CN-122014957-A - Pipeline internal crawling robot with elastic plate and rope in tension balance

CN122014957ACN 122014957 ACN122014957 ACN 122014957ACN-122014957-A

Abstract

The invention provides an in-pipeline crawling robot with elastic plates and ropes in tension balance, which comprises an upper body component, at least two first elastic pieces, a lower body component and at least two second elastic pieces, wherein the first elastic pieces are distributed along the circumferential direction of the upper body component, the first ends are connected to the first ends of the upper body component, the second ends are distributed along the circumferential direction of the upper body component and far away from the upper body component and can deform independently or synchronously along the length direction, the second elastic pieces are distributed along the circumferential direction of the lower body component, the first ends are connected to the first ends of the lower body component, the second ends are distributed along the circumferential direction of the lower body component and far away from the lower body component and can deform synchronously along the length direction, and the second ends of the upper mechanism component are connected with the first ends of the lower body component. The crawling robot has the advantages of simple structure, strong movement flexibility and high safety.

Inventors

CHEN GENLIANG
CHEN JIANHUAN
YAN TIANYI
LIU TING
ZHAO YAOBANG
WANG HAO

Assignees

上海交通大学
上海航天精密机械研究所

Dates

Publication Date: 20260512
Application Date: 20260403

Claims (10)

1. The utility model provides a robot crawls in pipeline that elastic plate and rope stretch-draw are balanced which characterized in that includes: an upper body member having opposite first and second ends; At least two first elastic members distributed along a circumferential direction of the upper body member, a first end of which is connected to a first end of the upper body member, and a second end of which is distributed along the circumferential direction of the upper body member and away from the upper body member, which are capable of being deformed individually or simultaneously along a length direction; a lower body member having opposite first and second ends; at least two second elastic members distributed along a circumference of the lower body member, a first end of which is connected to the first end of the lower body member, and a second end of which is distributed along the circumference of the lower body member and away from the lower body member, which are capable of being simultaneously deformed in a length direction; The second end of the upper mechanism member is connected to the first end of the lower body member.
2. The in-line crawling robot with the elastic plate and the rope stretch-balanced according to claim 1, wherein the first elastic member and the second elastic member are rectangular elastic plates, and the elastic plates can be elastically bent along the length direction.
3. The robot for crawling in a pipeline with balanced tension of an elastic plate and a rope according to claim 1, wherein the number of the first elastic pieces is three, the three first elastic pieces are uniformly distributed along the circumferential direction of the upper body component, the number of the second elastic pieces is three, the three second elastic pieces are uniformly distributed along the circumferential direction of the lower body component, and the three first elastic pieces and the three second elastic pieces are arranged in a one-to-one opposite mode.
4. The rope tension balanced in-line crawling robot of claim 3, further comprising three sets of first rope devices, each set of first rope devices comprising a first drive mechanism, a first reel, a first rope, said first drive mechanism and said first reel being provided on said lower body member, each of said three second elastic members being provided with a wire passing hole, one end of said first rope being connected to said first drive mechanism, said first rope being connected to a first elastic member opposite to said wire passing hole via said first reel and the wire passing hole of one of said second elastic members.
5. The rope stretch-balanced in-conduit crawling robot of claim 4, further comprising a second rope arrangement comprising a second drive mechanism, a second reel, three second ropes, said second drive mechanism and said second reel being provided to said upper body member, one end of each of said three second ropes being connected to said second drive mechanism, each of said three second ropes bypassing said second reel, the other ends of each of said three second ropes being connected to one of said first elastic members.
6. The rope tension balanced in-line crawling robot of claim 5, wherein each set of the second ropes and the first elastic member are respectively connected with a first spring.
7. The rope stretch-balanced in-conduit crawling robot of claim 5, further comprising a third rope arrangement comprising a third drive mechanism, a third reel, three third ropes, said third drive mechanism and said third reel being provided to said lower body member, one end of each of said three third ropes being connected to said third drive mechanism, each of said three third ropes bypassing said third reel, the other end of each of said three third ropes being connected to one of said second elastic members.
8. The rope tension balanced in-line crawling robot of claim 7, wherein each set of the third ropes and the second elastic member are respectively connected with a second spring.
9. The in-line crawling robot with elastic board and ropes in tension balance according to claim 7, wherein the first rope, the second rope and the third rope are kept in tension.
10. The rope tension balanced in-line crawling robot of claim 1, wherein a third spring is connected between the second end of the first elastic member and the first end of the upper body member.

