The invention discloses a pipe diameter self-adaptive pipeline detection robot which comprises a main body rack, walking mechanisms, a reducing mechanism, a detection mechanism and a driving mechanism. The number of the walking mechanisms is at least three, and each walking mechanism comprises a crawler belt, a baffle and a connecting rod set. The reducing mechanism comprises a spring supporting rod, a nut frame, a polished rod and a lead screw, one end of the spring supporting rod is hinged to the middle end of the connecting rod, and the other end of the spring supporting rod is hinged to the nut frame; and the spring supporting rod is arranged in the circumferential direction of the nut frame. The detection mechanism comprises a stay wire sensor, a laser sensor and a gyroscope, and the laser sensor and the gyroscope are arranged at the front end of the main body rack and used for scanning and detecting the outline of the inner wall of a pipeline. The driving mechanism comprises a synchronous belt wheel, a driving wheel, a stepping motor and supporting plates, the supporting plates are symmetrically arranged, the synchronous belt wheel and the driving wheel are arranged at the front ends and the rear ends of the supporting plate, the driving wheel is connected with an output shaft of the stepping motor through a transmission gear, and the baffle is fixed to the supporting plates through bolts.

    本发明公开一种管径自适应的管道检测机器人,包括主体机架、行走机构、变径机构、检测机构及驱动机构;行走机构至少设有三个,每一行走机构包括履带、挡板和连杆组;变径机构包括弹簧支撑杆、丝母架、光杠及丝杠,弹簧支撑杆的一端铰接于连杆的中端,另一端铰接于丝母架;弹簧支撑杆沿丝母架周向布置;检测机构包括拉线传感器、激光传感器和陀螺仪,激光传感器和陀螺仪设置于主体机架的前端,用于对管道内壁轮廓进行扫描与检测;驱动机构包括同步带轮、驱动轮、步进电机和支撑板,支撑板采用对称布置,同步带轮、驱动轮分别布置于支撑板的前后两端,驱动轮通过传动齿轮与步进电机的输出轴连接,挡板通过螺栓固定于支撑板上。


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    Title :

    Pipe diameter self-adaptive pipeline detection robot


    Additional title:

    一种管径自适应的管道检测机器人


    Contributors:
    YUAN LIN (author) / LIU ZHENG (author) / PAN SIZHE (author) / LIU HAOWEI (author)

    Publication date :

    2021-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B62D MOTOR VEHICLES , Motorfahrzeuge / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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