CN102114878B - Walking type pipeline robot - Google Patents
Walking type pipeline robot Download PDFInfo
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- CN102114878B CN102114878B CN200910249024A CN200910249024A CN102114878B CN 102114878 B CN102114878 B CN 102114878B CN 200910249024 A CN200910249024 A CN 200910249024A CN 200910249024 A CN200910249024 A CN 200910249024A CN 102114878 B CN102114878 B CN 102114878B
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Abstract
The invention belongs to the field of specialized robots and particularly relates to a walking type pipeline robot used for pipeline detection overhaul. The walking type pipeline robot comprises two groups of symmetrically arranged assemblies with same structures, wherein the two assemblies are connected through a steering mechanism; each group of assembly comprises three scissor mechanisms with same structures, one ends of the three scissor mechanisms are respectively connected to a second support frame, are in meshing transmission with a gear on a motor output shaft through a gear and realizes expand and contraction of the scissor mechanisms, wherein the other ends of the two scissor mechanisms used as supporting arms are respectively provided with support cushions, the other end of the third scissor mechanism is connected with the steering mechanism, and the front end of the pipeline robot is provided with a camera. Through controlling expanding, contracting and steering of each scissor mechanism, the walking type pipeline robot has a strong adaptability to multiple pipeline environments, is suitable for being applied to a pipeline environment where the pipeline diameter is changed, has wide application range and obstacle crossing capability, and can overcome different forms of obstacles in a pipeline.
Description
Technical field
The invention belongs to field of special robots, specifically a kind of pipeline that is used for is surveyed the legged pipe robot that overhauls.
Background technology
Pipe robot is a kind of visual plant in the field of special robots.Development along with economy and social construction; Increasing various pipeline has appearred in the city; Like gas pipe line, sewer line, air-conditioning duct etc., the normal operation of these pipelines is significant to the normal operation in the daily life of keeping broad masses of the people and city.Because the particularity of pipeline configuration, occur pipeline aging or damage phenomenon after be difficult to detect or maintenance; The pipeline that some are important like gas pipe line, will cause great potential safety hazard in case the crack occurs.
At present, pipe robot is unique feasible means that can address the above problem.Mostly the main version of the pipe robot that has occurred is crawler type or wheeled, though these pipe robots environment of adaptation level straight tube preferably is then often powerless for pipelines such as standpipe and bend pipes; Also can't adapt to simultaneously the environment that bigger variation appears in pipe diameter.Therefore, the range of use of existing pipe robot has received than limitations.Development all has significant for the marketable value of the operational capability, scope of work and the pipe robot that improve pipe robot than the pipe robot of strong adaptive capacity to various pipelines.
Summary of the invention
In order to solve the problem of above-mentioned existence, the object of the present invention is to provide a kind of legged pipe robot.This legged pipe robot adaptive capacity is strong, and applied range has obstacle climbing ability.
The objective of the invention is to realize through following technical scheme:
The present invention is made up of two groups of identical, symmetrically arranged assemblies of structure, is connected through steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure; One end of three scissors mechanisms is connected to stretching on second bracing frame, through the meshed transmission gear on gear and the motor output shaft, realization scissors mechanism; Wherein the other end as two scissors mechanisms of hold-down arm is respectively equipped with supporting pad, and the other end of the 3rd scissors mechanism is connected with steering hardware; Front end at pipe robot is equipped with pick up camera.
Wherein: three motors are installed on said second bracing frame, are connected with first gear on the output shaft of each motor respectively; One end of said three scissors mechanisms is respectively equipped with second and third gear, and is installed on second bracing frame through gear wheel shaft, and first gear is meshed with second gear, and second gear is meshed with the 3rd gear; Three scissors mechanisms are " T " shape and are provided with, and as two scissors mechanism conllinear of hold-down arm, be provided with supporting pad with the end of tube contacts, the 3rd scissors mechanism and said two scissors mechanisms that link to each other with steering hardware are perpendicular; Each scissors mechanism be two be provided with up and down, double-row type scissors mechanism that part that structure is identical is formed, the top and the bottom of this double-row type scissors mechanism link to each other through adapter shaft; Said steering hardware comprises steer motor, first bracing frame and the first～three steering gear; Wherein steer motor is installed on first bracing frame; Be connected with first steering gear on the output shaft of steer motor; Said second and third steering gear is installed on first bracing frame through gear wheel shaft respectively, and first steering gear is meshed with second steering gear, and second steering gear is meshed with the 3rd steering gear; The other end of the 3rd scissors mechanism in said two assemblies links to each other with second steering gear or the 3rd steering gear through adapter shaft.
Advantage of the present invention and good effect are:
1. the present invention has adaptive capacity to multiple pipeline environment simultaneously through controlling stretching, turning to of each scissors mechanism, and like straight tube, bend pipe, standpipe etc., adaptive capacity is strong.
2. the present invention is suitable for using applied range in the pipeline environment that pipe diameter changes.
