Abdominal wall type pipe robot

• Main Authors: LIANG YUTAO, LIANG HENGTAO, CAI KAIWU, WU SHIQIN, FU JUNTAI, LIN JIAHAO, LIN JINMEI, MA QINGQING, LIN ZHI, ZHU YING, LIANG SONGWEN
• Format: Patent
• Language: Chinese; English
• Published: 20.11.2020
• Subjects: BLASTING; ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS; HEATING; JOINTS OR FITTINGS FOR PIPES; LIGHTING; MEANS FOR THERMAL INSULATION IN GENERAL; MECHANICAL ENGINEERING; PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; THERMAL INSULATION IN GENERAL; WEAPONS

The invention discloses an abdominal wall type pipe robot. The abdominal wall type pipe robot comprises a machine body, three walking mechanisms, a self-adaption diameter-changing mechanism, a triangle mechanism and two parallelogram mechanisms. The three walking mechanisms are configured to be closely attached to the inner wall of a pipe and comprise the first walking mechanism and the two secondwalking mechanisms. The self-adaption diameter-changing mechanism is connected with the three walking mechanisms and comprises a driving motor, a lead screw, a nut and a movable block, wherein the lead screw is connected with the driving motor; the nut is in threaded connection with the lead screw; and the movable block is connected with the nut. The triangle mechanism is connected with the machine body, the movable block and the first walking mechanism. The two parallelogram mechanisms correspond to the two second walking mechanisms correspondingly and are each connected with the machine body, the movable block and