Deformable crawler-type spherical pipeline robot

Abstract

The invention discloses a deformable crawler-type spherical pipeline robot. The robot comprises a shell and a control part arranged in the shell, the shell comprises a left hemisphere shell, a middleconnecting piece and a right hemisphere shell, the left hemisphere shell and the right hemisphere shell are connected through the middle connecting piece and are symmetrical by taking the middle connecting piece as the center, a left crawler belt is arranged at the inner end of the left hemisphere shell, and a right crawler belt is arranged at the inner end of the right hemisphere shell. Accordingto the invention, various related detectors can be carried into a complex pipeline; manual detection can be replaced, an original spherical structure is changed into a long-strip-shaped caterpillar band structure through deformation of the structure of the spherical robot, obstacles in the pipeline can be passed conveniently, in addition, forward deformation and reverse deformation of the spherical shell of the spherical robot are completely reversible, the control process is simple, the number of mechanisms participating in deformation is small, and movement and deformation can be achieved fast and conveniently.

Description

technical field [0001] The invention relates to the technical field of pipeline detection, in particular to a deformable crawler-type spherical pipeline robot. Background technique [0002] As we all know, in modern industrial production and daily life, pipelines, as a safe and economical means of material transportation, have been widely used in various aspects such as natural gas, petroleum, chemical raw materials and water supply. With the increase of the service life, various problems will appear in the pipeline, such as corrosion, cracks, accidental damage, etc., which seriously affect the normal production and living order. Due to the intricate distribution of pipelines underground and the complex internal environment, it is not conducive to manual work. Therefore, the use of robots for pipeline inspection is a major direction of technological development at present. How to design a robot that can well adapt to movement in the pipeline environment has become a research...

AI Technical Summary

Problems solved by technology

[0003] However, when the spherical pipeline robot encounters a large obstacle in the pipeline, its own volume limits the spherical pipeline robot to pass through the obstacle, making the pipeline inspection work unable to run normally

Therefore, it is necessary to design a new type of spherical pipeline robot, which can solve the problem that the spherical pipeline robot is too large to pass through when facing larger obstacles in the pipeline.

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