The invention discloses a wheel and crawler compounding radial adjustable pipeline robot. A bionic type pipeline robot has low moving speed and great fluctuation, the structure of a crawler type pipeline robot is complicated, and a vehicle type pipeline robot cannot enter a vertical pipeline. The wheel and crawler compound radial adjustable pipeline robot comprises a plurality of wheel and crawler compounding mechanisms, wherein each wheel and crawler compounding mechanism comprises a main casing, a radial adjusting mechanism, a crawler driving walking mechanism and a wheel type support mechanism, two installing side plates are connected through a driving belt wheel installing shaft and a driven belt wheel installing shaft, a driving belt wheel is fixedly arranged on the driving belt wheel installing shaft, a driven belt wheel is fixedly arranged on the driven belt wheel installing shaft, the driving belt wheel is connected with the driven belt wheel through a crawler, the installing side plates are hinged to the main casing through a driven swinging rod, each wheel type support mechanism comprises a bottom plate and a pulley, two ends of the bottom plate are respectively hinged to the main casing through the driven swinging rod, and the driven swinging rod arranged at one end is hinged to the other end of a driving swinging rod. The wheel and crawler compounding radial adjustable pipeline robot has good moving stability and is applicable to various complicated pipelines.

Wheel and crawler compounding radial adjustable pipeline robot

The invention relates to a pipeline robot capable of active steering, and belongs to the technical field of pipeline robots. The pipeline robot capable of active steering comprises a plurality of driving knuckles and a plurality of steering knuckles. Every two adjacent driving knuckles are connected by one steering knuckle. A front end cover is disposed at a front end of the driving knuckle at the most front end. A sensor for detecting the pipeline path distribution of a pipe network in front of the pipeline robot is disposed at a center position of the front end cover. A universal spherical hinge is disposed at a rear end of the driving knuckle at the tail end. Each driving knuckle comprises a main frame, driving mechanisms and telescopic mechanisms, wherein a plurality of driving mechanisms are mounted on an outer sidewall of the main frame at uniform intervals; the telescopic mechanisms are mounted in the main frame and connected with the driving mechanisms, and capable of causing contraction of the driving mechanisms into the main frame. Every two adjacent driving knuckles are capable of realizing relative 360-degree rotation and active steering by means of the steering knuckle. The pipeline robot capable of active steering has the advantages that every two adjacent driving knuckles are capable of realizing relative 360-degree rotation and active steering, thereby meeting the requirements of detection of a complicated branched pipe network.

Pipeline robot capable of active steering

The present invention discloses an IPMC-based bionic loopworm pipeline crawl mechanism, belonging to the mechanical engineering field for crawl detection in a tiny bent pipeline. The mechanism in the present invention comprises two clamped modules and a telescopic module. The mechanism uses the characteristic of the intelligent material of bending after electrifying as the drive principle, doesn't use a motor, has small size and light weight, adapts different pipe diameters by adjusting the inclination angle of IPMC, has a bendable structure, can pass through a corner with a large curvature and can realize advancing, lingering and drawing back in the pipeline.

IPMC-based bionic loopworm pipeline crawl mechanism

The present invention relates to an endoscope which has a movement apparatus (2) enabling easy progress and movement ability in the area in which it is applied by comprising apparatus legs (2.1) and the apparatus arms (2.2) that have the ability to operate independent from each other in order to be used in endoscopy operations.

An endoscope with movement apparatus

The present invention provides an apparatus for working the inside a pipe, which includes: a main body frame made of a polygonal frame structure through interconnection of a plurality of support bars having a cylinder structure; a plurality of wheel members provided at each apex portion of the main body frame, supported in close contact with an inner wall of the pipe, and moving the main body frame along a pipe line; a work module which performs at least one of a pipe internal shooting work, a cleaning work, and a rust prevention work; and a connection member connecting a gap between the main body frame and the work module so that the work module is disposed at a central position of the main body frame. In a process of moving along the pipe line of the main body frame, the size is adjusted in response to the inner diameter of the pipe by the plurality of support bars having the cylinder structure.

Apparatus for work inside pipes

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