Pipeline robot pre-tightening mechanism with pressure self-adaptive adjustment function

Abstract

The invention discloses a pipeline robot pre-tightening mechanism with a pressure self-adaptive adjustment function. A pipeline robot is provided with a robot main body and a main driving motor arranged on the robot main body, and the pipeline robot pre-tightening mechanism comprises an adjusting mechanism and a plurality of tensioning mechanisms, wherein each tensioning mechanism comprises a wheel carrier, a driving rolling wheel and a buffering device, one ends of the wheel carriers are hinged to the robot main body through first hinge pieces, the other ends of the wheel carriers are hingedto one ends of the buffer devices through second hinge pieces, the adjusting mechanism comprises a driving device and a moving assembly, the moving assembly is hinged to the other ends of the buffering devices through third hinge pieces, and the moving assembly is driven by the driving device to move linearly. The pipeline robot pre-tightening mechanism can adapt to the pipe bending environment, and can adjust the pre-tightening force in real time when obstacles are encountered or the pipe diameter changes within a certain range, so that smooth operation of a driving unit is achieved; and in addition, self-adaptive micro-adjustment of the pre-tightening force of the single driving rolling wheels can be achieved when micro-obstacles are encountered.

Description

technical field [0001] The invention belongs to the technical field of special robots, and more specifically relates to a pipeline robot pretensioning mechanism. Background technique [0002] As one of the branches of special robots, the pipeline robot can work in the specific space to which the pipeline belongs, carry various testing instruments or operating devices, enter the pipeline under the remote control or autonomous control of the operator, and complete such as pipeline defect detection, anti-corrosion coating, etc. The detection and coating of the tube, the identification and removal of foreign matter in the tube, and the processing in the tube. As an effective detection and maintenance equipment, the pipeline robot has changed the traditional single means of manual pipeline maintenance and greatly improved the accuracy and efficiency of detection. With the rapid development of petroleum, chemical and military equipment, the length of pipelines laid in various fie...

AI Technical Summary

Problems solved by technology

[0004] At present, the pre-tensioning mechanism of the wheeled pipeline robot has a built-in spring and an elastic mechanism of the elastic rod to adjust the pressure exerted by the driving roller on the inner wall of the pipeline. However, this elastic mechanism cannot achieve a wide range of positive pressure on the driving roller when the diameter of the pipeline changes. Adjustment, the adaptability of the pipeline is not strong; a crank slider type preload adjustment mechanism, when this adjustment mechanism encounters a small obstacle, it cannot achieve a small adjustment of the preload force of a single driving roller, and it will appear due to a certain drive After the pre-tightening force of the roller is slightly adjusted, the pre-tightening force of the other two driving rollers is adjusted together, so that the driving rollers slip and idle, resulting in insufficient driving force

A preload adjustment mechanism combined with a crank slider and a parallel four-bar mechanism. This mechanism also cannot achieve a small adjustment of a single driving roller, and when walking in a curved pipe, the front and rear driving rollers on the parallel four-bar mechanism will move The difference in the actual arc length produces relative slippage, resulting in internal stress on the parallel four-bar mechanism, and even leads to the deformation and failure of the rotary joint

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