The importance of pipelines is self-evident. As an effective means of material transportation, pipelines are widely used in the fields of urban sewage, natural gas transportation, industrial materials transportation, water supply and drainage, and building ventilation systems. In order to improve the life of pipelines, prevent leakage and other accidents, and ensure the normal operation of pipelines, effective inspection and maintenance of pipelines must be carried out." style="box-sizing: border-box">Pipe inspection robot As a fast and safe detection method, it has been applied to pipeline detection more and more.   

At present, there are many types of pipeline robots developed at home and abroad. According to the way of energy supply, there are two kinds of cable robots: cable mode and no cable mode.   

For the pipe robot with cable energy supply, the main problem is that the friction between the cable and the tube wall will become very large when the robot moves far away and has many turns. It seriously affects the maximum walking distance of the robot when it works, and it also brings a series of problems, such as reliability.   

There are two ways to supply energy without cables. One is to carry batteries and two is to carry fuel generators. These two schemes have the disadvantages of large volume and the weight of the robot body. Besides, the energy stored is limited, and is influenced by the quality of the battery and charging technology. Therefore, the robot's walking distance is still limited. It is limited.   

The driving source of a pipe robot can be broadly classified as follows: micro motor, piezoelectric drive, shape memory alloy (SMA), pneumatic drive, magnetostrictive drive, electromagnetic conversion drive, etc.   

According to the driving mode, the pipeline robot can be roughly divided into self driving pipe robot, fluid driven pipeline robot and elastic rod plus thrust pipe robot.   

The pipe robot can be divided into three large, ordinary and miniature according to its external size. The micro pipe robot can be divided into micro pipe robot driven by sinusoidal wave, electromagnetic fin driven robot based on electromagnetic drive, snake driven robot driven by DC motor, micro pipe robot driven by piezoelectric element, and GMA driven micro pipe. Robot and SMA driven earthworm peristaltic pipe robot.  

💮And if the walking mechanism is divided, the pipe robot can be divided into the following ways:

1) the piston mobile principle is similar to the movement of the piston in the cylinder, that is, the pipe is regarded as the cylinder, and the PIG with certain elasticity and hardness is regarded as the piston. In structure, when the fluid pressure behind PIG is greater than the pressure ahead, under the action of pressure difference, PIG overcomes the frictional resistance between the wall and the piston and moves forward. PIG can carry a variety of sensors, while walking for pipeline detection.   

2) roller movement, using roller driving structure, using motor as prime mover, in order to increase tractive force, multi wheel drive is usually adopted. Due to the small wheel diameter, the ability of obstacle avoidance is limited, and the structure is complex.   

3) tracked mobile, imitation tracked vehicle running principle, using gear reducer with DC servo motor drive.   

4) the foot leg is mobile. Its basic principle is to use the foot leg to push the tube wall to support the body. It can be easily moved in various curved pipes by using multiple legs. It is composed of foot supporting mechanism, traction mechanism and steering mechanism, and can be moved in various types of pipelines.   

5) peristaltic movement, mimicking the movement of the crawling movement and backward motion when the insects crawl on the ground. The mechanism is composed of a peristaltic screw, a nut, a front and rear supporting foot and a front and rear closed springs.When walking, the upper ends of the left and right supporting legs are contacted with the pipe wall respectively, and the lower ends are contacted with the pipe wall by rollers. Drive the worm screw to turn left and right to turn the nut on the screw.   

🙈6) spiral movement, making use of the screw principle to drive the external electric motor to drive the elastic driving part, and the driving screw component can automatically cross the small step.