CN210757760U - Cable pipeline robot and system based on curved surface geometric constraint kinematics model - Google Patents
Cable pipeline robot and system based on curved surface geometric constraint kinematics model Download PDFInfo
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- CN210757760U CN210757760U CN201921560179.0U CN201921560179U CN210757760U CN 210757760 U CN210757760 U CN 210757760U CN 201921560179 U CN201921560179 U CN 201921560179U CN 210757760 U CN210757760 U CN 210757760U
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Abstract
The utility model discloses a cable pipeline robot and system based on curved surface geometric constraint kinematics model, three walking arms are symmetrically arranged on the front and back shells of the robot at equal angles respectively, and a walking arm rotating shaft is arranged at one end of each walking arm, so that the walking arms and the shells can swing around the walking arm rotating shaft within a certain range; the other end of the walking arm is provided with a worm rotating shaft, and walking wheels are assembled at two ends of the worm rotating shaft and are driven to rotate by a motor; elastic torsion springs are arranged between the rotating shaft of the walking arm and the front shell and between the rotating shaft of the walking arm and the rear shell, and the walking arm is driven to swing towards the outer side of the shell; the pipeline of the different pipe diameters of size in can self-adaptation certain limit, simple structure is small and exquisite, and convenient to carry is convenient for the poling operation, solves the maintenance problem of underground piping.
Description
Technical Field
The utility model relates to a pipeline maintenance equipment, in particular to cable pipeline robot and system based on curved surface geometric constraint kinematics model.
Background
With the development of cities, urban power transmission, communication connection and fuel/gas transmission all start to be transferred from the ground to the underground, and the safe operation of the urban power transmission, the communication connection and the fuel/gas transmission needs to be maintained regularly. However, due to the limitation of narrow space, the automatic maintenance in the small-caliber pipeline has great difficulty, especially for the long-distance (such as river bottom) embedded pipeline of which the local distribution network line needs to be threaded, which provides a difficult problem for cable construction and operation and maintenance units, at present, there is no effective means for threading and related work on the longer embedded pipeline, and a portable miniaturized pipe-penetrating robot needs to be developed, so that the following problems are solved:
1) checking and accepting the pre-buried threading pipeline; 2) drawing and threading; 3) cleaning up the sundries in the pipeline, lubricating the inside of the pipeline and facilitating the pipe threading operation.
SUMMERY OF THE UTILITY MODEL
For overcoming the not enough of above-mentioned prior art, the utility model aims at providing a transportation is convenient, the light and handy compact cable pipeline robot and system based on curved surface geometric constraint kinematics model of structure, and the problem is maintained in the maintenance that solves underground pipeline to the pipeline of different pipe diameters of ability self-adaptation.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a cable pipeline robot based on a curved surface geometric constraint kinematics model comprises a front shell, a rear shell, a walking arm and a walking wheel;
the front shell and the rear shell are arranged together to form a robot body, three pits are respectively arranged on the front shell and the rear shell and are symmetrically distributed along the axis of the shell, the pit structures are used for accommodating and embedding the walking arms, a walking arm rotating shaft is arranged at one end of each walking arm, and the walking arm rotating shafts are embedded in shaft holes in the pits of the front shell and the rear shell, so that the walking arms and the shell can swing around the walking arm rotating shafts within a certain range; the other end of the walking arm is provided with a worm rotating shaft, walking wheels are assembled at two ends of the worm rotating shaft, a motor is installed in the walking arm, a worm wheel is installed on the motor rotating shaft, the motor drives the worm wheel to rotate, and the worm wheel drives the worm rotating shaft so as to drive the walking wheels to rotate;
and elastic torsion springs are arranged between the walking arm rotating shaft and the front shell and between the walking arm rotating shaft and the rear shell, so that elastic tension is generated between the walking arm and the front shell and between the walking arm and the rear shell, and the walking arm is driven to swing towards the outer side of the shell.
Further, a lens sheet is arranged at the front end of the front shell of the robot, and a network camera is arranged behind the lens sheet.
Furthermore, the tail end of the walking arm at the rear end of the robot is provided with a traction rope hole, and each traction rope hole is tied with a traction rope.
Further, the front shell and the rear shell are of a semi-ellipsoidal structure.
Furthermore, threaded fixing holes are respectively formed in the front shell and the rear shell, and the front shell and the rear shell are buckled together and then are connected and fixed through screws.
