CN107380291B - Multi-motion-mode pipeline outer wall climbing detection robot - Google Patents
Multi-motion-mode pipeline outer wall climbing detection robot Download PDFInfo
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- CN107380291B CN107380291B CN201710564771.7A CN201710564771A CN107380291B CN 107380291 B CN107380291 B CN 107380291B CN 201710564771 A CN201710564771 A CN 201710564771A CN 107380291 B CN107380291 B CN 107380291B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a multi-movement-mode pipeline outer wall climbing detection robot, which is characterized in that: the climbing detection robot for the outer wall of the multi-motion-mode pipeline consists of two large circular modules, and the two circular modules are connected through a turnover device, so that relative rotation can be realized. Each round module consists of a driving device, a transmission device, a steering device, a camera, a pressure sensor, a control box and the like. The designed multi-motion-mode pipeline outer wall climbing detection robot has multiple motion modes, and can realize the motion of linear motion along a pipeline, rotation motion around the pipeline, overturning and the like. The robot can realize the crossing movement between two pipelines through the bent pipes with L-shaped, T-shaped and other complex shapes and has the capability of crossing obstacles such as pipeline joints, valves and the like. The robot can adapt to the pipeline diameter in a large range by adjusting the displacement of the linear driver. Maintenance and other works can be performed after various operation tools are mounted on the semicircular frame.
Description
Technical Field
The invention belongs to the fields of robot technology and automation, and particularly relates to a multi-motion-mode pipeline outer wall climbing detection robot.
Background
Pipeline robots are an important component in the field of industrial robots, and are increasingly receiving attention. The pipeline robot can be divided into an in-pipe robot and an out-pipe robot. The robot outside the pipe can be used for detecting and maintaining the outer surfaces of various pipelines, cables and the like. A large number of pipelines are used in modern industrial and agricultural production and normal life, and most of the industrial pipelines contain toxic and high-temperature fluids, and once the fluids leak out, the fluids can cause serious casualties and property loss, so that the consequences can not be measured. It is therefore essential to use an out-of-pipe robot instead of a human for detection and maintenance of the pipeline. If the tasks are still carried out by people, a large amount of manpower and material resources are consumed, the efficiency is low, the danger coefficient is high, and some occasions such as high-altitude operation cannot be realized by people at all, so that the out-of-pipe robot shows obvious superiority.
The types and arrangement modes of the pipelines used in the industry at present are very complex, and the pipeline has the characteristics that the pipe diameters are changeable, the curved channels are in complex shapes such as L-shaped and T-shaped, and the pipelines are provided with barriers such as pipeline joints, valves and supporting frames. To fully accommodate such complex working environments, the out-of-pipe robots must have the ability to accommodate different pipe diameters, smoothly pass through complex pipe shapes and obstacles. In some special cases it is desirable that the robot can switch the path of motion between two adjacent pipe elements, which requires the robot to have the ability to span adjacent pipes.
At present, a peristaltic type and wheel rolling type moving mode is mainly adopted for the out-of-tube robot. The peristaltic external pipe robot adopts a motor, an air cylinder and a hydraulic cylinder as driving devices, and realizes the movement function outside the pipeline by the actions of clamping, stretching, loosening and the like through the coordinated work among the several modules. The wheel rolling type robot outside the pipe realizes the moving function along the pipe through the friction force between the driving wheel and the outer wall of the pipe. There are a number of drawbacks to the currently available out-of-tube robots: for example, the structure is complex, the weight is large, the universality is poor, and the device cannot be suitable for various complex pipeline arrangement structures. For example: chinese patent No. CN102975783a discloses a single wheel type pipe-outside-pipe climbing robot which can make a rotary motion around a pipe through straight pipes, bent pipes and cross bends. The robot provides motion through the motion wheel of built-in motor, makes the robot make circular motion around the pipeline through steering mechanism, adapts to the diameter of pipeline through the regulation of armful arm device. Chinese patent No. CN104972460a discloses a multi-joint omni-directional robot outside pipes, which has omni-directional movement capability, and can cross external obstacles such as valves, flanges, brackets, etc. by connecting a bent pipe with a three-way pipe, a four-way pipe, etc., so as to realize the crossing movement between adjacent pipes. The first robot can only move on the pipeline, does not have the capability of crossing the obstacle on the pipeline, and can only adapt to a single pipe diameter. The second robot has complex structure, difficult control and poor stability, and is difficult to be widely applied.
