Self-adaptive deformable pipeline robot

Abstract

The invention discloses a self-adaptive deformable pipeline robot. The robot comprises a main vehicle; the auxiliary vehicle is rotationally connected with the main vehicle; the elastic assembly is arranged on the main vehicle and used for providing elastic force so that the auxiliary vehicle can be perpendicular to the main vehicle; the inertial measurement unit is arranged on the main vehicle; the power supply is arranged on the main vehicle or the auxiliary vehicle; the controller is arranged on the main vehicle or the auxiliary vehicle and used for controlling the main vehicle and the auxiliary vehicle to move; and the inertial measurement unit and the power supply are electrically connected with the controller. After the robot is placed in the pipeline, the included angle between the main vehicle and the auxiliary vehicle is an acute angle or an obtuse angle, the main vehicle and the auxiliary vehicle are tightly attached to the inner wall of the pipeline under the action of elastic force provided by the elastic assembly, the pressure of the main vehicle and the auxiliary vehicle on the inner wall of the pipeline is increased, and the two opposite sides of the inner wall of the pipeline are both pressed by the robot. The friction force between the wheels and the inner wall of the pipeline is increased, the wheels are not prone to slipping, and the robot can still move in the pipeline in the vertical direction and is suitable for pipelines of different shapes. 本发明公开了一种自适应可形变的管道机器人，包括：主车；辅车，与主车转动连接；弹性组件，设置于主车，并用于提供弹性力以使辅车垂直于主车；惯性测量单元，设置于主车；电源，设置于主车或辅车；控制器，设置于主车或辅车，并用于控制主车和辅车移动；惯性测量单元、电源均与控制器电连接。当机器人放入管道中后，主车和辅车之间的夹角为锐角或钝角，在弹性组件提供的弹性力的作用下，使得主车和辅车紧贴于管道的内壁，增加了主车和辅车对管道的内壁的压力，且机器人对管道的内壁的相对两侧均有压力，不仅增大车轮与管道的内壁之间的摩擦力，使得车轮不容易打滑，而且在竖直方向的管道内，机器人仍可以移动，适用于不同形状的管道。