CN111828773B - Space steering mechanism of pipeline robot - Google Patents
Space steering mechanism of pipeline robot Download PDFInfo
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- CN111828773B CN111828773B CN201910324089.XA CN201910324089A CN111828773B CN 111828773 B CN111828773 B CN 111828773B CN 201910324089 A CN201910324089 A CN 201910324089A CN 111828773 B CN111828773 B CN 111828773B
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- adjusting device
- steering mechanism
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- central shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a space steering mechanism of a pipeline robot, comprising: center pin, top adjusting device, below adjusting device and a plurality of drive assembly, the both ends of center pin respectively with top adjusting device with below adjusting device connects, drive assembly's both ends are equipped with connecting device respectively, connecting device respectively with top adjusting device with below adjusting device's edge is connected, the drive assembly accessible is flexible in vertical direction and is driven top adjusting device with below adjusting device takes place to turn to, so that steering mechanism's direction of motion changes. The steering mechanism provided by the invention solves the technical problem that the existing pipeline robot is difficult to turn when encountering a curve when working in a pipeline.
Description
Technical Field
The invention relates to the field of robots, in particular to a space steering mechanism of a pipeline robot.
Background
In recent years, robots are more and more widely applied in life, many complex operations in real life often need to be completed smoothly and quickly by using the robots, and particularly in industries such as petrochemical industry and nuclear industry, daily maintenance and overhaul of transportation pipelines are very important, once the transportation pipelines are damaged to cause leakage, great economic loss and environmental pollution are caused, and therefore, how to effectively maintain the pipelines is a problem to be solved.
At present, a large amount of pipe-line system, it is narrow and small to receive the space, the restriction of factors such as the special environment requirement of installation and personnel's protection, can't directly detect and maintain, the accuracy and the comprehensiveness of investigation can't be guaranteed to traditional detection maintenance method, do not in time handle, cause the huge waste of pipeline safety problem and resource, along with the research of pipeline robot, the application of pipeline robot in the aspect of overhauing obtains the approval gradually, the pipeline robot can deal with the problem of the narrow and small and special environment in pipeline space, and simultaneously, the pipeline robot can carry on camera equipment, through acquireing the image in real time, gain the particular case in the pipeline and make appropriate processing scheme.
However, the structure of the existing pipeline robot is complex, due to the limitation of the self mechanical structure, the volume of the pipeline robot is generally large, the pipeline robot is difficult to be used in the pipeline with the small pipe diameter, the self-adaptability of the pipeline robot is poor, meanwhile, the environment in the pipeline is complex, the pipeline robot works, the pipeline robot inevitably encounters the situation that the pipeline needs to travel in the curve, especially the curve of the T-shaped pipeline, the existing pipeline robot is limited by the self structure and is unreasonable in the steering structure, the steering is difficult to complete in the curve, the pipeline robot is difficult to advance and retreat in the pipeline, even the pipeline robot is clamped in the pipeline, and the smooth operation of the pipeline maintenance work is influenced.
Disclosure of Invention
The invention provides a space steering mechanism of a pipeline robot, which changes the motion direction of the steering mechanism by driving an upper adjusting device and a lower adjusting device to rotate through a driving assembly, and solves the technical problem that the pipeline robot is difficult to turn a curve when operating in a pipeline in the prior art.
The invention provides a space steering mechanism of a pipeline robot, comprising:
center pin, top adjusting device, below adjusting device and a plurality of drive assembly, the both ends of center pin respectively with top adjusting device with below adjusting device connects, drive assembly's both ends are equipped with connecting device respectively, drive assembly passes through connecting device respectively with top adjusting device with below adjusting device's edge is connected, drive assembly drives through flexible in vertical direction top adjusting device with below adjusting device takes place to turn to, so that steering mechanism's direction of motion changes.
Further, the upper and lower adjusting devices each include: the steering device comprises a guide disc and a steering device, wherein one end of the steering device is connected with the central shaft, the other end of the steering device is fixed on the guide disc, the guide disc can be vertically deviated by the steering device by taking the central shaft as an axis, and the angle between the guide disc and the central shaft is changed.
Further, be equipped with a plurality of location logical grooves on the direction disc, the location leads to the groove and follows the outward flange department of direction disc extends towards the centre of a circle, just the length that the groove was led to in the location is less than the radius of direction disc, the location leads to the groove and is close to the one end of direction disc edge is equipped with the connecting rod, the connecting rod is located the inside that the groove was led to in the location to the horizontal connection be in between two lateral walls that the groove was led to in the location.
