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Pipeline robot based on metamorphic mechanism

A pipeline robot and metamorphic mechanism technology, which is applied in the field of pipeline robots based on metamorphic mechanisms, can solve problems such as poor cornering performance, inability to pass through, and low steering efficiency, and achieve the effect of changing structural shapes

Active Publication Date: 2022-05-31
CHINA UNIV OF PETROLEUM (BEIJING)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing wheeled robots and tracked robots can achieve differential steering by controlling the speed of each wheel or crawler, but the steering efficiency is not high and cannot pass through T-shaped, cross-shaped pipeline sections and pipelines with different diameters
The helical peristaltic pipeline robot cannot realize the steering function due to the limitation of the mechanical structure, the cornering performance is poor and the driving efficiency is not high

Method used

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  • Pipeline robot based on metamorphic mechanism
  • Pipeline robot based on metamorphic mechanism
  • Pipeline robot based on metamorphic mechanism

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Embodiment Construction

[0062] The specific embodiments of the present invention described herein are for the purpose of explaining the present invention only, and are not intended to be used in any way.

[0064] As shown in FIG. 1 to FIG. 13, the present invention provides a pipeline robot 100 based on a metamorphic mechanism, including,

[0070] Further, as shown in Figure 2 and Figure 5, the first multi-rod structure is provided with a first electromagnet part 10 and a first magnet part 16,

[0074] Further, as shown in Figure 2, Figure 3, Figure 4, the first link portion 11 includes a sequential hinged first rod 111, a second rod

[0077] Further, as shown in FIG. 2, the first multi-bar structure hinge portion includes a first hinge notch 151 and a

[0078] As shown in Figure 2, Figure 7, Figure 8, the first link portion 11 and the second link portion 12 are hinged by a plurality of rods, steering gear

[0085] The fifth link portion 21 and the sixth link portion 22 are formed by a plurality of rods h...

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Abstract

The present invention is a pipeline robot based on a metamorphic mechanism. The upper body is rotatably connected to the second fuselage structure; the first fuselage structure includes a deformable first multi-bar structure, and the second fuselage structure includes a deformable second multi-bar structure; the first multi-bar structure and the second The multi-rod structure is connected with a steering gear; the wheel-leg structure is used to support and drive the body structure of the metamorphic mechanism to move in the pipeline, and the wheel-leg structure can be telescopically connected to the body structure of the metamorphic mechanism; the control part is used for The shape, structure and motion state of the fuselage structure and the wheel-leg structure of the metamorphic mechanism are controlled, and both the fuselage structure and the wheel-leg structure of the metamorphic mechanism are electrically connected with the control part. The invention uses the principle of metamorphic mechanism to change its own structure, and can adapt to different types of bent pipe sections and pipes with different diameters.

Description

Pipeline robot based on metamorphic mechanism technical field [0001] The present invention relates to the technical field of pipeline detection, in particular to a pipeline robot based on a metamorphic mechanism. Background technique Pipeline is a common means of transportation in industry, such as sewage discharge pipeline, oil and gas pipeline, central air conditioner Ventilation ducts, etc., due to the complexity of the environment where the ducts are located and industrial needs, it is often impossible to conduct manual inspections. The road is often not a single straight pipe, but a variety of forms coexist, such as pipes with a certain slope, reducing pipes, arc bends, T Shaped pipelines, etc., and even deformed pipelines due to the influence of the underground environment. Therefore, the emergence of inner-pipe robots has greatly improved the Efficiency and accuracy of in-pipe operations. The prerequisite for the pipeline robot to work in the special and spa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/32F16L55/40F16L101/30
CPCF16L55/32F16L55/40F16L2101/30
Inventor 贾晓丽许博郑磊姚宁李德华
Owner CHINA UNIV OF PETROLEUM (BEIJING)