The Chinese patent No. 102700643A discloses an out-of-tube walking robot, which consists of a front section of car body and a rear section of car body, wherein the two sections of car bodies are connected through a plane hinge mechanism, and the bottom surfaces of two sections of car body frames are provided with a tube holding walking mechanism, so that the out-tube walking robot can realize the functions of moving along a pipeline linearly, rotating around the pipeline and crossing a cross-shaped pipeline and an L-shaped pipeline. However, the robot can only adapt to pipelines with the same pipe diameter, the diameters of the supporting rollers and the rollers are required to be changed to adapt to the application of pipelines with different pipe diameters, and the movement of crossing two parallel pipelines cannot be realized. The left walking roller and the right walking roller of the front car body and the rear car body are arranged in a crossed manner and form a certain angle with the pipeline, so that component force perpendicular to the advancing direction can be generated when the front car body and the rear car body linearly move or rotationally move along the pipeline, extra resistance and burden are brought to a driving device and a transmission device, the performance and the service life of the robot are seriously influenced, and the rollers are easy to wear. Chinese patent No. CN104787142a discloses a robot for climbing outside a pipe with two-way wheel, which comprises a base, a turnover device, a straight running device, a rotation device, a locking device and a balancing device, and can pass through a curve and a cross-shaped pipe and can also bypass 360 degrees around the pipe. However, the robot can only accommodate a very small range of pipe diameters and does not have the ability to span two parallel pipes. The design of the bidirectional wheels causes that when one of the main wheels or the auxiliary wheels rolls along the pipeline, the other one inevitably generates a dragging phenomenon with the pipeline, friction force is generated, movement is hindered, and the performance of the robot is influenced. U.S. patent No. 20140156067A1 discloses a pipe inspection robot that can move along a pipe, across a pipe interface barrier, through an L-shaped pipe. However, the robot can only adapt to the pipeline diameter in a very small range, cannot span two pipeline members, and has a complex structure and high weight.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a multi-movement-mode pipeline outer wall climbing detection robot. The invention aims to solve the technical problems that: the existing outside-pipe robots generally do not have the functions of adapting to various pipe diameters, passing through L-shaped and T-shaped complex pipelines, and have no capability of passing through barriers such as pipeline joints and supporting beams, and switching moving pipelines between adjacent pipelines is difficult to realize. In addition, the existing out-of-pipe robots are complex in structure, large in weight and size, and cannot be applied to pipelines with low load requirements, such as plastic pipelines and the like. In order to enable the robot to climb between complicated pipelines, a control system of the robot is integrated on a robot body, and an operator can observe pipeline images and control the movement of the robot through a handheld control terminal.
A multi-motion modality pipeline outer wall climbing inspection robot, comprising:
two circular modules adapted to climb on the outer wall of the pipe, which are movable in the direction of the axis of the pipe and rotatable about the axis of the pipe; each circular module comprises a main body and three linear drivers mounted on the main body, wherein the tail ends of push rods of the linear drivers are provided with driving wheels; the diameter of an enveloping circular surface formed among the three driving wheels can be adjusted by controlling the push rod to perform linear motion so as to adapt to different pipeline diameters;
the two modules are connected to two ends of the turnover device in a substantially symmetrical manner and can rotate at a certain angle relative to the turnover device;
and the driving wheel can rotate a certain angle under the execution of the linear driver, so that the steering function of the robot is realized.
The robot is capable of climbing over the outer wall of the pipe through at least one of the circular modules and has the ability to span obstacles.
Each round module consists of a driving device, a transmission device, a steering device, a camera, a pressure sensor, a control box and the like.
The turnover device comprises a connecting rod mechanism, a servo motor, a speed reducer and the like. The two circular modules are connected through a connecting rod mechanism, and can relatively rotate to form a certain included angle under the driving of the servo motor. The structure of both circular modules is similar, with a semicircular frame as the main structure.
The semicircular frame is provided with an arc guide rail with an included angle of 180 degrees, the guide rail is provided with three sliding blocks, the central sliding block is fixed in position through the mounting plate, and the other two sliding blocks can freely slide along the guide rail. The central mounting plate is fixed on the central sliding block, the tooth-shaped mounting plates are respectively fixed on the movable sliding block, and one end face of the movable sliding block is a tooth-shaped surface. The semicircular frame is provided with a servo motor, and power is output to the gear and then transmitted to the tooth-shaped mounting plate, so that the whole sliding block is controlled to move along the circumference.