Further, the drive assembly includes: fixed disk, last sliding component, lower sliding component and telescoping device, wherein, the one end of fixed disk with center pin connection, the other end of fixed disk respectively with go up sliding component with lower sliding component sliding connection, go up sliding component with lower sliding component passes through respectively connecting device with top adjusting device with below adjusting device connects, the both ends of telescoping device respectively with go up sliding component with lower sliding component connects.
Further, the telescopic device comprises: drive connecting rod with respectively with the gangbar that the both ends of drive connecting rod are connected, the center of drive connecting rod is equipped with the connecting axle, the connecting axle with the fixed disk rotates to be connected, the drive connecting rod accessible the connecting axle is in rotate on the fixed disk, and drive the gangbar removes.
Further, the upper slide assembly and the lower slide assembly each include: sliding block and extension rod, the sliding block with fixed disk sliding connection, the one end of extension rod with the sliding block is connected, the other end of extension rod with the gangbar is connected, works as when the drive connecting rod rotates, the gangbar accessible the extension rod drives the sliding block is in slide on the fixed disk.
Furthermore, the extension rod and the telescopic device are both positioned on the same side of the fixed disc.
Further, the fixed disk orientation connecting hole has been seted up on one side of center pin, the connecting hole with the mode of screw thread or joint with the center pin is connected, the fixed disk orientation one of center pin offside is served and is equipped with the horizontal bellied slide to both sides, sliding block sliding connection is in on the slide.
Further, the connecting device includes: the ball head part is connected with the connecting rod, the connecting rod penetrates through the center of the ball head part, one end of the connecting part is connected with the bottom end of the ball head part, and the other end of the connecting part is connected with the sliding block.
Furthermore, the driving assembly is further provided with a driving unit and a control unit, the telescopic device is connected with the driving unit, the driving unit is used for driving the telescopic device to stretch, the control unit is used for controlling the driving unit, and the control unit drives the steering mechanism to steer in any direction in space by controlling the stretching length of the telescopic device.
The present embodiment provides a space steering mechanism of a pipe robot, by including: the steering mechanism comprises a central shaft, an upper adjusting device, a lower adjusting device and a plurality of driving components, wherein two ends of the central shaft are respectively connected with the centers of the upper adjusting device and the lower adjusting device, two ends of the driving components are respectively provided with a connecting device, the connecting devices are respectively connected with the upper adjusting device and the lower adjusting device, the driving components can do telescopic motion in the vertical direction and drive the upper adjusting device and the lower adjusting device to move so as to change the angle between the central shaft and the upper adjusting device and the lower adjusting device and enable the upper adjusting device and the lower adjusting device to deflect in the horizontal direction, thereby changing the direction of the steering mechanism, the steering mechanism in the embodiment is one part of the pipeline robot, the upper adjusting device and the lower adjusting device can carry out 360-degree omnibearing deflection in the horizontal direction so that the steering mechanism can steer to any angle in the horizontal direction, simultaneously, a plurality of steering mechanism cascade, thereby increase vertical steering range, make steering mechanism reach the initiative of full space and turn to wantonly, the problem of prior art pipeline robot is difficult to pass through the bend, especially T type bend has been solved, and, through the cooperation of drive assembly and top adjusting device and below adjusting device, make steering mechanism's compact structure, thereby effectively reduce the volume of pipeline robot, make the pipeline robot who is equipped with steering mechanism can work in the less pipeline of pipe diameter, pipeline robot's suitability has been improved.
Drawings
Fig. 1 is a schematic overall structure diagram of a steering mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of a steering mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a pilot disc in a steering mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a driving assembly in a steering mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention in a rightward steering state;
fig. 6 is a schematic structural diagram of the steering mechanism according to the embodiment of the present invention in a left steering state.
