a pipeline robot

Abstract

The invention relates to a pipeline robot and belongs to the technical field of robots. The pipeline robot comprises an inertial excitation mechanism which comprises a rotary power source, a non-circular gear transmission mechanism and at least two same eccentric mechanisms, and all eccentric mechanisms are uniformly distributed circumferentially on a plane; each eccentric mechanism comprises an eccentric mass block which rotates around a rotating shaft; the rotary power source drives the eccentric mass block to rotate around the rotating shaft through the non-circular gear transmission mechanism; the rotating speeds of the eccentric mass blocks are consistent and the component forces of a resultant force of eccentric forces generated by all the eccentric mass blocks are zero. The pipelinerobot moves by means of joint action of an inner inertial force and an environmental friction force. By adopting the driving mode, the defect that a driving device and an executing device in a conventional driving mode must be sealed is overcome fundamentally, so that the pipeline robot is suitable for extremely severe pipeline operating environments such as narrow, corrosive, inflammable and high-temperature environments, and has a huge potential in the aspect of miniaturization.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an inertia-driven pipeline robot. Background technique [0002] With the rapid development of the level of industrialization in the international community, pipelines, as the main transportation facilities for fluids, are widely used in municipal, chemical, petroleum and nuclear power industries due to their economy and convenience. Corrosion, fatigue damage, breakage, etc. are prone to occur. If the pipeline is not repaired in time, it may cause economic losses, and the environment may also cause damage. However, the environment where the pipeline is often difficult for people to reach or cannot be directly repaired, so a new pipeline is needed Management mode, intelligent management is the inevitable trend and development direction of the pipe network system. [0003] As an important part of the intelligent pipeline network, pipeline robots can complete a series of...

AI Technical Summary

Problems solved by technology

This invention belongs to the screw-driven pipeline robot. Through the rotation of the screw drive head, the driving wheel walks along the spiral trajectory on the inner surface of the pipeline, so that the robot can move axially. The same screw drive head and the rear car body are dynamic seals. , the power system has great hidden dangers in the face of high pressure, flammable, corrosive and other harsh environments

[0009] At present, most pipeline robots cannot work in harsh environments such as high pressure, flammable, explosive, and corrosive due to structural reasons.

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