The steering device comprises a linear driver, a servo motor, a driving wheel, a guide wheel and the like. The linear driver is arranged on the center mounting plate and the tooth-shaped mounting plate, and the output end of the push rod of the linear driver is provided with a driving wheel and a guide wheel. The driving wheel is directly driven by the servo motor and the speed reducer, and the guide wheel has the function of enabling the movement of the robot to be more stable. The rear end of the linear driver is provided with a servo motor and a speed reducer, and the included angle formed between the driving wheel and the pipeline can be controlled, so that the steering function is realized.
The linear driver controls the push rod to perform linear motion, so that the diameter of an enveloping circular surface formed between the three driving wheels is adjusted to adapt to different pipeline diameters.
The upper part of the driving wheel is provided with a pressure sensor to ensure that a proper clamping force exists between the robot and the pipeline. And each servo motor is provided with a rotary encoder at the back, and the moving distance of each transmission device is accurately controlled through feedback information. The camera and the control box are arranged on each circular module, the camera is used for monitoring the actual condition of the outer surface of the pipeline, and the control box integrates the functions of wireless receiving and transmitting, servo motor control and the like. The images collected by the camera are transmitted to the handheld control terminal of the operator, and the operator can also control the movement of the robot through the handheld control terminal.
The multi-movement-mode pipeline outer wall climbing detection robot integrates a plurality of movement modes with different modes, and changes the movement modes aiming at various complex pipeline structural arrangements (such as L-shaped pipes, T-shaped pipes and the like), so that various pipelines and barriers with different shapes can be smoothly passed. In addition, the robot has the capability of crossing adjacent pipelines, so that random switching and movement among a plurality of pipelines are satisfied. The turning device can enable the robot to do circular motion along the axis of the pipeline, and the turning device can enable the robot to have obstacle crossing capability. The diameter of the center circle formed between the driving wheels is adjusted, so that the robot can adapt to the requirements of different diameters of pipelines. The robot can basically meet the movement requirements required by all pipeline operations. The semicircular frame of the robot is provided with a camera, an operating tool and the like, so that the pipeline can be inspected, detected, maintained and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-motion mode pipeline outer wall climbing detection robot;
FIG. 2 is a schematic illustration of the process of a robot as it passes through a curved section of an L-tube or T-tube 1;
FIG. 3 is a schematic view of the process 2 when a robot passes through a curved section of an L-tube or T-tube;
FIG. 4 is a schematic illustration of the process of a robot as it passes through a straight section of a T-tube 1;
FIG. 5 is a schematic view of the process of a robot passing through a straight section of a T-tube 2;
FIG. 6 is a schematic view of the process of the robot as it passes through the straight section of the T-tube 3;
FIG. 7 is a schematic view of a process 1 when a robot is traversing an obstacle;
FIG. 8 is a schematic view of a process of a robot crossing an obstacle 2;
FIG. 9 is a schematic view of the process of the robot across an obstacle 3;
FIG. 10 is a schematic view of a process of a robot crossing an obstacle 4;
FIG. 11 is a schematic view of a process of a robot crossing an obstacle 5;
FIG. 12 is a schematic view 1 of a process of robot traversing between adjacent pipes;
FIG. 13 is a schematic view of a process of robot traversing between adjacent pipes 2;
fig. 14 is a schematic view of a process of robot traversing between adjacent pipes 3.
In the figure: 1. the device comprises a head semicircular frame, 2, a tail semicircular frame, 3, a connecting rod mechanism, 4, a turnover servo motor and a speed reducer, 5, a tail center sliding block, 6, a tail steering servo motor, 7, an arc guide rail, 8, a tail center mounting plate, 9, a tail linear driver, 10, a tail pressure sensor, 11, a tail guide wheel, 12, a tail driving wheel, 13, a tail driving servo motor and a speed reducer, 14, a tail tooth type mounting plate, 15, a tail gear, 16, a tail sliding block, 17, a tail guide rail servo motor and a speed reducer, 18, a head guide rail servo motor and a speed reducer, 19, a head tooth type mounting plate, 20, a head linear driver, 21, a head sliding block, 22, a head gear, 23, a head steering servo motor, 24, a head center mounting plate, 25, a head center sliding block, 26, a transverse straight pipe, 27, a vertical pipe, 28, a head pressure sensor, 29, a head driving wheel, 30, a head guide wheel, 31 and a head driving servo motor and a speed reducer. 32. Head control box, 33, tail control box, 34, head camera, 35, tail camera
Detailed Description
The multi-motion-mode pipeline outer wall climbing detection robot disclosed by the invention is integrally formed by two large circular modules, and each circular module is respectively formed by three clamping hands with driving wheels, so that the movement on the surface of a cylindrical pipeline can be better realized. The design of the driving wheel steering device is suitable for the design of adjusting devices with different pipeline diameters and the design of overturning movement of the main body frame module, so that the driving wheel steering device has the functions of adapting to pipelines with complex shapes with different diameters and crossing obstacles on the pipelines, and simultaneously has the capability of crossing adjacent pipelines.