Description of reference numerals:
1-a steering mechanism;
10-a central axis;
20-an upper adjusting device;
30-lower adjusting means;
21-a guide disc;
22-a steering device;
23-a connecting rod;
40-a drive assembly;
41-fixing disc;
42-a drive link;
43-linkage bar;
44-an upper slide assembly;
45-lower slide assembly;
46-a connecting shaft;
47-connecting hole;
48-a slide way;
441-slider;
442-an extension rod;
50-a connecting means;
60-positioning through grooves;
51-a ball head;
52-connecting part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present embodiment provides a space steering mechanism 1 of a pipeline robot, as shown in fig. 1, comprising a central shaft 10, an upper adjusting device 20, a lower adjusting device 30 and a plurality of driving assemblies 40, wherein the central shaft 10 is a fixed shaft, two ends of the central shaft 10 are respectively connected with the upper adjusting device 20 and the lower adjusting device 30, the connection position is within a range close to the center of the upper adjusting device 20 or the lower adjusting device 30, the specific connection position is not limited herein, but is close to the center of the upper adjusting device 20 or the lower adjusting device 30, but not at the edge, preferably, in order to ensure the balance between the upper adjusting device 20 and the lower adjusting device 30, in the present embodiment, the connection positions of the central shaft 10 with the upper adjusting device 20 and the lower adjusting device 30 are both located at the center of the upper adjusting device 20 and the lower adjusting device 30, meanwhile, the positions of the central shaft 10 at the connection positions of the upper adjusting device 20 and the lower adjusting device 30 correspond to each other, that is, the central shaft 10 is always kept in a vertical state, and is not connected between the upper adjusting device 20 and the lower adjusting device 30 in an inclined state, and the central shaft 10 is movably connected between the upper adjusting device 20 and the lower adjusting device 30, so that the upper adjusting device 20 and the lower adjusting device 30 can rotate around the central shaft 10.
Alternatively, the driving assembly 40 is provided with connecting devices 50 at both ends thereof, the connecting devices 50 are respectively connected with the upper adjusting device 20 and the lower adjusting device 30 at the edges of the upper adjusting device 20 and the lower adjusting device 30, that is, the central shaft 10 is vertically connected with the centers of the upper adjusting device 20 and the lower adjusting device 30, the driving assembly 40 is also vertically connected with the edges of the upper adjusting device 20 and the lower adjusting device 30, the driving assembly 40 can make telescopic motion in the vertical direction, that is, the driving assembly 40 can change the distance between the driving assembly 40 and the upper adjusting device 20 and the lower adjusting device 30, the upper adjusting device 20 and the lower adjusting device 30 are pushed up or pulled down, when the driving assembly 40 makes extension motion, the upper adjusting device 20 and the lower adjusting device 30 are pushed up by the driving assembly 40, the upper adjusting device 20 and the lower adjusting device 30 are separated from their respective initial positions, the upper adjusting device 20 is jacked up and moved upward by the driving assembly 40, the lower adjusting device 30 is jacked up and moved downward by the driving assembly 40, the moving amplitude of the upper adjusting device 20 and the lower adjusting device 30 is determined by the extending amplitude of the driving assembly 40, when the driving assembly 40 makes a retracting movement, the upper adjusting device 20 of the driving assembly 40 is pulled back to the initial position by the driving assembly 40 and continues to move downward, and the lower adjusting device 30 is pulled back to the initial position by the driving assembly 40 and continues to move upward.
It should be noted that, in the present embodiment, the number of the driving assemblies 40 is plural, the plural driving assemblies 40 are uniformly connected to the edges of the upper adjusting device 20 and the lower adjusting device 30, the force that the single driving assembly 40 can act on the upper adjusting device 20 or the lower adjusting device 30 is limited, that is, the single driving assembly 40 can only push up or pull the portion connected with the upper adjusting device 20 or the lower adjusting device 30, but not act on the whole upper adjusting device 20 or the lower adjusting device 30, therefore, it is necessary to provide the plural driving assemblies 40, at the same time, the plural driving assemblies 40 can increase the stress points of the upper adjusting device 20 and the lower adjusting device 30, the upper adjusting device 20 and the lower adjusting device 30 can be simultaneously acted by the plural driving assemblies 40, so that the upper adjusting device 20 and the lower adjusting device 30 can be adjusted at multiple points, the upper adjusting device 20 and the lower adjusting device 30 are adjusted at different force application points through different driving assemblies 40, so that the upper adjusting device 20 and the lower adjusting device 30 can be adjusted in all directions at 360 degrees, and the upper adjusting device 20 and the lower adjusting device 30 can rotate at any angle.
