Round tube outer wall crawling robot

A technology of crawling robots and round pipes, applied in the field of robotics, can solve problems such as difficult maintenance, unmanned development, and easy jamming

CN111002324AInactive Publication Date: 2020-04-14中国人民解放军92578部队 +1
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-04-14
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a round tube outer wall crawling robot which includes a front tightly holding device and a rear tightly holding devices which are arranged side by side. The rear tightly holding device and the front tightly holding device are jointly hinged to a crawling device. The crawling device includes a servo motor fixed on the rear tightly holding device, the servo motor is connectedwith a screw, a nut is embedded in the position, corresponding to the screw, of the front tightly holding device, and the screw extends into the nut. The round tube outer wall crawling robot can crawl along an outer wall of a round tube with a smaller diameter and turn.
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Description

technical field

[0001] The invention belongs to the technical field of robots and relates to a crawling robot on the outer wall of a circular pipe. Background technique

[0002] In ships, metallurgy, construction, chemical industry, beverage and other equipment, there are various pipelines. The fluid passing through these pipelines may be compressed air, chemical gas, high-pressure steam, certain liquids, etc. After long-term use Damage phenomena such as corrosion and cracks may occur inside and outside the pipeline, resulting in safety accidents, so regular inspection and maintenance are required. Because these pipelines are often densely arranged, have various diameters, and some are high in height, sometimes manual maintenance is difficult and difficult to carry out frequently. With the development of robots and detection technology, pipeline maintenance robots have emerged as the times require, making pipeline maintenance a easy thing. Some of these robots simply inspe...

Examples

Embodiment Construction

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] The present invention is a circular tube outer wall crawling robot, such as figure 1 As shown, it includes two front holding devices 2 and rear holding devices 1 arranged side by side. The rear holding device 1 and the front holding device 2 are jointly hinged with a crawling device, and the crawling device includes a rear holding device fixed on the 1 Servomotor 3, servomotor 3 is connected with screw rod 4, is embedded with nut 6 in the position corresponding to screw rod 4 on the front holding device 2, and screw rod 4 stretches in the nut 6.

[0025] Such as figure 2 As shown, the front clamping device 2 and the rear clamping device 1 have the same structure, both of which include a shoe 105, the two ends of the shoe 105 are fixedly connected with a steering shaft 7, and the other end of the steering shaft 7 is hinged with a mani...