Description

Pipeline internal crawling robot with elastic plate and rope in tension balance Technical Field The invention relates to the technical field of robots, in particular to an in-pipeline crawling robot with an elastic plate and a rope in tension balance. Background In engineering applications, periodic wear detection of the pipe interior parts is required due to long term use and wear. However, some components are in narrow pipelines, and the difficulty of manually detecting the inside of the pipeline is high. By adopting a robot-assisted mode, the detection efficiency can be greatly improved. However, a common crawling robot is difficult to adapt to such environments, so that crawling motions cannot be completed. The existing pipeline internal crawling robot with the stretching integral structure is light in weight, low in cost and simple to manufacture, but the cross-sectional area of the robot is too large, the robot is difficult to be suitable for a narrow gap environment, the number of parts of the whole robot is large, the connection relationship is complex, and the stability and the reliability of the robot are poor. In addition, the existing crawling robot cannot control the contact force and is easy to damage the pipeline. Accordingly, those skilled in the art have been directed to providing an in-line crawling robot in which an elastic plate is in tension balance with a rope, achieving a simple structure, a strong movement flexibility, and high safety. Disclosure of Invention In view of the defects in the prior art, the technical problem to be solved by the invention is how to provide the crawling robot with simple structure, flexible movement and high safety. In order to achieve the above object, the present invention provides an in-pipe crawling robot in which an elastic plate and a rope are stretch-balanced, comprising: an upper body member having opposite first and second ends; At least two first elastic members distributed along a circumferential direction of the upper body member, a first end of which is connected to a first end of the upper body member, and a second end of which is distributed along the circumferential direction of the upper body member and away from the upper body member, which are capable of being deformed individually or simultaneously along a length direction; a lower body member having opposite first and second ends; at least two second elastic members distributed along a circumference of the lower body member, a first end of which is connected to the first end of the lower body member, and a second end of which is distributed along the circumference of the lower body member and away from the lower body member, which are capable of being simultaneously deformed in a length direction; The second end of the upper mechanism member is connected to the first end of the lower body member. Further, the first elastic piece and the second elastic piece are rectangular elastic plates, and the elastic plates can be elastically bent along the length direction. Preferably, the number of the first elastic pieces is three, the three first elastic pieces are uniformly distributed along the circumferential direction of the upper body component, the number of the second elastic pieces is three, the three second elastic pieces are uniformly distributed along the circumferential direction of the lower body component, and the three first elastic pieces and the three second elastic pieces are oppositely arranged one by one. Further, the device further comprises three groups of first rope devices, each group of first rope devices comprises a first driving mechanism, a first reel and a first rope, the first driving mechanism and the first reel are arranged on the lower body component, wire passing holes are respectively formed in the three second elastic pieces, one end of each first rope is connected to the first driving mechanism, and the first rope is connected to the first elastic piece opposite to the wire passing holes through the first reel and one of the second elastic pieces. Further, the device further comprises a second rope device, the second rope device comprises a second driving mechanism, a second reel and three second ropes, the second driving mechanism and the second reel are arranged on the upper body component, one ends of the three second ropes are connected to the second driving mechanism, the three second ropes are wound around the second reel, and the other ends of the three second ropes are respectively connected to one of the first elastic pieces. Preferably, a first spring is connected between each group of the second ropes and the first elastic member. Further, the lower body member is provided with a third rope device, the third rope device comprises a third driving mechanism, a third reel and three third ropes, the third driving mechanism and the third reel are arranged on the lower body member, one ends of the three third ropes are connected to the third driving mec