Furthermore, a wire outlet hole for the optical fiber signal wire to pass through is formed in the rear shell of the robot.
A robot system comprises a pipe penetrating robot box body, a control PDA, a six-foot pipe penetrating machine, a robot protective cover, a box body lining, an optical fiber collecting wheel, an optical fiber lifting and shrinking opening, a wire rotating disc support and a communication system main control box;
the tube-threading robot box body comprises a box and a box cover, box linings are respectively arranged in the box and the box cover, a box lining for controlling the PDA to be embedded into the box cover is placed, the six-foot tube-threading robot is placed in the box lining of the box after being contained in a robot protective cover, a communication system main control box is fixed on a wire rotating disc support for containing optical fibers, the wire rotating disc support and a rotating bearing arranged below the communication system main control box form an automatic optical fiber winding and unwinding device and are placed in the box lining of the box, a fiber collecting wheel is connected to the wire rotating disc support, the wire rotating disc support is stirred to rotate through the fiber collecting wheel, and the communication system main control box is driven to rotate together; the optical fiber lifting and shrinking opening is formed in one side of the box, and the communication system main control box is connected with the six-foot pipe penetrating machine through optical fibers.
Furthermore, the communication system main control box and the six-foot pipe penetrating machine are connected by tensile-resistant optical fibers.
The beneficial effects of the utility model reside in that:
the utility model discloses based on cable pipeline robot of curved surface geometric constraint kinematics model, equal angle respectively sets up the symmetry on the front and back shell and sets up three walking arm, and walking arm one end is provided with the walking arm pivot, can make between walking arm and the shell around the swing of walking arm pivot in the certain limit; the other end of the walking arm is provided with a worm rotating shaft, and walking wheels are assembled at two ends of the worm rotating shaft and are driven to rotate by a motor; elastic torsion springs are arranged between the rotating shaft of the walking arm and the front shell and between the rotating shaft of the walking arm and the rear shell, and the walking arm is driven to swing towards the outer side of the shell; the walking arm can automatically and elastically swing according to the size of the pipe body, can adaptively change postures to smoothly pass through the pipe body when encountering small-size obstacles in the pipe, and can quickly and stably pass through the pipe bodies with different pipe diameters; the structure is simple and small, the carrying is convenient, the pipe penetrating operation is convenient, the inspection and acceptance of the embedded threading pipeline can be completed, and the threading is pulled; the cleaning device can clean sundries in the pipeline, lubricate the inside of the pipeline and the like, and solves the problems of overhauling and maintaining the underground pipeline.
Furthermore, the network camera is mounted at the front end of the pipe penetrating robot, so that the whole operation process can be visually operated, and the working efficiency is improved.
Furthermore, the haulage rope that the robot rear end set up can save oneself when equipment breaks down, has improved the practicality and the reliability of equipment, and the robot is simple to use quick, can be applied to the maintenance of all kinds of underground piping extensively.
The utility model also provides a robot system, cooperation robot uses together, and convenient storage and carrying use is more convenient.
Drawings
FIG. 1 is a schematic structural diagram of the present invention
FIG. 2 is a schematic cross-sectional view of the present invention
FIG. 3 is a robot system device housing
In the figure: 1-front shell, 2-rear shell, 3-walking arm, 4-walking wheel, 5-wheel shaft, 6-network camera, 7-lens, 8-optical fiber traction rope, 9-pipeline, 10-pit, 11-motor, 12-worm shaft, 13-worm wheel, 14-traction rope hole and 15-thread fixing hole, 16-shaft hole, 17-traction rope, 18-walking arm rotating shaft, 19-wire outlet hole, 20-elastic torsion spring, 101-pipe penetrating robot box body, 102-control PDA, 103-six-foot pipe penetrating machine, 104-robot protective cover, 105-box body inner lining, 106-optical fiber collecting wheel, 107-optical fiber lifting and shrinking opening, 108-wire rotating disc support and 109-communication system main control box.
Detailed Description
The present invention will be described in further detail with reference to the following specific examples, which should not be construed as limiting the invention.
As shown in fig. 1 and 2, the cable pipeline robot based on the curved surface geometric constraint kinematic model of the present invention includes a front shell 1, a rear shell 2, a traveling arm 3, a traveling wheel 4, a network camera 6 and a fiber optic hauling cable 8.