It should be noted that, in this embodiment, the plurality of driving assemblies 40 can cooperate with each other to jointly adjust the steering mechanism 1, each driving assembly 40, when moving, drives the upper adjusting device 20 and the lower adjusting device 30 to move together, and changes the positions of the upper adjusting device 20 and the lower adjusting device 30, for example, the steering mechanism 1 wants to turn to the left, adjusts the driving assembly 40 located on the left to contract, and simultaneously adjusts the driving assembly 40 located on the right to extend, at this time, the left side of the upper adjusting device 20 is pulled down and the right side is jacked up, the steering mechanism 1 is entirely deflected to the left, and the purpose of turning to the left is completed, when the steering mechanism 1 wants to turn to the right or in other directions, similar to the manner of the above adjustment, through cooperation of the plurality of driving assemblies 40, the steering mechanism 1 can perform 360 ° omni-directional steering, the adjustment process is convenient and fast, and the steering mechanism 1 can be quickly steered to a required angle.
Optionally, the number of the driving assemblies 40 is not specifically limited here, and more driving assemblies 40 can better adjust the upper adjusting device 20 and the lower adjusting device 30, and adjustment points are more to improve the adjustment accuracy, however, factors such as structure need to be considered, and the structure of the steering mechanism 1 is too complicated by too many driving assemblies 40, preferably, three driving assemblies 40 are provided in this embodiment, the three driving assemblies 40 are uniformly distributed between the upper adjusting device 20 and the lower adjusting device 30, an included angle between adjacent driving assemblies 40 is 120 °, and the three driving assemblies 40 can simultaneously or respectively adjust the upper adjusting device 20 and the lower adjusting device 30, so that the direction of the steering mechanism 1 is changed.
The present embodiment provides a space steering mechanism 1 of a pipe robot by including: a central shaft 10, an upper adjusting device 20, a lower adjusting device 30 and a plurality of driving assemblies 40, wherein two ends of the central shaft 10 are respectively connected to the centers of the upper adjusting device 20 and the lower adjusting device 30, two ends of the driving assemblies 40 are respectively provided with a connecting device 50, the connecting devices 50 are respectively connected with the upper adjusting device 20 and the lower adjusting device 30, the driving assemblies 40 can do telescopic motion in the vertical direction and drive the upper adjusting device 20 and the lower adjusting device 30 to move, the angle between the central shaft 10 and the upper adjusting device 20 and the lower adjusting device 30 is changed, so that the upper adjusting device 20 and the lower adjusting device 30 are deviated in the horizontal direction, thereby changing the direction of the steering mechanism 1, the steering mechanism 1 in the embodiment is a part of a pipeline robot, the upper adjusting device 20 and the lower adjusting device 30 can perform 360-degree all-directional deviation in the horizontal direction, make steering mechanism 1 to turn to arbitrary angle on the horizontal direction, simultaneously, cascade a plurality of steering mechanism 1, thereby increase vertical steering range, make steering mechanism 1 reach the initiative of total space and turn to wantonly, the problem of pipeline robot passing through the bend, especially T type bend among the prior art has been solved, and simultaneously, through the cooperation of drive assembly 40 and top adjusting device 20 and below adjusting device 30, make steering mechanism 1's compact structure, thereby effectively contract the volume of pipeline robot, make the pipeline robot that is equipped with steering mechanism 1 can work in the less pipeline of pipe diameter, the suitability of pipeline robot has been improved.
Alternatively, as shown in fig. 2, the upper adjusting device 20 and the lower adjusting device 30 have the same structure, and both include: a guide disc 21 and a steering device 22, one end of the steering device 22 is connected with the guide disc 21, the other end of the steering device 22 is connected with the central shaft 10, namely, the guide disc 21 in the upper adjusting device 20 and the lower adjusting device 30 is connected with the central shaft 10 through the steering device 22, the guide disc 21 can be displaced in any direction in the vertical direction by taking the steering device 22 as the axis, the displacement range is smaller than the radius of the guide disc 21, and the angle between the guide disc 21 and the central shaft 10 is changed, the angle range is smaller than 45 degrees, namely, the guide disc 21 is in the horizontal position in the initial state, then the guide disc 21 starts to move in the vertical direction, and the angle between the guide disc 21 and the central shaft 10 is changed, because the central shaft 10 is connected at the center of the guide disc 21, and the driving assembly 40 is also connected at the edge of the guide disc 21, therefore, the guide disc 21 moves from the horizontal position to a position close to 45 ° to the horizontal direction.
