Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot for climbing and crossing between pipes

A technology between robots and pipes, applied in the field of robots, can solve problems such as high time cost, great difficulty, and personal safety threats, and achieve the effects of easy automatic design, convenient disassembly and maintenance, and simple operation mode

Active Publication Date: 2022-07-12
HARBIN ENG UNIV
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]At present, semi-manual and semi-automatic methods are mainly used. On the one hand, the existing methods are difficult and time-consuming. Personal safety poses a serious threat
Through the external use of cameras and human eyes, this situation can only be observed when there is a large defect or a leak has occurred. At this time, huge losses have been caused and safety accidents may occur
[0004] It can be seen that the existing technology cannot satisfy the need for effective full-coverage movement in a narrow space with dense pipelines

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot for climbing and crossing between pipes
  • Robot for climbing and crossing between pipes
  • Robot for climbing and crossing between pipes

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] An inter-tube climbing and spanning robot, such as figure 1 As shown, including: lifting claw 10, body 20 and non-elevating claw 30;

[0046] The body 20 is used to connect the non-lifting claw 30 and the lifting claw 10 respectively through the corresponding linear telescopic mechanism, and expand and contract on the left and right of the body 20 to adapt to the change of the distance between the pipes;

[0047] Wherein, swing joints are provided between the lifting claw 10 and the body 20 and between the non-lifting claw 30 and the body 20 to drive the body 20 to rotate relative to the lifting claw 10 or the non-elevating claw 30 in the horizontal plane; the lifting claw 10 A lift transmission mechanism 110 is also provided for driving the body 20 to move along the axis of the pipeline.

[0048] like Figures 2a-2c As shown, the lifting claw 10 includes a first gripper 101, a first screw nut mechanism 102, a first linear guide 103, a first gear transmission mechanis...

Embodiment 2

[0070] A control method for a climbing and spanning robot between tubes, specifically:

[0071] S1, control at least one of the first hand 101 of the lifting claw 10 and the second hand 301 of the non-lifting claw 30 to support the corresponding pipe;

[0072] S2, control the body 20 to rotate forward or backward to an appropriate angle relative to the first hand 101 or the second hand 301 supported by the rotating joint, and control the non-lifting claw 30 or the lifting claw 10 to extend through the linear telescopic mechanism of the body 20 Lengthen or shrink into position to find the next pipe to clamp.

[0073]When the first claw 101 of the lifting claw 10 supports the pipeline, the lifting transmission mechanism 110 of the lifting claw 10 is controlled to work, so that the body 20 and the non-lifting claw 30 move as a whole along the axis of the pipeline.

[0074] like Image 6 As shown, it is an application scenario of the embodiment of the present invention. An embod...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an inter-pipe climbing and crossing robot, which comprises a lifting claw, a non-lifting claw and a machine body, and is characterized in that the lifting claw is used for clamping a pipeline; the non-lifting claw is used for clamping another pipeline; the machine body is used for being connected with the non-lifting claw and the lifting claw through the corresponding linear telescopic mechanisms. Swing joints are arranged between the lifting claw and the machine body and between the non-lifting claw and the machine body and used for driving the machine body to rotate in the horizontal plane relative to the lifting claw or the non-lifting claw. The lifting claw is further provided with a lifting transmission mechanism used for driving the machine body to move along the axis of the pipeline. The robot can climb on the pipelines and span among the pipelines autonomously, achieves full coverage of a movement range in an environment which is closed up and down, narrow in the middle and provided with dense pipeline groups, is safe and reliable, and is convenient for carrying a specific device to execute a specific task.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a climbing and spanning robot between pipes, in particular to a robot that moves through a spanning pipe in a narrow space of densely penetrating pipes. Background technique [0002] Whether it is thermal power generation or nuclear power generation, a series of dense pipes are required in the existing power generation equipment to export the energy released at the reactor into electrical energy, and these dense pipes run through the inner and outer surfaces of the entire reactor confined space. Due to the harsh working environment, and these dense pipes cannot have any leaks, or cracks cannot appear on the outer surface that intersects with the pipes, this working space is often inspected. In actual working conditions, the high temperature environment makes it impossible for humans to observe or detect the interior of the space, and a set of automated equipment must be used to work...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024B25J11/00B25J18/00B25J19/04
CPCB62D57/024B25J11/00B25J18/00B25J19/04Y02E30/30
Inventor 王刚包安超李思岑贾鹏唐钦云运飞宏
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com