Pipeline robot self-stabilizing traveling mechanism

Abstract

The invention relates to a pipeline robot self-stabilizing traveling mechanism. The pipeline robot self-stabilizing traveling mechanism comprises traveling unit sections, adjusting sets, auxiliary wheel sets, driving sets and traveling sets, wherein the traveling unit sections are arranged at equal intervals from left to right; and the adjusting sets are arranged at the two ends of the traveling unit sections, the auxiliary wheel sets and the driving sets are arranged on the adjusting sets, and the traveling sets are arranged on the traveling unit sections. According to the pipeline robot self-stabilizing traveling mechanism, the adopted adjusting sets can adjust and support the auxiliary wheel sets according to the size of a pipeline, and the auxiliary wheel sets are supported on the inner wall of the pipeline, so that the auxiliary wheel sets carry out supporting traveling on the inner wall of the pipeline at multiple points, the traveling stability of a pipeline robot on the inner wall of the pipeline is guaranteed, and the pipeline robot is prevented from inclining and being clamped in the traveling process; and meanwhile, the driving sets are adopted to drive the adjusting sets to rotate and adjust, and driving shafts and connecting rods are matched in a hinged mode, so that bending between the driving shafts and the connecting rods is facilitated, and the phenomenon that supporting discs are clamped when traveling to a bent pipe position of the pipeline is avoided.

Description

technical field [0001] The invention relates to the technical field of self-steady walking of pipeline robots, in particular to a self-steady walking mechanism of pipeline robots. Background technique [0002] A pipeline is a device used to transport gas, liquid or fluid with solid particles connected by pipes, pipe connectors and valves. Usually, after the fluid is pressurized by blowers, compressors, pumps and boilers, it flows from the high pressure point of the pipeline to the low pressure point, and can also be transported by the pressure or gravity of the fluid itself. The pipeline is widely used, mainly used in water supply, drainage, In heat supply, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, hydraulic engineering and various industrial installations, pipeline robots can automatically walk along the inside or outside of small pipelines, carry sensors and operate machinery, and operate remotely under the staff's control. ...

AI Technical Summary

Problems solved by technology

[0003] 1. The traditional pipeline robot uses two left and right wheels to directly enter the pipeline to move. Because the pipeline is an arc-shaped structure, the pipeline robot is easy to tilt when walking, which reduces the stability of the pipeline robot walking on the inner wall of the pipeline. At the same time, the pipeline The robot is prone to tilting and jamming during walking;

[0004] 2. During the walking process of the pipeline robot, it is easy to appear, because the pipeline robot is too long, causing the pipeline robot to get stuck when walking to the bend of the pipeline

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