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A pipeline inspection robot with variable track and its control method

An inspection robot and robot technology, applied in the field of robotics, can solve problems such as insufficient contact between the track surface and the pipe wall, and achieve the effects of reducing energy consumption, improving work efficiency, and reducing track wear

Active Publication Date: 2022-01-21
SOUTHEAST UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to address the shortcomings of the above-mentioned prior art, to provide a pipeline inspection robot with a variable track and its control method, which solves the problem of insufficient contact between the track surface and the pipe wall while ensuring the driving ability, and proposes an automatic The method of adjusting the mechanism to adapt to the change of pipe diameter

Method used

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  • A pipeline inspection robot with variable track and its control method
  • A pipeline inspection robot with variable track and its control method
  • A pipeline inspection robot with variable track and its control method

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Embodiment Construction

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0046] Such as figure 1 and figure 2 As shown, a pipeline inspection robot mechanism with variable crawlers includes a robot main body 1, crawler belt assemblies 2 on the left and right sides, and a traveling drive mechanism 3; 11, and a track angle adjustment mechanism 12 is respectively connected between the main body of the robot and the track assemblies on the left and right sides.

[0047] There are four groups of track fixing frames, which are symmetrically installed inside the main body of the robot, front and rear, and left and right. The symmetrical plane installed front and back is the plane where the four-bar linkage mechanism is located, and the installation height is the height of the transverse central axis 24 of the fixed side plate of the track. It plays a restraining role in the adjustment of the inclinat...

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Abstract

The invention discloses a pipeline inspection robot with variable crawlers and a control method thereof. The pipeline inspection robot of the invention includes a robot main body, crawler belt assemblies symmetrically arranged on the left and right sides of the robot main body, and a traveling drive mechanism; the robot main body The crawler belt components on the left and right sides are connected through the track fixing frame, and a crawler belt angle adjustment mechanism is respectively connected between the main body of the robot and the crawler belt components on the left and right sides. The invention can realize the adjustment of the inclination angle of the crawler belt, and each group of crawler belt angle adjustment mechanism is independent, and has good flexibility to adapt to different pipeline environments.

Description

technical field [0001] The invention relates to a pipeline inspection robot with a variable track and a control method thereof, belonging to the technical field of robots. Background technique [0002] With the improvement of automation level, the demand for material transportation is increasing. With the advantages of large transportation volume, low cost and fast transportation speed, pipeline transportation has been widely used in oil, natural gas, water resource supply, nuclear industry and other fields. Corrosion and damage of pipelines, materials left in pipelines and other problems, resulting in material leakage, blockage and other failures. Regular inspection of pipelines is required. Traditional manual methods have disadvantages such as low efficiency, high difficulty, and limited manual measurement range. It is necessary to design a pipeline inspection robot to replace manpower to complete pipeline inspection tasks. [0003] At present, the common types of pipelin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/065B62D55/08B62D55/116G01L5/16
CPCB62D55/065B62D55/08B62D55/116G01L5/16F16L55/32F16L55/40F16L2101/30B62D55/26B25J11/008F16L55/28
Inventor 宋爱国缪天缘邵斌澄徐宝国宋光明徐波刘爽闵济海
Owner SOUTHEAST UNIV
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