An all-in-one robot adapting to complex pipelines

Abstract

The invention discloses an integrated robot suitable for a complex pipeline. The robot comprises a main body unit, auxiliary supporting units and driving units, wherein the main body unit is used foradjusting the pipe diameter range which can be accommodated by a robot; the auxiliary supporting units adjust the positions of universal wheels through electric push rods, so that the posture of the robot is stable when moving in the pipeline; and the driving units comprise fixed platforms, upper rotating platforms, driving wheels, driving motors on two sides and the like; and when the driving motors on the two sides rotate in the same direction, the robot is driven to advance, and when the driving motors on the two sides rotate reversely, the driving wheels drive the upper rotating platformsto rotate relative to the fixed platforms due to the fact that the action of the main body unit towards the auxiliary supporting units remains unchanged to change the advancing direction of the driving units. According to the integrated robot, the single-side double-wheel drive is applied, and the robot can adjust the driving direction of the robot through the reverse driving of the single-side double-wheel, so that the advancing direction is adjusted or the posture of the robot is quickly adjusted in a straight pipe.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a device for autonomous walking in complex pipelines. Background technique [0002] With the development of robot technology, the research on robot technology under special conditions is gradually rising. Oil and gas pipelines are prone to leakage and other problems when they work for a long time, and because they are buried underground, it is difficult to detect directly, so the detection problem is a major technical problem to be solved urgently at home and abroad. At present, the most effective detection method is to directly detect in the pipeline by the pipeline robot carrying the detection equipment. Long-distance pipelines are mainly long and straight pipelines, and the current pipeline robots (mainly pipelines) can better meet their inspection requirements, but the situation of urban gas pipelines is very complicated, and there will be a large number of complex p...

AI Technical Summary

Problems solved by technology

The advantages of this type of robot are stability and large traction. However, due to the mechanical structure of the robot itself, it can only pass through horizontal curves with large diameters and small angles. It is widely used in the vast plain oil and gas pipelines in the United States. Difficult to apply in complex urban pipelines

However, robots similar to pipeline trolleys lack sufficient positive pressure on the pipe wall in inclined or even vertical pipes, and their own structures are often long, so they also have problems in climbing ability and the ability to pass elbows and tee pipes. What is lacking

[0004] Based on this, it is urgent to design a new type of integrated pipeline robot, which is suitable for urban gas pipelines with complex pipeline conditions, and solves the problem that traditional pipeline robots are difficult to pass through special pipelines such as large curvature elbows, tees, and vertical pipelines.

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