As shown in fig. 1, the climbing detection robot for the outer wall of the multi-movement-mode pipeline consists of two large circular modules, and the two circular modules are connected through a turnover device. Each round module consists of a driving device, a transmission device, a steering device, a camera, a pressure sensor, a control box and the like. The two round modules are of similar structure and are connected through a turnover device. The turnover device comprises a connecting rod mechanism (3), a turnover servo motor, a speed reducer (4) and the like. The overturning servo motor and the speed reducer (4) transmit power through the connecting rod mechanism (3), and finally one circular module integrally rotates around the other circular module by a certain angle, so that the robot has the capability of crossing obstacles through the design. Because the two circular modules are of similar construction, no further explanation is provided, only one of which is described.
The circular arc guide rails (7) are arranged on the tail semicircular frame (2) through screws, three sliding blocks are arranged on each circular arc guide rail (7), a tail center mounting plate (8) is arranged on the tail center sliding block (5), and a tooth-shaped mounting plate (14) is arranged on the tail sliding block (16). The tail center mounting plate (8) is fixedly connected with the tail semicircular frame (2) so as to ensure that the position of the center sliding block is fixed. The end faces of the other two tail tooth mounting plates (14) are provided with tooth-shaped surfaces which are meshed with the tail gears (15) so as to transmit motion, and the tail sliding blocks (16) can move on the guide rails for specified displacement. The tail gear (15) is powered by a guide rail servo motor and a speed reducer (17).
The two large round modules are respectively provided with a head camera (34), a tail camera (35), a head control box (32) and a tail control box (33), the cameras are used for monitoring the actual conditions of the outer surface of the pipeline, and the control boxes integrate the functions of wireless receiving and transmitting, motor control and the like. The image acquired by the camera is transmitted to the handheld control terminal of the operator in a wireless mode, the operator can observe corresponding image information through the liquid crystal display, and the operator can control the movement of the robot through the handheld control terminal.
The steering device comprises a tail linear driver (9), a tail steering servo motor (6), a driving wheel (12), a guide wheel (11) and the like. The same tail linear driver (9) is arranged on the tail center mounting plate (8) and the tail tooth type mounting plate (14), and the tail end of a push rod of the tail linear driver (9) is connected with the driving wheel (12) and the guide wheel (11). A tail pressure sensor (10) is arranged between the driving wheel (12) and the guide wheel (11) and is used for detecting the pressure between the driving wheel and the pipeline so as to ensure that a proper clamping force exists between the robot and the pipeline. The driving wheels (12) are driven by respective servo motors and speed reducers (13), and the guide wheels (11) ensure that the robot keeps stable in the moving process. The tail part of each servo motor is provided with a rotary encoder, and the displacement of each transmission device can be accurately controlled through the feedback information of the rotary encoder. By controlling the displacement of the push rod of the tail linear drive (9), the diameter of the centre accommodating pipe and the pressure between the drive wheel and the pipe can be accurately adjusted. A separate tail steering servo motor (6) is mounted behind each tail linear drive (9) so that there is one rotational degree of freedom. Therefore, the driving wheel and the guide wheel can axially rotate along the push rod, so that the direction of the wheels is adjusted, and the steering function of the robot on the pipeline is realized.
