Double-mass impact type pipeline robot driven by non-circular gears and motion modeling method

Abstract

The invention provides a double-mass impact type pipeline robot driven by non-circular gears and a motion modeling method. The pipeline robot comprises a motor, a pair of non-circular gears, a pair of synchronous circular gears, two eccentric blocks and an outer shell, wherein an output shaft of the motor is fixedly connected with the driving non-circular gear; the driven non-circular gear is connected with one of the synchronous circular gears; the two synchronous circular gears are connected with the eccentric blocks respectively; the two eccentric blocks are the same in shape and keep rotating in a centering mode; and the outer shell keeps in elastic contact with the inner wall of the pipeline. A power system of the double-mass impact type pipeline robot is completely sealed, no external driving part is needed, the size, sealing performance, corrosion resistance and other performance of the double-mass impact type pipeline robot have more advantages, and the double-mass impact type pipeline robot not only has the capacity of walking in a common pipeline environment but also has the capacity of high-efficiency operation in a special pipeline system for conveying corrosive and inflammable media or small in diameter.

Description

technical field [0001] The invention relates to the field of pipeline robots, in particular to a dual-mass impact pipeline robot driven by non-circular gears and a motion modeling method. Background technique [0002] The pipeline network is an important infrastructure in the fields of water transmission, heating, communication, natural gas, petrochemical industry, and nuclear industry. However, for some harsh and dangerous pipeline environments (such as radiation, corrosive, toxic substances, etc.), or In the pipeline environment with narrow space (such as sewer), the staff cannot carry out the inspection and maintenance in the pipeline, and the traditional detection method is impossible because of its heavy workload, low detection efficiency, high detection and maintenance cost, and waste of resources. To promote and use. [0003] The pipeline robot is a robot that integrates various sensors and operating devices (video recorders, cleaning devices, welding devices, anti-c...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the problem that the structure of the externally driven pipeline robot is relatively complex, it is difficult to miniaturize, and the existing inertial-driven robot is not suitable for the harsh pipeline environment, the present invention proposes a two-mass impact pipeline robot driven by a non-circular gear and a motion modeling method. The system moves through the joint action of internal inertial force and environmental friction. Driving in this way can fundamentally avoid the defect that the traditional driving method must be sealed between the driving device and the actuator, and solve the problem of robot size, sealing, and corrosion resistance. And other performance problems, use the impact force of the collision to drive to maximize the moving speed of the robot

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