A self-stable walking mechanism of a pipeline robot

Abstract

The invention relates to a self-stabilizing walking mechanism of a pipeline robot, which includes a walking unit section, an adjustment group, an auxiliary wheel group, a driving group and a walking group. The walking unit sections are arranged equidistantly from left to right. The end is provided with an adjustment group, the adjustment group is provided with an auxiliary wheel group and a driving group, and the walking unit section is provided with a walking group. The adjustment group used in the present invention can adjust the auxiliary wheel group according to the size of the pipe. The support is supported on the inner wall of the pipe. On the top, the auxiliary wheel set and the inner wall of the pipeline are supported by multiple points to ensure the stability of walking on the inner wall of the pipeline, and avoid the pipeline robot from being stuck when it is tilted during the walking process. The hinged fit between the rods facilitates the bending between the driven shaft and the connecting rod, and avoids the phenomenon that the support plate gets stuck when it walks to the bend of the pipeline.

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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