The front shell 1 and the rear shell 2 are respectively provided with a threaded fixing hole 15, and the front shell and the rear shell are fastened together and then are connected and fixed through screws; the front shell 1 and the rear shell 2 are semi-ellipsoidal structures, have smooth surfaces, small blocking surfaces and small resistance and are easy to pass through a pipeline. The front shell 1 and the rear shell 2 are respectively provided with three pits 10 which are symmetrically distributed along the shell axis, the pit structure is used for accommodating and embedding the traveling arm 3, one end of the traveling arm 3 is provided with a traveling arm rotating shaft 18, and the traveling arm rotating shaft 18 is embedded in a shaft hole 16 in the front shell pit 10 and the rear shell pit 10, so that the traveling arm 3 and the shell can swing around the traveling arm rotating shaft 18 within a certain range; the other end of walking arm 3 is provided with worm pivot 12, and worm pivot 12 both ends are equipped with walking wheel 4, and the inside motor 11 of walking arm 3 drives worm wheel 13 and rotates, thereby worm wheel 13 drive worm pivot 12 takes turns 4 to rotate of driven wheel.
The front end of the front shell 1 is provided with a lens sheet 7, the back of the lens sheet 7 is provided with a network camera 6, and the background performs visual operation on the pipe penetrating process through the front-end camera of the robot; a wire outlet hole 19 is formed in the rear shell 2 at the tail end of the robot, and the wire outlet hole 19 is used for the optical fiber signal wire 8 to pass through; the end of the walking arm 3 at the rear end of the robot is provided with a traction rope hole 14, each traction rope hole 14 is tied with a traction rope 17, a plurality of groups of traction ropes are finally twisted into one, the traction ropes arranged at the rear end of the robot can save themselves when equipment breaks down, and the practicability and the reliability of the equipment are improved.
An elastic torsion spring 20 is arranged between the walking arm rotating shaft 18 and the front shell 1 and the rear shell 2, so that elastic tension is generated between the walking arm 3 and the front shell 1 and the rear shell 2 of the robot, and the robot can adapt to pipelines 9 with different pipe diameters in a certain range; compared with other pipeline traction equipment, the robot has a light and compact structure.
As shown in fig. 3, the utility model also provides a robot system that uses with the robot is supporting, including poling robot box 101, control PDA102, six sufficient poling machines 103, robot safety cover 104, box inside lining 105, receive optical fiber wheel 106, optic fibre throat 107, change line dish support 108, communication system main control box 109.
Wherein the control PDA102, the six-foot poling machine 103, the robot protective cover 104, the box body lining 105, the optical fiber collecting wheel 106, the optical fiber lifting and shrinking opening 107, the wire rotating disc bracket 108 and the communication system main control box 109 are all fixed in the poling robot box body 101; the poling robot box 101 comprises a box and a box cover, a box lining 105 is respectively arranged in the box and the box cover, the PDA102 is controlled to be embedded into the box lining 105 of the box cover for placement, the hexapod poling robot 103 is contained in a robot protection cover 104, and the optical fibers with the lengths within 200m and 200m can be contained in a rotating coil support 108. The communication system main control box 109 is fixed on the wire rotating disc support 108, the wire rotating disc support 108 and the communication system main control box 109 form an automatic optical fiber winding and unwinding device through rotating bearings, the wire rotating disc support 108 rotates to drive the communication system main control box 109 to rotate together, and optical fiber winding can be avoided during winding and unwinding of optical fibers.
The communication system main control box 109 and the six-foot poling machine 103 are connected through tensile-resistant optical fibers, and the control PDA102 can be automatically connected with the communication system main control box 109 through WIFI to form a local area network.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (8)
1. The utility model provides a cable pipeline robot based on curved surface geometric constraint kinematics model which characterized in that: comprises a front shell (1), a rear shell (2), a walking arm (3) and a walking wheel (4);
the front shell (1) and the rear shell (2) are installed together to form a robot body, three pits (10) which are symmetrically distributed along the axis of the shell are respectively arranged on the front shell (1) and the rear shell (2), the pit structures are used for accommodating and embedding the traveling arms (3), a traveling arm rotating shaft (18) is arranged at one end of each traveling arm (3), and the traveling arm rotating shaft (18) is embedded in shaft holes (16) in the pits of the front shell (1) and the rear shell (2), so that the traveling arms (3) and the shell can swing around the traveling arm rotating shaft (18) within a certain range; the other end of the walking arm (3) is provided with a worm rotating shaft (12), walking wheels (4) are assembled at two ends of the worm rotating shaft (12), a motor (11) is installed inside the walking arm (3), a worm wheel (13) is installed on the rotating shaft of the motor (11), the motor (11) drives the worm wheel (13) to rotate, and the worm wheel (13) drives the worm rotating shaft (12) to drive the walking wheels (4) to rotate;
an elastic torsion spring (20) is arranged between the walking arm rotating shaft (18) and the front shell (1) and the rear shell (2), so that elastic tension is generated between the walking arm (3) and the front shell (1) and between the walking arm and the rear shell (2), and the walking arm (3) is driven to swing towards the outer side of the shell.
2. The cable pipeline robot based on the geometric constraint kinematics model of the curved surface as claimed in claim 1, wherein: the front end of the robot front shell (1) is provided with a lens sheet (7), and the back of the lens sheet (7) is provided with a network camera (6).
3. The cable pipeline robot based on the geometric constraint kinematics model of the curved surface as claimed in claim 1, wherein: the tail end of a walking arm (3) at the rear end of the robot is provided with a traction rope hole (14), and each traction rope hole (14) is tied with a traction rope (17).
4. The cable pipeline robot based on the geometric constraint kinematic model of the curved surface according to any one of claims 1 to 3, wherein: the front shell (1) and the rear shell (2) are of a semi-elliptic sphere structure.
5. The cable pipeline robot based on the geometric constraint kinematic model of the curved surface according to any one of claims 1 to 3, wherein: the front shell (1) and the rear shell (2) are respectively provided with a threaded fixing hole (15), and the front shell (1) and the rear shell (2) are buckled together and then are connected and fixed through screws.
6. The cable pipeline robot based on the geometric constraint kinematic model of the curved surface according to any one of claims 1 to 3, wherein: the robot back shell (2) is provided with an outlet hole (19) for the optical fiber signal wire (8) to pass through.
7. A robot system based on the cable pipe robot of claim 1, characterized in that: the system comprises a pipe penetrating robot box body (101), a control PDA (102), a six-foot pipe penetrating machine (103), a robot protective cover (104), a box body lining (105), a fiber collecting wheel (106), an optical fiber lifting and shrinking opening (107), a wire rotating disc support (108) and a communication system main control box (109);
the pipe-threading robot box body (101) comprises a box and a box cover, box linings (105) are respectively arranged in the box and the box cover, a control PDA (102) is embedded into the box linings (105) of the box cover to be placed, a six-foot pipe-threading robot (103) is placed in the box linings (105) of the box after being contained in a robot protection cover (104), a communication system main control box (109) is fixed on a wire-turning disc support (108) for containing optical fibers, the wire-turning disc support (108) and a rotating bearing arranged below the communication system main control box (109) form an automatic optical fiber winding and unwinding device and are placed in the box linings (105) of the box, a fiber winding wheel (106) is connected onto the wire-turning disc support (108), the wire-turning disc support (108) is stirred to rotate through the fiber winding wheel (106), and the communication system main control box (109) is driven to rotate together; an optical fiber lifting and shrinking port (107) is formed in one side of the box, and a communication system main control box (109) is connected with the hexapod pipe penetrating machine (103) through optical fibers.
8. The robotic system of claim 7, wherein: the communication system main control box (109) is connected with the six-foot pipe penetrating machine (103) by tensile-resistant optical fibers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921560179.0U CN210757760U (en) | 2019-09-19 | 2019-09-19 | Cable pipeline robot and system based on curved surface geometric constraint kinematics model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921560179.0U CN210757760U (en) | 2019-09-19 | 2019-09-19 | Cable pipeline robot and system based on curved surface geometric constraint kinematics model |
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| Publication Number | Publication Date |
|---|---|
| CN210757760U true CN210757760U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921560179.0U Expired - Fee Related CN210757760U (en) | 2019-09-19 | 2019-09-19 | Cable pipeline robot and system based on curved surface geometric constraint kinematics model |
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| CN (1) | CN210757760U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509298A (en) * | 2019-09-19 | 2019-11-29 | 国网陕西省电力公司宝鸡供电公司 | Cable channel robot and system based on surface geometry constrained motion model |
-
2019
- 2019-09-19 CN CN201921560179.0U patent/CN210757760U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509298A (en) * | 2019-09-19 | 2019-11-29 | 国网陕西省电力公司宝鸡供电公司 | Cable channel robot and system based on surface geometry constrained motion model |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200616 Termination date: 20210919 |