A Preloading Mechanism of Pipeline Robot with Adaptive Pressure Adjustment

Abstract

The invention discloses a pretensioning mechanism for a pipeline robot with adaptive pressure adjustment. The pipeline robot has a robot body and a main drive motor installed on the robot body, including an adjustment mechanism and a plurality of tensioning mechanisms. For each For the tensioning mechanism, it includes a wheel frame, a driving roller and a buffer device respectively, one end of the wheel frame is hinged on the robot main body through a first hinge, and the other end is hinged to one end of the buffer device through a second hinge; the adjustment mechanism It includes a driving device and a moving assembly, the moving assembly is hinged to the other end of the buffer device through a third hinge, and the moving assembly is driven by the driving device to move linearly. The invention can adapt to the bent pipe environment, and can adjust the pre-tightening force in real time when obstacles are encountered or the pipe diameter changes within a certain range, so as to realize the smooth operation of the drive unit. In addition, when a small obstacle is encountered, the self-adaptive small adjustment of the preload of a single driving roller can be realized.

Description

technical field [0001] The invention belongs to the technical field of special robots, and more particularly, relates to a pre-tightening mechanism of a pipeline robot. Background technique [0002] As one of the branches of special robots, the pipeline robot can work in the specific space of the pipeline, carry various testing instruments or operating devices, enter the pipeline under the remote or autonomous control of the operator, and complete pipeline defects such as flaw detection and anti-corrosion coating. detection and coating, identification and removal of foreign bodies in the pipe, processing in the pipe and other tasks. As an effective detection and maintenance equipment, the pipeline robot has changed the traditional single method of manual maintenance of pipelines, and greatly improved the accuracy and efficiency of detection. With the rapid development of petroleum, chemical and military equipment, the length of pipelines laid in various fields will increase...

AI Technical Summary

Problems solved by technology

[0004] At present, the pre-tensioning mechanism of the wheeled pipeline robot has a built-in spring and an elastic mechanism of the elastic rod to adjust the pressure exerted by the driving roller on the inner wall of the pipeline. However, this elastic mechanism cannot achieve a wide range of positive pressure on the driving roller when the diameter of the pipeline changes. Adjustment, the adaptability of the pipeline is not strong; a crank slider type preload adjustment mechanism, when this adjustment mechanism encounters a small obstacle, it cannot achieve a small adjustment of the preload force of a single driving roller, and it will appear due to a certain drive After the pre-tightening force of the roller is slightly adjusted, the pre-tightening force of the other two driving rollers is adjusted together, so that the driving rollers slip and idle, resulting in insufficient driving force

A preload adjustment mechanism combined with a crank slider and a parallel four-bar mechanism. This mechanism also cannot achieve a small adjustment of a single driving roller, and when walking in a curved pipe, the front and rear driving rollers on the parallel four-bar mechanism will move The difference in the actual arc length produces relative slippage, resulting in internal stress on the parallel four-bar mechanism, and even leads to the deformation and failure of the rotary joint

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