A pipeline robot and its incentive method

Abstract

This application relates to the technical field of pipeline robots, and discloses a pipeline robot and an excitation method, including an elastic body, the elastic body includes a plurality of moving feet, a plurality of connecting arms and a plurality of flexible hinges, the connecting arm and the The moving feet are alternately connected, each of the moving feet is connected to the two connecting arms through two flexible hinges, and an included angle is formed between two adjacent connecting arms; the moving feet are used for and The inner wall of the pipeline is abutted; at least one side of each connecting arm is provided with a piezoelectric ceramic sheet, and the piezoelectric ceramic sheet is used to generate vibration under the action of the input periodic electric signal to make the moving foot swing, thereby Drive the pipeline robot to move. The invention has the beneficial effects of strong self-locking ability, strong adaptability and simple structure.

Description

technical field [0001] The invention belongs to the technical field of pipeline robots, in particular to a pipeline robot and an excitation method. Background technique [0002] A pipeline robot is a machine, electricity and instrument that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operate machinery, and perform a series of pipeline operations under the remote operation of the staff or the automatic control of the computer. system. [0003] It can be seen from the reported status of domestic and foreign pipeline robots that the existing crawler-type pipeline robots have strong adhesion and good obstacle-surmounting performance, but are complex in structure, poor in turning performance, poor in self-locking ability, weak in climbing ability, and not easy to be small. Most of them are suitable for horizontal straight pipes; peristaltic pipeline robots bionic coelenterates, which can achieve movement through the expan...

AI Technical Summary

Problems solved by technology

[0003] From the current status of domestic and foreign pipeline robots that have been reported so far, it can be seen that the existing tracked pipeline robots have strong adhesion and good obstacle-surpassing performance, but their structures are complex, their turning performance is poor, their self-locking ability is poor, their climbing ability is weak, and they are not easy to be small. Most of them are suitable for horizontal straight pipes; peristaltic pipeline robots are bionic coelenterates, which realize movement through the expansion and contraction of the body. This kind of pipeline robots mostly adopt the multi-unit series design, which can overcome obstacles or realize turning, but the control is difficult , complex structure, slow movement, small traction force, and small pipe diameter adaptation range; multi-legged crawling pipeline robots use more motors, complex control strategies, weak climbing ability, poor self-locking ability, low driving efficiency, and slow movement; The pipeline robot is currently the most practical pipeline robot. The wheeled pipeline robot walks smoothly in the straight pipe continuously, with fast speed and simple control. It is complicated. In addition, when it is applied to inclined or vertical pipelines, a holding mechanism and a locking mechanism must be added to keep the wheels in real-time contact with the inner wall of the pipeline without slipping. The real-time and compliance in practical applications are not ideal.

[0004] To sum up, the existing pipeline robots have complex structure, many motors, many mechanisms, heavy mass, large volume, slow speed, weak turning ability, complex control, poor self-locking ability, small adaptable range of pipe diameter, and poor climbing ability. weak

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