Robot walking outside pipeline

Abstract

The invention discloses a robot walking outside a pipeline, which consists of a power driving device, a walking guide device and an elastic element assembly (11) connected with the walking guide device. The power driving device is a rotary body consisting of a cylindrical body (1) and a cylindrical driving main body (4) through a rolling bearing (3), the inner wall of the cylindrical body (1) is fixedly provided with more than one motor (2), and a motor shaft is parallel to the axis of the cylindrical body (1) and is provided with a gear (6); one end of the inner wall of the cylindrical driving main body (4) is fixedly provided with an annular gear (5) which is engaged with the gear (6), the inner wall of the cylindrical driving main body (4) is provided with a group of driving wheels (8), and the rotating axes of the driving wheels (8) and the cylindrical driving main body (4) form an acute angle; and the inner wall of a cylindrical guide main body (12) of the walking guide device is provided with at least more than two groups of guide wheels (14), and the rotating axes of the guide wheels (14) are mutually vertical to the axis of the cylindrical guide main body (12). Both a mounting frame (7) and a guide wheel carrier (13) are floating bodies, and an elastic element (15) is used for producing a certain radial expansion amount so that the driving wheels (8) and the guide wheels (14) are attached to the outer wall of the pipeline (10) all the time. After the driving of the motor, the motor can advance or retract along the axis direction of the pipeline, and can be used for operations such as outer pipe quality detection, maintenance, repair and the like of various pipelines and stayed bridge cables.

Description

technical field [0001] The invention relates to a robot that walks outside the pipeline along the pipeline, that is to say, it provides a new type of robot for the external quality detection, maintenance and repair of cylindrical bodies such as various industrial pipelines / civil pipelines / bridge stay cables, etc. A walking robot outside a pipe. Background technique [0002] Modern industrial and agricultural production and daily life use a large number of pipelines, such as steam generator heat transfer tubes in nuclear power plants, industrial pipelines and gas pipelines in petroleum, chemical, refrigeration industries, etc., for the stability of pipeline installation, maintenance and testing, etc. In consideration of safety and work efficiency, pipeline operations increasingly require the use of pipeline robots as mobile carriers to replace manual operations. In addition, with the construction of various cable-stayed bridges across the sea and across rivers, the quality i...

AI Technical Summary

Problems solved by technology

Compared with the robot inside the pipe, the robot working outside the pipe does not have the guidance or support of the closed cylindrical surface inside the pipe, making its movement and control more difficult

At present, most of the robots working on the outer surface of the pipeline along the pipeline adopt a peristaltic movement method, that is, driven by a motor, a hydraulic cylinder or an air cylinder, and several modules alternately and coordinately work to perform clamping, telescopic and other actions, so as to realize the movement of the robot. Moving function, there are also robots that adopt a continuous moving method, that is, they move continuously on the outer surface of the pipe by pressing wheels or forming a closed chain. For example: Invention patent application 2008100250001 discloses an automatic spraying robot outside the pipe, but the structure is more complicated

Through comparative research, it is found that the existing robots along the pipeline have various deficiencies such as: complex structure, difficult control, low efficiency, high processing cost, etc., so that they are difficult to be widely applied

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