Desilting robot for parallel pipelines with self-adaptive inner diameters

Abstract

The invention relates to an inner diameter self-adaptive parallel pipeline desilting robot which comprises a desilting moving deformation platform, a servo driving branch chain set, a supporting moving deformation platform and a pipeline desilting unit. The servo driving branch chain set comprises six servo driving branch chains, and a servo driving branch chain spherical hinge base is located below the desilting moving deformation platform; the driving branch chain hooke joint bases are located above the supporting moving deformation platforms, the six servo driving branch chains and the two moving deformation platforms form a six-degree-of-freedom retractable posture-adjusting parallel mechanism, and the pipeline dredging unit is located above the dredging moving deformation platforms. A parallel mechanism composed of the two platforms and the branch chain sets is utilized to have the inner diameter adaptive to creeping or sliding advancing in a pipeline. The robot has the advantages of being simple and compact in branch chain structure, high in flexibility, large in rigidity, high in pipeline environment adaptability, convenient and fast to move and high in dredging capacity, and is suitable for completing the dredging task of the complex pipeline environment.

Description

technical field [0001] The invention relates to the field of pipeline dredging robots, in particular to a parallel pipeline dredging robot capable of adapting inner diameters. Background technique [0002] Pipeline is a common long-distance transportation device used to transport gas, liquid or solid particles. Pipeline devices are widely used, mainly in the three major fields of farmland irrigation, energy transmission and water conservancy engineering. Corrosion or waste accumulation inside the pipeline will greatly reduce the pipeline transportation capacity and the service life of the pipeline. The inner diameter of most pipelines changes complicatedly, and the pipeline path is too long. It is too troublesome to adopt the traditional manual cleaning and maintenance method, and some pipelines are located underground. Processing consumes considerable material and time resources. If the random sampling method is used for the daily maintenance of pipelines, there are proble...

AI Technical Summary

Problems solved by technology

Corrosion or waste accumulation inside the pipeline will greatly reduce the pipeline transportation capacity and the service life of the pipeline. The inner diameter of most pipelines changes complicatedly, and the pipeline path is too long. It is too troublesome to adopt the traditional manual cleaning and maintenance method, and some pipelines are located underground. Processing consumes a lot of material and time resources

If the random sampling method is used for the daily maintenance of pipelines, there are problems of low efficiency and large errors. Therefore, the research on pipeline dredging robots has already begun and has become a hot topic.

[0003] Most of the pipeline dredging robots researched at home and abroad can only adapt to the pipeline environment of a specified size, and lack the general dredging and moving capabilities for pipelines with various inner diameters

Moreover, many robots move in a single way, with insufficient speed and poor flexibility in the pipeline. For example, peristaltic robots are difficult to meet the large-scale pipeline dredging work.

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