Optionally, the steering device 22 is of a structure capable of steering at will, and preferably, in this embodiment, a cross universal joint is used, alternative arrangements of similar construction may, of course, be used, but any steering is to be ensured, meanwhile, it should be noted that the change angle of the guide disk 21 is less than 45 °, and this angle is relative to the initial position of the guide disk 21, and the guide disk 21 is in the horizontal state in the initial state, the guide disc 21 can be moved up or down by the drive assembly 40 over a range of less than 45 deg., and thus, if the initial position of the pilot disc 21 is set to 0 deg., the angular range of the pilot disc 21 should be + -45 deg., this does not affect the use of the steering mechanism 1, so that the steering mechanism 1 can be fully guaranteed to steer to a desired angle in the pipeline.
Optionally, as shown in fig. 3, a plurality of positioning through grooves 60 are provided on the guiding disc 21, the positioning through grooves 60 penetrate through the entire guiding disc 21 in the vertical direction, in the horizontal direction, the positioning through grooves 60 extend from the outermost edge of the guiding disc 21 toward the center until extending to a position close to the center of the guiding disc 21, a certain distance is left between the positioning through grooves 60 and the steering device 22 at the center of the guiding disc 21, that is, the length of the positioning through grooves 60 is smaller than the radius of the guiding disc 21, a connecting rod 23 is provided at one end of the positioning through grooves 60 at the edge of the guiding disc 21, the connecting rod 23 is located inside the positioning through grooves 60, the connecting rod 23 is horizontally connected between two side walls inside the positioning through grooves 60, the connecting rod 23 may be a straight rod or have a slight curvature, and no specific limitation is made here.
In a possible implementation manner, the positioning through slots 60 mainly play a positioning role, the driving assembly 40 is arranged at a position corresponding to the positioning through slots 60, and the positioning through slots 60 also play a weight-reducing role, so that the weight of the whole steering mechanism 1 is reduced by arranging through slots on the guide disc 21, and the energy consumption of the steering mechanism 1 and the pipeline robot in work is reduced, therefore, the number of the positioning through slots 60 is more than or equal to that of the driving assemblies 40, that is, more positioning through slots 60 can be arranged on the guide disc 21, wherein one part of the positioning through slots 60 are used for connecting the driving assemblies 40, and the other part of the positioning through slots 60 can be used as weight-reducing holes, but it should be noted that the main role of the positioning through slots 60 is also used for connecting with the driving assemblies 40, as for the positioning through slots 60 which are used for reducing weight only, the positioning through grooves 60 can be arranged according to needs, and the strength of the guide disc 21 can be reduced due to the fact that the excessive positioning through grooves 60 are arranged on the guide disc 21, therefore, the number of the positioning through grooves 60 is equal to the number of the driving assemblies 40, the number of the positioning through grooves 60 is ensured to be consistent with the number of the driving assemblies 40, whether the positioning through grooves 60 are additionally arranged on the basis is determined, and the actual needs can be met without excessive limitation.
Alternatively, as shown in fig. 4, the driving assembly 40 includes: the fixing plate 41, the upper sliding assembly 44, the lower sliding assembly 45 and the telescopic device, one end of the fixing plate 41 is connected with the central shaft 10, specifically, one end of the fixing plate 41 facing the central shaft 10 is connected with the central shaft 10, the other end of the fixing plate 41 opposite to the central shaft 10 is provided with the upper sliding assembly 44 and the lower sliding assembly 45, the upper sliding assembly 44 and the lower sliding assembly 45 are respectively connected with the upper adjusting device 20 and the lower adjusting device 30 through the connecting device 50, namely, the fixing plate 41 is respectively connected with the upper adjusting device 20, the lower adjusting device 30 and the central shaft 10, the telescopic device is arranged on the outer surface of the side surface of the fixing plate 41, and two ends of the telescopic device are respectively connected with the upper sliding assembly 44 and the lower sliding assembly 45.
In a possible implementation manner, the fixed disk 41 in the mechanical structure is a fixed component, the fixed disk 41 and the central shaft 10 are fixedly connected to each other, so that the position between the fixed disk 41 and the central shaft 10 is kept relatively fixed, and the telescopic device is connected to the upper adjusting device 20 and the lower adjusting device 30 through the upper sliding assembly 44, the lower sliding assembly 45 and the connecting device 50, respectively, so that when the telescopic device moves, the upper sliding assembly 44 and the lower sliding assembly 45 respectively drive the upper adjusting device 20 and the lower adjusting device 30 to move together, thereby achieving the purpose of adjusting the positions of the upper adjusting device 20 and the lower adjusting device 30.
