The invention relates to the technical field of pipeline measurement, in particular to a bimorphic pipeline measuring robot which comprises a plurality of robot bodies, laser measuring heads and moving wheels, and further comprises crawler wheels which are located on the robot bodies, and when the moving wheels sink and slip and cannot drive the robot bodies to move, the laser measuring heads are driven by the crawler wheels to move. The robot body is driven to move through the crawler wheels; when the bimorphic pipeline measuring robot is used, different from the prior art, the switching assembly has the advantages that the crawler wheels can be switched to drive the robot body to walk when the moving wheels slip, and when the moving wheels slip on the wet, slippery, muddy or steep inner wall of a pipeline, the robot may stop advancing, so that the measuring work is interrupted; the movement capability of the robot can be quickly recovered by automatically controlling the extension of the crawler wheels, and the stagnation time is reduced, so that the continuity of out-of-roundness measurement is ensured.
本发明涉及管道测量技术领域,具体为一种双形态管道测量机器人,包括机器人本体、激光测量头和移动轮,且机器人本体设置有多个,还包括履带轮,履带轮位于机器人本体上,在移动轮陷入打滑无法带动机器人本体移动时,通过履带轮带动机器人本体移动;此双形态管道测量机器人,在使用时,区别于现有技术,切换组件设置的好处在于能够在移动轮打滑的同时切换成履带轮来带动机器人本体行走,当移动轮在湿滑、泥泞或陡峭的管道内壁上打滑时,机器人可能会停止前进,导致测量工作中断,自动控制履带轮伸展能够迅速恢复机器人的移动能力,减少停滞时间,从而保证失圆度测量的连续性。
Bimorphic pipeline measuring robot
一种双形态管道测量机器人
2024-09-20
Patent
Electronic Resource
Chinese
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