Pipeline flexible robot and control method thereof during moving in pipeline

Abstract

The invention discloses a pipeline flexible robot and a control method thereof during moving in a pipeline. The pipeline flexible robot comprises a driving control device and a flexible transmission assembly, wherein the driving control device comprises a driving mechanism, a pipeline detection sensor and a controller; the driving mechanism and the pipeline detection sensor are electrically connected with the controller; the flexible transmission assembly comprises n transmission units and n-1 plate springs; every two adjacent transmission units are connected through one plate spring; a robotexecution device can be installed at the front end of the first transmission unit; the rear end of the nth transmission unit is connected with the driving mechanism; and the pipeline detection sensorsends the detected pipeline bending condition to the controller, the controller controls the driving mechanism to drive the flexible transmission assembly to bend and swing in the pipeline according to the pipeline bending condition, and then the movement of the pipeline flexible robot in the pipeline is realized.

Description

technical field [0001] The invention belongs to the field of flexible robots, and in particular relates to a pipeline flexible robot and its control method when moving in a pipeline. Background technique [0002] In the process of pipeline cleaning and diagnosis, it is necessary to achieve defect repair and cleaning inside the pipeline without destroying the pipeline. However, due to the complexity of pipeline design, its curved shape brings difficulties to pipeline cleaning tools. Most of the pipeline cleaning robots that exist on the market today are capable of maintaining and cleaning straight pipelines, but they are powerless for curved pipelines. Since the pipeline is an indispensable transport medium structure in nuclear power, military industry and daily life, it is particularly important to have a robot device that can be flexibly adjusted along the route of the pipeline. Contents of the invention [0003] The purpose of the present invention is to provide a pipel...

AI Technical Summary

Problems solved by technology

[0002] In the process of pipeline cleaning and diagnosis, it is necessary to achieve defect repair and cleaning inside the pipeline without damaging the pipeline, however, due to the complexity of pipeline design, its curved shape brings difficulties to pipeline cleaning tools

Most of the pipe cleaning robots on the market today are capable of maintaining and cleaning straight pipes, but they are not capable of doing the work of curved pipes.

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