When the robot is mounted on a pipeline, firstly, the push rods of the head linear driver (20) and the tail linear driver (9) are moved to the shortest position, and then the head gear (22) and the tail gear (15) respectively drive the head tooth type mounting plate (19) and the tail tooth type mounting plate (14) to approach to the directions of the head semicircular frame (1) and the tail semicircular frame (2). When the pipeline enters the circular center position of the robot, the push rods of the six linear drivers are extended to seal the pipeline inside the robot. When the push rods of the head linear driver (20) and the tail linear driver (9) are controlled to extend, the robot stops after a certain pressing force is generated between the wheels and the pipeline according to the parameters of the pressure sensor (10) at the driving wheel, so that a proper friction force is generated, and the robot can move forwards. Then, the drive wheel motors (13) and (31) start to operate, causing the robot to start moving along the pipe. When an obstacle exists in the front or the robot is required to perform rotary motion along a pipeline, the rear steering servo motors (6) and (23) of the head linear driver (20) and the tail linear driver (9) start to work, so that the driving wheels are turned. The semicircular frames of the two modules remain concentric as the robot moves along the straight pipe.
As shown in fig. 2-3, as the robot passes through the L-tube or T-tube curved section, the push rod of the linear drive (20) of the head semicircular frame (1) shortens, moving the wheels off the pipe surface. The turnover device enables the whole head semicircular frame (1) to rotate around the tail semicircular frame (2), so that the whole head semicircular frame (1) and all parts on the head semicircular frame are tilted. At this time, the tail semicircular frame (2) part continues to move forward, when the head semicircular frame (1) part contacts the pipeline at the other end and is clamped, the push rod of the tail linear driver (9) of the tail semicircular frame (2) part is shortened, the three groups of wheels leave the pipeline, and the head semicircular frame (1) part continues to move forward. When the straight pipe section is successfully reached through the L-shaped pipe or the T-shaped pipe bending section, the tail semicircular frame (2) partially rotates back, and when the tail semicircular frame is clamped after contacting the pipeline, the head semicircular frame (1) and the tail semicircular frame (2) are kept concentric again and continue to move forwards.
As shown in fig. 4-6, when the robot passes through the straight section of the T-shaped pipe, the tail linear driver (9) and the head linear driver (20) turn servo motors (6) and (23) start to work for smooth passing due to the intersection of the pipe and the other pipe, so that six groups of wheels turn, and the robot integrally rotates along the pipe. When the robot rotates to the reverse surface of the obstacle pipeline, the robot continues to move forward. When the robot moves to the junction of the pipelines, the head guide rail servo motor (18) starts to work to drive the gear (22) to rotate, so that all parts on the toothed plate (19) do circular motion along the circular arc guide rail, the positions of all wheel groups are adjusted, the obstacle at the junction is avoided, and then the robot continues to move forwards. The tail module then moves in the same motion to pass smoothly over the pipe junction.
7-11, when the robot passes through a raised obstacle such as a pipe joint, if the obstacle is small, the push rod of the head linear driver (20) can be shortened first, so that the diameter of an enveloping circle formed between the three groups of wheels of the head module is enlarged, and the tail module continues to move forward, thereby enabling the head module to pass through the obstacle smoothly. Then the head module clamps the pipeline, the push rod of the tail module linear driver (9) is shortened, the diameter of an enveloping circle formed between the three groups of wheels of the tail module is enlarged, and the head module continues to move forwards, so that the tail module smoothly passes through an obstacle. If the obstacle is difficult to pass in the above manner, the head linear actuator (20) on the head semicircular frame (1) shortens the push rod, causing the wheels to leave the pipe surface. The whole head semicircular frame (1) partially rotates around the tail semicircular frame (2), and the tail semicircular frame (2) partially continues to move forwards. When the head semicircular frame (1) is partially contacted with the pipeline at the other end and clamped, the tail linear driver (9) of the tail semicircular frame (2) shortens the push rod, so that the three groups of wheels leave the pipeline, and the head semicircular frame (1) continues to move forwards. After passing the protruding obstacle, the tail semi-circular frame (2) is partially rotated back, clamping the pipe again, keeping the semi-circular frames (1) and (2) of the two modules concentric again and continuing to move forward.