Optionally, the telescopic device comprises: the linkage device comprises a driving connecting rod 42 and linkage rods 43, wherein two linkage rods 43 are respectively connected with two ends of the driving connecting rod 42, two ends of one linkage rod 43 are respectively connected with one end of the driving connecting rod 42 and the upper sliding component 44, the two ends of the other linkage rod 43 are respectively connected with the other end of the driving connecting rod 42 and the lower sliding assembly 45, that is, the driving connecting rod 42 is respectively connected with the upper sliding assembly 44 and the lower sliding assembly 45 through the linkage rods 43 at the two ends, the center of the driving connecting rod 42 is provided with a connecting shaft 46, the connecting shaft 46 is connected with the fixed disk 41, the driving connecting rod 42 is fixed on the side surface of the fixed disk 41 in the vertical direction through the connecting shaft 46, the position of the connecting shaft 46 is positioned at the center of the side surface of the fixed disk 41, meanwhile, the driving link 42 may rotate on the surface of the fixed disk 41 through the connecting shaft 46, and the link lever 43 is rotated together.
In a possible implementation manner, the driving link 42 rotates on the surface of the side surface of the fixed disk 41, and when the driving link 42 rotates, the driving link 42 drives the linkage rods 43 at the two ends to rotate together, the linkage rod 43 located above will rotate and be transmitted to the upper guide disk 21 through the upper sliding assembly 44 and the connecting device 50, and the linkage rod 43 located below will rotate and be transmitted to the lower guide disk 21 through the lower sliding assembly 45 and the connecting device 50, so as to drive the guide disk 21 to move, and adjust the position of the guide disk 21.
Alternatively, upper and lower slide assemblies 44 and 45 have the same structure, and each include: the sliding block 441 is connected to the fixed disk 41 in a sliding manner, the sliding block 441 is connected to the extending rod 442 at one end of the sliding block 441, the other end of the extending rod 442 is connected to the linkage rod 43, when the linkage rod 43 rotates, the linkage rod 43 drives the sliding block 441 to move through the extending rod 442, and the sliding block 441 slides on the fixed disk 41 and drives the guide disk 21 to move.
Alternatively, in practice, the fixed plate 41 has two side surfaces, which can be understood as a front surface and a back surface, the driving link 42 is disposed on one side surface of the fixed plate 41, and correspondingly, the linkage rod 43 and the extension rod 442 are also disposed on the same side surface as the driving link 42, so as to ensure linkage among the driving link 42, the linkage rod 43 and the extension rod 442.
Optionally, a side of the fixed disk 41 facing the central shaft 10 is provided with a connecting hole 47, the fixed disk 41 mainly functions to support and fix, and a specific shape thereof is not limited herein, however, one end of the fixed disk 41 provided with the upper sliding component 44 and the lower sliding component 45 needs to maintain a plane, which is beneficial for the rapid sliding of the upper sliding component 44 and the lower sliding component 45, preferably, in this embodiment, the fixed disk 41 is selected to be semicircular, a surface with an arc faces the central shaft 10, and is provided with the connecting hole 47, the fixed disk 41 is fixedly connected with the central shaft 10 by a way of screw thread or fastener, the other end of the fixed disk 41 opposite to the arc surface is a vertical plane, and the end is provided with a slide way 48, and the slide block 441 is slidably connected to the slide way 48, specifically, one end of the fixed disk 41 opposite to the arc surface is provided with steps protruding towards two sides, namely, the slide way 48, one end of the sliding block 441 is provided with a groove which can be clamped on the slide way 48, so that the sliding block 441 can slide up and down on the slide way 48, and the extension rod 442 is connected to the end provided with the groove.
Optionally, the connecting device 50 is connected between the connecting rod 23 and the sliding block 441, and the connecting device 50 includes: the ball head part 51 and the connecting part 52, the ball head part 51 is the disc structure, the ball head part 51 is connected with the connecting rod 23, and the connecting rod 23 runs through in the center of ball head part 51, and the bottom of ball head part 51 is connected with the one end of connecting part 52, and the other end of connecting part 52 is connected with the sliding block 441, and specifically, the connecting part 52 is L type structure, is in vertical one end and is connected with ball head part 51, is in horizontal one end and is connected with sliding block 441.
