manner. Stretch-out and draw-back devices are installed on the upper side faceof the upper platform and the lower side face of the lower platform correspondingly. Auxiliary slide wheel devices are evenly distributed on the peripheral face of the upper platform, and auxiliary slide wheel devices are evenly distributed on the peripheral face of the lower platform. The stretch-draw integrated pipeline robot is reasonable in structural design, has the capacity of climbing and suspending in a vertical pipeline and can bear large loads; and the stretch-draw integrated pipeline robot is small in structural mass and capable of being folded, the size of the upper platform and the size of the lower platform can be changed along with the size of the pipeline, the movement component inertia force is low, and the pipeline adaptability is high.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a pipeline robot that can pass through curves precisely and smoothly under the condition of large drag force and narrow and slender working environment. Background technique [0002] With the application and development of robot technology, the development of pipeline robot has become an important direction of the development of robot technology at home and abroad. In petroleum, chemical, smelting, printing and dyeing and other industries, there are metal pipes with different diameters. After long-term use, problems such as corrosion, precipitation, damage, and blockage will occur in the pipes, which will have a negative impact on the transmission efficiency of the pipes. Traditional crawler-type and wheel-type pipeline robots do not have the climbing performance in vertical pipelines, and their structural dimensions cannot adapt to pipelines of different diameters. The l...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: In order to solve the problems that the traditional wheeled and crawler-type pipeline robots do not have the ability to climb in the vertical pipeline and their own structural quality is large in the actual application process, the present invention provides a light weight, A tensegrity integral pipeline robot with low inertia of moving components, strong ability to adapt to pipelines, and climbing in vertical pipelines

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