A pipeline robot with adaptive pipe diameter

Abstract

The invention relates to a pipeline detector, and discloses a pipeline robot with self-adaptive pipe diameter, which includes a supporting keel, an image acquisition device, a front roller set, a rear roller set, a linkage device and a driving mechanism, wherein the linkage device includes an expansion mechanism and a linkage Mechanism, the expansion mechanism is used to adjust the angle between the front support arm and the support keel, the linkage mechanism is used to adjust the length of the transmission shaft, so that the track of the front wheel and the rear wheel can be adaptively adjusted according to the inner diameter of the pipe, and the driving mechanism is It is used to drive the rear wheel to rotate to push the pipe robot to move. The retractable front wheel and rear wheel of the present invention can adjust the distance between the front wheel and the rear wheel and the support keel according to the diameter of the pipe. Compared with the robot that sticks to the ground, the robot with variable wheel height can have better Obstacle surmounting ability, and such a robot can have a better shooting field of view, so that the robot can better explore the pipeline.

Description

technical field [0001] The invention relates to the field of pipeline detectors, in particular to a pipeline robot with adaptive pipeline diameter. Background technique [0002] With the accelerated pace of modernization and urbanization, the problems existing in old communities have become increasingly prominent. Due to the long history of old communities and the complex space conditions of underground pipelines, the construction difficulty and risk are increasing. In real life, safety accidents caused by unclear construction of underground pipelines are not uncommon. Therefore, it is particularly important to clarify the distribution of underground pipelines. [0003] Under such circumstances, researchers have developed pipeline robots to help workers know the internal conditions of underground pipelines. Generally, pipeline robots mainly include the robot body and the drive installed on the robot body to drive its actions. On this basis, in order to enhance the explorati...

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Problems solved by technology

[0004] Regarding the related technologies mentioned above, the inventor believes that there are the following defects: the diameters of pipelines laid in different communities may be different. In this case, in order to ensure that the pipeline robot can be placed in the pipeline, it is usually necessary to make the pipeline diameter It is larger than the size of the pipeline robot. For most pipeline robots, the position of the driving wheel on the robot body is fixed, which makes the pipeline robot basically move forward against the bottom of the pipeline after being placed in the pipeline. When the pipeline memory In case of obstacles, due to the low ground clearance of this kind of pipeline robot, it is easy to be blocked by obstacles, making it difficult to explore the pipeline

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