In one possible implementation manner, as shown in fig. 5 and 6, the driving link 42 rotates on the fixed tray 41 through the connecting shaft 46 and drives the linkage rods 43 at two ends to move, in an initial state, the driving link 42 is in a horizontal state, when the driving link 42 rotates from the horizontal position to a vertical position, at this time, the driving link 42 drives the linkage rods 43 at two ends, so that the linkage rods 43 are driven from an original position close to the middle of the fixed tray 41 to an upper position close to the fixed tray 41, that is, the linkage rods 43 are pulled from the lower position to the upper position, and then the linkage rods 43 pull the sliding blocks 441 through the extension rods 442, so that the sliding blocks 441 slide on the fixed tray 41, and when the sliding blocks 441 slide on the fixed tray 41, the guide disc 21 is driven to move through the connecting device 50.
It should be noted that, in this embodiment, the moving range of the guiding disc 21 is the same depending on the sliding range of the corresponding sliding block 441 on the fixed disc 41, taking the sliding block 441 located above as an example, when the sliding block 441 is located at the top end of the fixed disc 41, the guiding disc 21 located above is jacked up to the maximum displacement position upward, when the sliding block 441 is located at the center of the fixed disc 41, the guiding disc 21 located above is pulled to the maximum displacement position downward, and the initial state of the steering mechanism 1 is shown as 1, at this time, the driving link 42 is in the horizontal state, the sliding block 441 located above is located at the center of the distance between the top end of the guiding disc 21 and the center of the circle, the sliding block 441 located below is located at the center of the distance between the bottom end of the guiding disc 21 and the center of the circle, and the position and state at this time, which are the initial state of the steering mechanism 1, the guide disc 21 may be moved up or down with the slide block 441.
In a possible implementation manner, since the driving link 42 will simultaneously drive the two ends of the linkage rod 43 to move when rotating, and the two ends of the linkage rod 43 can respectively drive the upper adjusting device 20 and the lower adjusting device 30 to move, when the steering mechanism 1 is steered, the upper adjusting device 20 and the lower adjusting device 30 will simultaneously steer, and only one of the upper adjusting device 20 and the lower adjusting device 30 can not separately steer, but the driving assemblies 40 can separately move, in this embodiment, preferably, 3 driving assemblies 40 are used to apply force to the guide disc 21 from 3 points, and 3 driving assemblies 40 are simultaneously operated when adjusting.
In a possible implementation, when the steering mechanism 1 needs to turn, the corresponding driving assembly 40 can be driven according to the situation of a specific curve, so that the angles of the upper and lower guide discs 21 are changed, and the steering mechanism 1 can be turned to the required direction.
In one possible embodiment, the steering wheel 21 in the steering gear 1 is rotated arbitrarily through 360 ° in the horizontal direction and through <45 ° in the vertical direction, but this is only the steering range of a single steering gear 1, and a plurality of steering gears 1 can be operated in a cascade-like manner, the rotations of each steering gear 1 being superimposed on one another and cooperating together, in a multi-stage steering manner. For example, when 4 steering mechanisms 1 are connected together to form 4-stage linkage, after the steering mechanism 1 of the first stage is steered to the right by 45 ° in the vertical direction, the steering mechanism 1 of the second stage is steered to the right by 45 ° on the basis of the above, and the steering mechanisms 1 of the third stage and the fourth stage are sequentially steered to the right by 45 °, 180 ° in the vertical direction can be completed by the steering mechanism 1 of the 4-stage linkage. Therefore, through the mode of a plurality of steering mechanism 1 linkages, can make arbitrary direction simultaneously and turn to in horizontal direction and vertical direction to this purpose that realizes steering mechanism 1's total space and turns to, when the operation in the pipeline, steering mechanism 1 can turn to wantonly in the total space, has greatly promoted steering mechanism 1's practicality, operational capability and work efficiency.
In a possible implementation manner, the ball head part 51 is of a disc-shaped structure, and the top end of the ball head part 51 protrudes to the outside of the guide disc 21, when the steering mechanism 1 is located inside a pipeline, the ball head part 51 actually contacts with the inner wall of the pipeline, the ball head part 51 is used for contacting the inner wall of the pipeline, the guide disc 21 is prevented from being integrally attached to the inner wall of the pipeline, friction generated between the guide disc and the inner wall of the pipeline is reduced, meanwhile, the disc-shaped contact surface of the ball head part 51 is also beneficial to steering of the steering mechanism 1, and the situation that the contact surface is blocked or difficult to steer due to the fact that the contact surface has edges and corners is avoided.
Optionally, in this embodiment, the driving assembly 40 is further provided with a driving unit and a control unit, specifically, the driving unit may be a rotary steering engine or a motor, the driving unit is embedded in the fixed disk 41, the control unit may be a single chip microcomputer or other components with the same function, the driving link 42 is controlled to rotate by a preset designed program or an instruction receiving mode, so as to drive the linkage rod 43 to extend and retract, and the deflection of any angle of the load space of the upper adjusting device 20 and the lower adjusting device 30 is realized by controlling the lengths of a plurality of different extending and retracting devices, so as to achieve the purpose of active free steering in the pipeline.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A space steering mechanism of a pipeline robot, comprising:
the steering mechanism comprises a central shaft, an upper adjusting device, a lower adjusting device and a plurality of driving assemblies, wherein two ends of the central shaft are respectively connected with the upper adjusting device and the lower adjusting device, two ends of each driving assembly are respectively provided with a connecting device, each driving assembly is respectively connected with the edges of the upper adjusting device and the lower adjusting device through the connecting devices, and the driving assemblies drive the upper adjusting device and the lower adjusting device to steer through stretching in the vertical direction so as to change the motion direction of the steering mechanism;
the drive assembly includes: fixed disk, last sliding component, lower sliding component and telescoping device, wherein, the one end of fixed disk with center pin connection, the other end of fixed disk respectively with go up sliding component with lower sliding component sliding connection, go up sliding component with lower sliding component passes through respectively connecting device with top adjusting device with below adjusting device connects, the both ends of telescoping device respectively with go up sliding component with lower sliding component connects.
2. The steering mechanism as claimed in claim 1, wherein the upper and lower adjusting means each comprise: the steering device comprises a guide disc and a steering device, wherein one end of the steering device is connected with the central shaft, the other end of the steering device is fixed on the guide disc, the guide disc can be vertically deviated by the steering device by taking the central shaft as an axis, and the angle between the guide disc and the central shaft is changed.
3. The steering mechanism according to claim 2, wherein a plurality of positioning slots are formed in the guiding disc, the positioning slots extend from the outer edge of the guiding disc toward the center of the circle, the length of the positioning slots is smaller than the radius of the guiding disc, a connecting rod is arranged at one end of each positioning slot close to the edge of the guiding disc, and the connecting rod is located inside the positioning slot and horizontally connected between two side walls of the positioning slot.
4. The steering mechanism as claimed in claim 1, wherein the telescoping device comprises: the drive connecting rod with respectively with the gangbar that the both ends of drive connecting rod are connected, the center of drive connecting rod is equipped with the connecting axle, the connecting axle with the fixed disk rotates to be connected, the drive connecting rod accessible the connecting axle is in rotate on the fixed disk, and drive the gangbar removes.
5. The steering mechanism as in claim 4, wherein the upper and lower slide assemblies each comprise: sliding block and extension rod, the sliding block with fixed disk sliding connection, the one end of extension rod with the sliding block is connected, the other end of extension rod with the gangbar is connected, works as when the drive connecting rod rotates, the gangbar accessible the extension rod drives the sliding block is in slide on the fixed disk.
6. The steering mechanism as claimed in claim 5, wherein the extension rod and the telescopic device are both located on the same side of the fixed plate.
7. The steering mechanism as claimed in claim 6, wherein the fixed disk is provided with a connecting hole on one side facing the central shaft, the connecting hole is connected with the central shaft in a threaded or clamping manner, a slide way horizontally protruding towards two sides is arranged on one end of the fixed disk facing the opposite side of the central shaft, and the sliding block is connected on the slide way in a sliding manner.
8. The steering mechanism as claimed in claim 7, wherein the connecting means comprises: the ball head part is connected with the connecting rod, the connecting rod penetrates through the center of the ball head part, one end of the connecting part is connected with the bottom end of the ball head part, and the other end of the connecting part is connected with the sliding block.
9. The steering mechanism according to claim 8, wherein the driving assembly is further provided with a driving unit and a control unit, the telescopic device is connected with the driving unit, the driving unit is used for driving the telescopic device to extend and retract, the control unit is used for controlling the driving unit, and the control unit drives the steering mechanism to steer in any direction in space by controlling the extension and retraction lengths of the plurality of telescopic devices.
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| CN201910324089.XA CN111828773B (en) | 2019-04-22 | 2019-04-22 | Space steering mechanism of pipeline robot |
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| CN201910324089.XA CN111828773B (en) | 2019-04-22 | 2019-04-22 | Space steering mechanism of pipeline robot |
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