As shown in fig. 12-14, when the robot switches the moving pipe between two pipes, the head semicircular frame (1) part clamps the pipe, the push rod of the tail linear driver (9) of the tail semicircular frame (2) part shortens, and the three sets of wheels leave the pipe. The turnover device enables the whole tail semicircular frame (2) to rotate around the head semicircular frame (1) to form an included angle of 180 degrees, so that the whole tail semicircular frame (2) and all parts above the tail semicircular frame are turned up. When the tail semicircular frame (2) is partially contacted with another pipeline, the push rod of the tail linear driver (9) is extended, so that the three groups of wheels clamp the pipeline. The push rod of the head linear drive (20) of the head semicircular frame (1) portion is then shortened and the three sets of wheels leave the pipeline. The turnover device enables the whole head semicircular frame (1) to rotate backwards, the whole head semicircular frame (1) is enabled to be contacted with another pipeline, a push rod of the head linear driver (20) stretches to clamp the pipeline, then the robot drives the servo motors (13) and (31) to rotate backwards, and the robot continues to move forwards.
Various operation tools are mounted on the semicircular frames (1) and (2) of the robot, so that not only can the inspection and detection tasks of the pipeline be realized, but also various maintenance works can be performed.
Claims (7)
1. The utility model provides a many motion mode pipeline outer wall climbing detection robot which characterized in that:
two circular modules adapted to climb on the outer wall of the pipe, which are movable in the direction of the axis of the pipe and rotatable about the axis of the pipe; each circular module comprises a circular main body and three linear drivers (9) mounted on the circular main body, and driving wheels are mounted at the tail ends of push rods of the linear drivers; the diameter of an enveloping circular surface formed among the three driving wheels can be adjusted by controlling the push rod to perform linear motion so as to adapt to different pipeline diameters;
the two round modules are connected to two ends of the turnover device in a substantially symmetrical manner and can rotate at a certain angle relative to the turnover device;
the steering device can rotate a certain angle under the execution of the linear driver, so that the steering function of the robot is realized;
the robot can climb on the outer wall of the pipeline through at least one circular module and has the capability of crossing a barrier;
each circular module takes a semicircular frame (1, 2) as a main body, and when the robot moves along a straight pipe, the semicircular frames of the two circular modules are kept concentric; an arc guide rail (7) is arranged on the semicircular frame, and the included angle of the arc guide rail is 180 degrees; three sliding blocks are arranged on each circular arc guide rail, wherein a central sliding block (5) is fixed, and the other two sliding blocks (16) can slide along the circular arc guide rails;
the three linear drivers (9) are respectively installed on the three sliding blocks through mounting plates, driving wheels (12) and guide wheels (11) are installed at the output ends of push rods of the linear drivers, and the driving wheels are directly driven by driving servo motors and speed reducers (13): each linear driver (9) can realize rotary motion under the drive of the tail steering servo motor (6);
the mounting plate of the central sliding block is fixedly connected with the semicircular frame; the mounting plates on the two movable sliding blocks are tooth-shaped plates (14) which are respectively meshed with a guide rail servo motor (17) on the semicircular frame through gears (15).
2. The multi-motion modality pipe outer wall climbing inspection robot of claim 1, wherein the flipping means comprises a linkage and a servo motor.
3. The multi-motion mode pipeline outer wall climbing detection robot according to claim 2, wherein the link mechanism (3) is driven by a servo motor (4) of the turnover device, and is used for realizing relative rotation between two circular modules, so that the robot can lift one circular module while the other circular module moves along a pipeline, and the robot can smoothly pass through a complex pipeline and avoid obstacles.
4. The multi-motion mode pipeline outer wall climbing detection robot according to claim 1, wherein the linear driver (9) has a rotation degree of freedom, and the rotation of the wheels is controlled to realize a steering function, so that the robot can perform circular motion along the pipeline.
5. The multi-motion mode pipeline outer wall climbing inspection robot according to claim 1, characterized in that a pressure sensor (10) is installed between the driving wheel (12) and the linear driver (9) to ensure proper clamping force between the robot and the pipeline: and each servo motor is provided with a rotary encoder at the back, and the moving distance of each transmission device is precisely controlled through feedback information.
6. The multi-motion mode pipeline outer wall climbing detection robot according to claim 1, wherein each circular module is provided with a respective control box, the control box mainly comprises an embedded main control computer and a wireless transceiver, an operator can see an image returned by a camera through a handheld control terminal, and the movement of the robot can be controlled.
7. The multi-motion modality pipe outer wall climbing inspection robot of any one of claims 1 to 6, wherein cameras are mounted on the two circular module bodies and various operating tools can be mounted.
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| CN108407909A (en) * | 2018-02-11 | 2018-08-17 | 常州轻工职业技术学院 | It detects a flaw outside pipeline walking robot |
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