Pipeline inspection robot with cross variable-structure crawler belt and control method of pipeline inspection robot
An inspection robot and criss-cross technology, applied in the field of robots, can solve problems such as inability to flexibly climb over, inability to flexibly climb over obstacles, and road conditions containing impurities
Pending Publication Date: 2022-07-26
SOUTHEAST UNIV
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Problems solved by technology
[0006] The purpose of the present invention is to solve the problem that the pipeline inspection robot cannot adapt to various types of pipelines and cannot flexibly climb over obstacles in the narrow environment of the pipeline, and proposes a pipeline inspection robot with cross-shaped cross-shaped tracks and Its control method is used to solve the problem that the impurity inside the pipeline makes the road conditions not regular enough and the impurity accumulation inside the pipeline prevents the pipeline inspection robot from being able to climb over flexibly, and proposes a crawler inclination adjustment control method and an obstacle surmounting control method
Method used
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[0065] The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.
[0066] like figure 1 and figure 2 As shown, a crisscross metamorphic crawler inspection robot includes a robot body 1, a crawler inclination adjustment mechanism 2 symmetrically arranged on the left and right sides of the robot main body, and a crisscross metamorphic crawler assembly 3 arranged on the crawler inclination adjustment mechanism; The robot body is connected with its left and right cross-shaped deformed crawler track assemblies through a crawler inclination adjustment mechanism; the crawler inclination adjustment mechanism includes a rotating shaft panel 21 connected to the robot body and a support slide rail for adjusting the crawler inclination. 24. A push rod motor ...
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The invention discloses a pipeline inspection robot with cross variable-structure crawler belts and a control method thereof, the pipeline inspection robot comprises a robot main body, crawler belt inclination angle adjusting mechanisms symmetrically arranged on the left and right sides of the robot main body, and cross variable-structure crawler belt assemblies arranged on the crawler belt inclination angle adjusting mechanisms; the robot body is connected with the cross variable-structure track assemblies on the left side and the right side of the robot body through track inclination angle adjusting mechanisms, and the track inclination angle adjusting mechanisms are adjusted through supporting sliding blocks at the bottom of the robot body. The cross-shaped variable-structure crawler belt assembly comprises a main advancing crawler belt, an auxiliary advancing crawler belt and a cross-shaped variable-structure sliding block, and the main advancing crawler belt and the auxiliary advancing crawler belt are connected through the cross-shaped variable-structure sliding block. The crawler structures can be changed, and each group of variable-structure crawler structures are independent, so that the robot has good flexibility to climb a slope and climb over obstacles to adapt to a complex environment in a pipeline.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a pipeline inspection robot with crossed allosteric crawlers and a control method thereof. Background technique [0002] Pipeline transportation has the advantages of low cost, convenient transportation and large transportation volume, and plays an important role in many fields. However, chemical corrosion, environmental changes, natural disasters and the defects of the pipeline itself may lead to accidents such as material leakage and environmental pollution. Therefore, the pipeline must be continuously inspected. The inspection of pipelines is particularly inconvenient. At present, most of the inspection methods are manual inspections. For pipeline inspections in harsh environments, this method has the disadvantages of high inspection costs, low detection rate, and high inspection labor intensity. There are three types of walking mechanisms commonly used in pipeline...
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Login to View More IPC IPC(8): B62D55/065B62D55/08F16L55/32F16L55/40F16L101/30
CPCB62D55/065B62D55/08F16L55/32F16L55/40F16L2101/30
Inventor 宋爱国王少虎李会军缪天缘季钦杰徐越锋徐波
Owner SOUTHEAST UNIV