Flexibly-driven active steering type pipeline robot

Abstract

The invention relates to the technical field of pipeline robots, and particularly relates to a flexibly-driven active steering type pipeline robot. The flexibly-driven active steering type pipeline robot comprises at least one flexible telescopic module and two flexible supporting modules arranged at the two ends of the flexible telescopic module in the length direction. Each flexible telescopic module comprises three flexible telescopic bodies and three reset springs, different bending states of the flexible telescopic modules are achieved through different contraction and extension states of the three flexible telescopic bodies and the three reset springs, and therefore different steering effects of the pipeline robot are achieved. By combining regular expansion and contraction of the flexible supporting modules at the two ends, autonomous steering movement of the pipeline robot is finally achieved. The flexibly-driven active steering type pipeline robot can autonomously steer and move in small and medium pipelines with irregular inner walls and variable inner diameters, and has good traction capacity, pipeline adaptability and elbow passing capacity.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a flexible-driven active-steering pipeline robot. Background technique [0002] In the modern society with the rapid development of science and technology, there are more and more applications of various pipelines, and the application of pipeline robots that assist pipeline drilling, inspection and maintenance is also becoming more and more extensive. At present, small and medium-sized pipelines have many bends and changes in the inner diameter of the pipeline. Most of the existing pipeline robots have problems such as insufficient traction capacity, poor pipeline adaptability, and insufficient bending capacity. [0003] Most of the existing small and medium-sized pipeline robots are driven by motors, which have limited output power and small traction capacity; in terms of movement, they are mainly wheeled, and the static friction between the driving wheels and the inner ...

AI Technical Summary

Problems solved by technology

At present, small and medium-sized pipelines have many bends and changes in the inner diameter of the pipeline. Most of the existing pipeline robots have problems such as insufficient traction capacity, poor pipeline adaptability, and insufficient bending capacity.

[0003] Most of the existing small and medium-sized pipeline robots are driven by motors, which have limited output power and small traction capacity; in terms of movement, they are mainly wheeled, and the static friction between the driving wheels and the inner wall of the pipe is used to drive the robot forward. The contact area is limited, resulting in limited output power

At the same time, the wheeled pipeline robot requires the inner wall of the pipeline to be regular. When the contact surface is uneven or there are obstacles, the movement efficiency is seriously reduced.

Telescopic pipeline robots have good barrier-crossing advantages. However, most of them are not suitable for the bending structure and variable pipe diameter of small and medium-sized pipelines. Collision will not only damage the pipe wall, but also reduce the working efficiency

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