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Small crawler-type pipeline robot and movement method thereof

A pipe robot and crawler-type technology, which is applied in the direction of pipe components, special pipes, mechanical equipment, etc., can solve the problems of small diameter pipe pipe robots, small pipe diameter, etc., and achieve the effect of compact body structure design

Active Publication Date: 2022-05-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Large-diameter pipeline robots are characterized by complete functions, not only for detection, but also for maintenance. However, the diameter of pipelines used in many occasions is small, and there are few pipeline robots that detect the internal conditions of small-diameter pipelines.

Method used

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  • Small crawler-type pipeline robot and movement method thereof
  • Small crawler-type pipeline robot and movement method thereof
  • Small crawler-type pipeline robot and movement method thereof

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Embodiment Construction

[0024] The present invention will be further explained below in conjunction with the accompanying drawings.

[0025] combine figure 1 as shown, figure 1 It is a structural schematic diagram of a tracked pipeline robot. The pipeline robot is composed of three modules: the front part of the robot body A, the middle part of the robot body B, and the rear part C of the robot body. These three modules are connected by rivets.

[0026] combine figure 2 As shown, the main body of the front part A of the robot body is composed of a front support body 11. Two horizontal encoder disc worm gear motors 2 and a steering gear drive plate 12 are installed symmetrically inside the front support body 11. A video transmission camera 1 is installed on the front part. The track wheel transmission shaft 10 is installed at the rear, and the track wheel rotating shaft 8 and track wheel 7 are installed on the horizontal encoding disc worm gear motor 2, and the track wheel transmission shaft 10 bil...

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Abstract

The invention discloses a small crawler-type pipeline robot and a movement method thereof.A control and driving module of the robot is installed in a front supporting body and a rear supporting body, a crawler belt and crawler wheels are installed on the two sides of the supporting bodies, the robot is compact in structure, and advancing, retreating and differential turning in a horizontal pipeline can be achieved; climbing and reducing in a vertical pipeline; and the condition in the pipe is detected. The middle part of the robot body and the front part or the rear part of the robot body are connected through primary and secondary rivets to realize deflection degree of freedom, and the middle part of the robot body comprises two steering engines to realize pitching degree of freedom, so that the robot body is supported in a vertical pipeline in a Z shape; a diameter changing mechanism composed of a lead screw, a lead screw nut and a coding disc worm and gear speed reducing motor is arranged between the steering engine supporting pieces so that the length of the machine body can be changed, and therefore the machine can adapt to different pipe diameters. The robot has the movement performance of detecting narrow pipelines, crossing obstacles and adapting to different pipe diameters.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a small crawler-type pipeline robot and a movement method thereof. Background technique [0002] A pipeline is a terrain with a long and narrow space. Traditional pipeline inspection methods, such as endoscopes, have certain limitations in operation and a limited range of detection. Pipeline robots are specially designed for the survey of such terrain environments as pipelines. And designed. Pipeline robots have various motion forms such as wheel type, crawler type, and peristaltic type. Pipeline robots with crawler tracks as moving parts have the characteristics of large contact area and strong obstacle surmounting ability. [0003] The research on crawler-type pipeline robots has made some progress at home and abroad. The application date is 20190314, and the invention patent with application number CN110056742A proposes a pipeline robot with retractable ...

Claims

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Application Information

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IPC IPC(8): F16L55/40F16L55/32F16L101/30
CPCF16L55/40F16L55/32F16L2101/30
Inventor 刘亚红吉爱红于阳光邱镓辉韩青非俞志伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS