Two-section wheel foot type pipeline climbing robot

Abstract

The invention discloses a two-section wheel foot type pipeline climbing robot. According to the technical scheme, a front climbing robot (1) and a rear climbing robot (3) are connected through a robot connecting piece (2), and the front climbing robot (1) and the rear climbing robot (3) are the same in structure. Auxiliary wheels (4) are respectively mounted on two sides of the front end of the front climbing robot (1) through symmetrically fixed auxiliary brackets (5); and wheel-foot composite mechanisms (8) and magnetic adsorption devices (10) are symmetrically arranged on the two sides of the front climbing robot (1). Two coding motors of the wheel-foot composite mechanisms (8) are connected with corresponding Mecanum wheels through couplings; the two coding motors are respectively controlled to realize the rotation of the corresponding Mecanum wheels according to a specific rotation direction, so that the front climbing robot (1) can move in front, back, left and right directions. A damping device (20) of each wheel-foot composite mechanism (8) is connected to a climbing connecting frame (6), so that the two-section wheel-foot type pipeline climbing robot can stably move on the outer wall of a pipeline. The robot has the advantages of being high in obstacle crossing capacity, high in stability and wide in application range.

Description

technical field [0001] The invention belongs to the field of robot technology. In particular, it relates to a two-section wheel-footed pipe climbing robot. Background technique [0002] With the rapid development of my country's economy, large-scale pipelines are used more and more in the petroleum, pharmaceutical, chemical and other industries. When these pipelines transport high temperature, high pressure, highly toxic and other fluid media, long-term use will cause corrosion and lead to safety hazards. [0003] Due to the limitations of detection methods and conditions of use, domestic and foreign manufacturers only conduct manual sampling inspections on large pipelines or do not detect them for a long time, which leads to frequent occurrence of pipeline accidents. In recent years, the advent of pipeline robots has taken a big step towards the regular inspection of pipelines section by section. However, the problems affecting pipeline inspection such as welds, pits and f...

AI Technical Summary

Problems solved by technology

[0002]With the rapid development of my country's economy, large pipelines are being used more and more in petroleum, pharmaceutical, chemical and other industries. These pipelines transport high temperature, high pressure, highly toxic When waiting for fluid medium, long-term use will cause corrosion and cause safety hazards

[0003]Because of the limitations of detection methods and conditions of use, manufacturers at home and abroad only conduct random inspections on large pipelines or do not detect them for a long time, which leads to accidents in transmission pipelines from time to time

In recent years, the advent of pipeline robots has taken a big step towards the regular inspection of pipelines section by section, but the problems that often exist on the outer wall of large pipelines such as welds, pits and flanges that affect pipeline inspection have not been effectively resolved, so the development of The pipeline robot with climbing function has attracted the attention of scientists and technicians in the field

[0004]For example, "A Self-adaptive Pipeline Climbing Robot" (CN 112077819A) patented technology, this technology uses a flexible chassis system, although it can actively adapt to pipe walls of different diameters, Make the robot move stably along the pipeline wall for inspection, but its ability to overcome obstacles is poor, and it cannot climb over when it encounters a flange on the pipeline or has poor stability when encountering a large weld or pit

[0005]Another example is the patented technology of "a pipe crawling robot" (CN 106369245 A), which adopts a hexapod design, although it can pass through obstacles in different stances to achieve Free walking of complex pipelines, but the movement is not smooth enough and lacks stability

[0006]Another example is the "Adjustable Permanent Magnetic Adsorption Device Based on Pipe Climbing Robot" (CN 110949557A) patented technology, which realizes the permanent magnet block and The distance of the pipe wall is adjustable, which can ensure the flexible and smooth movement of the robot, but it does not have the ability to cross the obstacle of variable diameter

[0007] Another example is the patented technology of "an oil tank derusting wall-climbing robot" (CN 113021375 A), which adopts a variety of adsorption methods and has good stability. But it also does not have the ability to cross the obstacle of variable diameter

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