Abdominal wall type pipe robot

Abstract

The invention discloses an abdominal wall type pipe robot. The abdominal wall type pipe robot comprises a machine body, three walking mechanisms, a self-adaption diameter-changing mechanism, a triangle mechanism and two parallelogram mechanisms. The three walking mechanisms are configured to be closely attached to the inner wall of a pipe and comprise the first walking mechanism and the two secondwalking mechanisms. The self-adaption diameter-changing mechanism is connected with the three walking mechanisms and comprises a driving motor, a lead screw, a nut and a movable block, wherein the lead screw is connected with the driving motor; the nut is in threaded connection with the lead screw; and the movable block is connected with the nut. The triangle mechanism is connected with the machine body, the movable block and the first walking mechanism. The two parallelogram mechanisms correspond to the two second walking mechanisms correspondingly and are each connected with the machine body, the movable block and the corresponding second walking mechanism. The movable block is driven by the nut to move forwards and backwards; and the first walking mechanism and the second walking mechanisms can be driven by the triangle mechanism and the parallelogram mechanisms to achieve synchronous diameter changing.

Description

technical field [0001] The invention relates to a pipe robot, in particular to an abdominal wall type pipe robot. Background technique [0002] In modern life, along with the development of social productivity, the needs of the people, the development of industrialization and the needs of national construction, various pipes in society have also emerged, such as municipal sewage pipes, water pipes, fire pipes, oil and gas pipes, etc. Pipes, central air-conditioning pipes, ordinary household pipes, etc. The emergence and popularization of these pipelines has provided us with a lot of convenience in production and life, but it has also brought many problems, such as pipeline blockage, damage and pipeline aging. [0003] These problems have had a serious impact on us. For example, the municipal drainage pipes are blocked, and the drainage is not smooth when encountering floods; the leakage of oil and gas pipelines leads to local environmental pollution; the long-term accumula...

AI Technical Summary

Problems solved by technology

[0005] At present, although my country has developed some special pipeline robots for different pipeline structures, there is no general-purpose pipeline robot, mainly due to the lack of adaptability of the walking mechanism.

For pipes of different diameters, existing pipe robots usually cannot adapt well

Even though some pipeline robots can change the diameter of the walking mechanism, their structure is too complicated and the manufacturing cost is high

[0006] In addition, when the pipeline robot passes through bends and irregular pipelines, due to insufficient driving force caused by internal friction, deformation of the wall and errors of the robot itself, it is easy to cause the robot to deviate from the correct posture in the pipeline, or even roll over and get stuck. die these problems

In the prior art, methods such as differentials and flexible connections are usually used to solve the problem of pipeline robots crossing curves and irregular pipelines, but this will make the structure more complicated and increase the cost

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