Single motor single driving straight wheel type small pipeline robot moving mechanism

A pipeline robot and mobile mechanism technology, applied in the direction of motor vehicles, suspensions, control devices, etc., can solve the problems of high cost, high processing technology requirements, difficult to realize, etc., and achieve the effect of low cost

Inactive Publication Date: 2005-03-02
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Although the three-motor-driven moving mechanism and the double-motor-driven moving mechanism have many advantages in theoretical analysis, since a single worm is used to drive three worm gears in parallel, the requirements for processing technology are relatively high, which may cause interference be

Method used

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  • Single motor single driving straight wheel type small pipeline robot moving mechanism
  • Single motor single driving straight wheel type small pipeline robot moving mechanism
  • Single motor single driving straight wheel type small pipeline robot moving mechanism

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Experimental program
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Embodiment Construction

[0027] according to Figure 4-Figure 8 The structure adopts conventional mechanical couplings and is designed and constructed according to known techniques.

[0028] The moving mechanism of the single-motor direct wheel type small-scale pipeline robot designed by the present invention has been successfully applied to the small-scale pipeline robot detection system based on DSP in this laboratory, and its overall structure is shown in the appendix Figure 9 , including computer, frame grabber, robot control card, wheeled mobile robot, DC servo motor, small CCD sensor and LED light source.

[0029] This system realizes the following functions:

[0030] (1) The wheeled mobile robot moves in the pipeline according to the predetermined requirements, which is the minimum requirement for a robot;

[0031] (2) Through the CCD image sensor, image acquisition card and related image processing algorithms, the computer can monitor obvious defects on the inner wall of the pipeline (such ...

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Abstract

The present invention belongs to the field of optoelectromechanical system, and the robot moving mechanism includes driving part, containing part and supporting part. The driving part connects the DC servo motor and worm gear via the containing part and ensures enough friction force during driving via the supporting part. The present invention features that the driving part inside the driving wheel support adopts single driving wheel assembly to transmit motion and single DC servo motor, that the driving wheel assembly is connected to the worm shaft and the single DC servo motor via the shaft coupler in the connecting part, and that the support wheel in the supporting part adopts suspended spring-block structure to ensure proper pipe diameter change and radial extension. The present invention has no jamming, simple structure, low cost and easy realizing, and is suitable for small caliber pipeline.

Description

Technical field: [0001] The single-motor single-drive straight-in wheel-type small-scale pipeline robot moving mechanism belongs to the field of opto-mechanical integration. It is mainly used in the identification and location of surface defects on the inner wall of oil, natural gas and tap water industrial pipelines, so as to achieve the safety monitoring and prediction of industrial pipelines. Background technique: [0002] As an important carrier for long-distance transportation of oil, gas and tap water, pipelines play an increasingly prominent role in modern industrial construction and life. Due to corrosion, heavy pressure, etc., pipeline leakage accidents occur frequently, so pipeline safety monitoring is becoming more and more important. The pipeline robot is a kind of mechanical, electrical and instrumental integration that can automatically walk along the inside or outside of the pipeline, carry one or more sensors and operating machinery, and perform a series of pi...

Claims

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Application Information

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IPC IPC(8): B60G99/00B60K17/00B62D57/00
Inventor 何存富何守印吴斌王秀彦
Owner BEIJING UNIV OF TECH
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