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Modular support crawler-type in-pipe robot

A modular and robotic technology, applied in the field of robotics, can solve the problems of complex robot structure, low degree of modularization, and time-consuming, etc., and achieve the effect of compact structure, improved adaptability, and small size

Active Publication Date: 2019-03-19
WUHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The structure of the robot is complex, the degree of modularization is low, it takes a lot of time to assemble, and a large number of parts need to be replaced when the parts are damaged

Method used

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  • Modular support crawler-type in-pipe robot
  • Modular support crawler-type in-pipe robot
  • Modular support crawler-type in-pipe robot

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Embodiment Construction

[0038] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described here are only for illustration and explanation of the present invention, and are not intended to limit the present invention. invention.

[0039] Among the figure: 1. main body mechanism, 2. modular support mechanism, 3. modular crawler mechanism, 101, cylindrical frame, 102, camera pan-tilt, 103, camera pan-tilt supporting plate, 104, gear baffle plate, 105 , gear fixing frame, 106, spur gear, 107, gear supporting plate, 108, gear motor, 109, rack rear cover, 110, terminal block, 111, rack front end limit block, 112, first rack slot limit Position bar, 113, camera pan-tilt connecting block, 114, second rack slot limit bar, 115, gear baffle link block, 116, third rack sl...

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Abstract

The invention discloses a modular support crawler-type in-pipe robot. The modular support crawler-type in-pipe robot comprises a main body mechanism, a modular support mechanism and a modular crawlermechanism. The main body mechanism adopts a hollow cylindrical machine frame, and a plurality of sliding grooves are formed along the circumference of the main body mechanism, and the main body mechanism is used for carrying various modules mounted on the robot and providing power for the modules carried on the robot; the modular support mechanism is mounted on the main body mechanism, the combined design of an active adapting mechanism composed of a lead screw nut mechanism and a passive adapting method composed of springs, connecting rods and sliding blocks is adopted, and the modular support mechanism is used for supporting the modular crawler mechanism in a pipeline. The modular crawler mechanism adopts a single crawler belt and a motor built-in drive. According to the modular supportcrawler-type in-pipe robot, modular design is adopted, modules are mutually independent, meanwhile, the modular support mechanism by combining the active adapting mechanism and the passive adaptationand a waterproof independent crawler device are further adopted, the overall performance of the robot is improved, and it is ensured that the robot can better complete the operating task in a complicated pipeline environment.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a modular support type in-pipeline robot. technical background [0002] Various pipelines are widely used in the fields of power generation, metallurgy, petroleum, chemical industry, natural gas, urban plumbing supply, construction, and military affairs. They are responsible for the transportation of materials required for human life, production construction, and industrial development. occupies an extremely important position. During use, due to problems such as mechanical damage, corrosion, fatigue damage and service life, it will inevitably cause obvious or potential corrosion thinning, holes, cracks and other defects in the service pipeline, and if these defects are not timely If the discovery and treatment are not carried out, it is very easy to cause material leakage accidents in the later stage, which will bring huge losses to property and life safety. [0003] The robot in the pipel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00F16L55/26
CPCF16L55/26B25J11/00
Inventor 肖晓晖吴志鹏何思宇
Owner WUHAN UNIV
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