Pneumatic pipeline robot system based on pneumatic tendon

Abstract

The invention provides a pneumatic pipeline robot system based on pneumatic tendon, which comprises a first supporting module, a stretching module and a second supporting module successively connected with each other, wherein the pneumatic tendon is served as the stretching module. The pneumatic pipeline robot system based on the pneumatic tendon provided by the invention is based on a bionic wriggling mode, adopts an external air source, is in a multi-section wriggling form and utilizes the simple and easy as well as practicable pneumatic pipeline robot with pneumatic element design; the structure is simple; the operation is easy; through a bending pipeline, and the matching of the corresponding operation mechanism, the monitoring and maintenance of the pipeline can be realized. The pneumatic pipeline robot system based on the pneumatic tendon provided by the invention has the advantages of high power, excellent dynamic characteristics, excellent sealing property and application to various pipeline environments.

Description

【Technical field】 [0001] The invention relates to the mechanical field, in particular to a robot used in pipelines. 【Background technique】 [0002] In the fields of urban sewage, natural gas transportation, industrial material transportation, water supply and drainage, and building ventilation systems, pipelines are widely used as an effective means of material transportation. Pipelines will inevitably be broken, blocked, and polluted during long-term use. In order to improve the life of the pipeline and prevent accidents such as leakage, it is necessary to carry out effective inspection and maintenance of the pipeline, but the inspection, cleaning, and maintenance of the pipeline are not very Convenient, often spend a lot of manpower and material resources in order to find a crack on the pipeline. At present, pipeline inspection and maintenance are mostly carried out by pipeline robots. The so-called pipeline robot is a kind of automatic walking along the inside or outsid...

AI Technical Summary

Problems solved by technology

The robot adopts a multi-wheel drive type in order to increase the traction, because the diameter of the driving wheel 201 is too small, the ability to overcome obstacles is limited, and the structure is complicated.

image 3 Shown is a foot-type micro-pipeline robot, which can move in the pipeline through the feet 301. The basic principle is to use the feet to push the pipe to support the individual. However, this type of pipeline robot has limited load-bearing capacity, complex structure, and inflexible operation.

Figure 4 Shown is a small peristaltic robot system, which consists of a peristaltic body 401 and electrostrictive displacers 402, 403, and 404. The creep deformation of the peristaltic body is sensed in real time by the resistance strain pasted on the flexible hinge. The overall size of the robot is 150× 61×46mm, weight 2Kg, maximum step distance 10μm, stroke 40mm, motion accuracy 0.2μm, the pipeline robot is too heavy, the step distance is too small, the operation is not flexible, and it is difficult to adapt to pipelines of different structures and sizes

[0006] Robots with external thrust such as Figure 5 As shown, the “spiral principle” micro-robot uses the motor 501 outside the pipeline to push the driving part 503 with the elastic wire 502 forward, and the front end is equipped with a CCD camera 504. The structure of this type of pipeline robot is relatively complicated and the operation is not flexible. It is difficult to adapt to pipes of different structures and sizes, and the external thrust makes the robot's use range limited and limited by the power source

Images