3. the present invention can overcome obstacle multi-form in the pipeline through the stretching, turn to and also have obstacle climbing ability of each scissors mechanism.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the mobile gait scheme drawing of the present invention in flat pipe;
Fig. 4 is the mobile gait scheme drawing of the present invention in bend pipe;
Wherein: 1 is steer motor, and 2 is first bracing frame, and 3 is first steering gear, and 4 is second steering gear, and 5 is the 3rd steering gear; 6 is gear wheel shaft, and 7 is adapter shaft, and 8 is second bracing frame, and 9 is first gear, and 10 is second gear; 11 is the 3rd gear, and 12 is motor, and 13 is supporting pad, and 14 is pick up camera, and A is first scissors mechanism; B is second scissors mechanism, and C is the 3rd scissors mechanism, and D is the 4th scissors mechanism, and E is the 5th scissors mechanism, and F is the 6th scissors mechanism.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Like Fig. 1, shown in Figure 2, the present invention is made up of two groups of identical, symmetrically arranged assemblies of structure, is connected through steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure, i.e. the first～six scissors mechanism A～F, and wherein first, second and third scissors mechanism A, B, C are one group, fourth, fifth, six scissors mechanism D, E, F are one group.The end of the first scissors mechanism A is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 through gear wheel shaft 6 separately, and bearing installation is passed through on second bracing frame in the two ends of gear wheel shaft 6; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11; The other end of the first scissors mechanism A is provided with supporting pad 13.The end of the second scissors mechanism B is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 through gear wheel shaft 6 separately, and bearing installation is passed through on second bracing frame in the two ends of gear wheel shaft 6; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11; The other end of the second scissors mechanism B is provided with supporting pad 13.The end of the 3rd scissors mechanism C is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 through gear wheel shaft 6 separately, and bearing installation is passed through on second bracing frame in the two ends of gear wheel shaft 6; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11.Steering hardware comprises steer motor 1, first bracing frame 2 and the first～three steering gear 3～5; Wherein steer motor 1 is installed on first bracing frame 2; Key is connected with first steering gear 3 on the output shaft of steer motor 1; Said second and third steering gear 4,5 gear wheel shaft 6 through separately respectively is installed on first bracing frame 2, the two ends of gear wheel shaft 6 through bearing installation on first bracing frame; First steering gear 3 is meshed with second steering gear 4, and second steering gear 4 is meshed with the 3rd steering gear 5; The other end of the 3rd scissors mechanism C links to each other with second steering gear 4 through adapter shaft 7.
The structure of the 5th scissors mechanism E and connection mode are identical with the first scissors mechanism A; The structure of the 6th scissors mechanism F and connection mode are identical with the second scissors mechanism B; The structure of the 4th scissors mechanism D and connection mode are similar with the 3rd scissors mechanism C, and difference is that the other end of the 4th scissors mechanism D links to each other with the 3rd steering gear 5 through adapter shaft 7.Front end at pipe robot is equipped with pick up camera 14, is used to observe environment and the pipeline self-condition in the pipeline.
The first～three scissors mechanism A～C of the present invention is " T " shape first and second scissors mechanism A, B conllinear, scalable under the driving of motor as hold-down arm is set; The 3rd scissors mechanism C that links to each other with steering hardware and first and second scissors mechanism A, B are perpendicular.The four～six scissors mechanism D～F is " T " shape the 5th, six scissors mechanism E, F conllinear, scalable under the driving of motor as hold-down arm is set; The 4th scissors mechanism D that links to each other with steering hardware and the 5th, six scissors mechanism E, F are perpendicular.The first～six scissors mechanism A～F be two be provided with up and down, double-row type scissors mechanism that part that structure is identical is formed, the top and the bottom of this double-row type scissors mechanism link to each other through adapter shaft 7.
Principle of work of the present invention is:
As shown in Figure 3, the mobile gait of pipe robot in flat pipe is:
(1) with first and second scissors mechanism A, cooresponding motor 12 work of B, drives first gear 9 and rotate,, drive first and second scissors mechanism A, B contraction respectively through the engaged transmission successively of first, second and third gear 9,10,11;
(2) with third and fourth scissors mechanism C, cooresponding motor 12 work of D, drive first gear 9 and rotate,, drive third and fourth scissors mechanism C, D stretching, extension respectively through the engaged transmission successively of first, second and third gear 9,10,11;
(3) with first and second scissors mechanism A, cooresponding motor 12 reverse operations of B; Drive first gear, 9 backward rotation; Engaged transmission successively through first, second and third gear 9,10,11; Drive first and second scissors mechanism A, B stretching, extension respectively, be connected to inner-walls of duct until first and second scissors mechanism A, the last supporting pad 13 of B;
(4) with the 5th, six scissors mechanism E, cooresponding motor 12 work of F, drive first gear 9 and rotate,, drive the 5th, six scissors mechanism E, F contraction respectively through the engaged transmission successively of first, second and third gear 9,10,11;
(5) with third and fourth scissors mechanism C, cooresponding motor 12 reverse operations of D, drive first gear, 9 backward rotation,, drive third and fourth scissors mechanism C, D contraction respectively through the engaged transmission successively of first, second and third gear 9,10,11;
(6) with the 5th, six scissors mechanism E, cooresponding motor 12 reverse operations of F; Drive first gear, 9 backward rotation; Engaged transmission successively through first, second and third gear 9,10,11; Drive the 5th, six scissors mechanism E, F stretching, extension respectively, be connected to inner-walls of duct until the 5th, six scissors mechanism E, the last supporting pad 13 of F, pipe robot is promptly accomplished the motion process in a stroke cycle; Pipe robot is pressed aforesaid operations, can in flat pipe, realize walking.
As shown in Figure 4, the mobile gait of pipe robot in bend pipe is:
When pipe robot need turn in bend pipe; After above-mentioned steps (1), steer motor 1 work drives first steering gear 3 and rotates; Engaged transmission successively through first, second and third steering gear 3,4,5; Drive third and fourth scissors mechanism C respectively, D is case of bending, and then makes first and second scissors mechanism A, B shrink, turn to, and turns to the back to make first and second scissors mechanism A, the last supporting pad 13 of B be connected to inner-walls of duct by above-mentioned steps; Then, steer motor 1 reverse operation drives first steering gear, 3 backward rotation, through the engaged transmission successively of first, second and third steering gear 3,4,5, makes the 5th, six scissors mechanism E, F shrink, turn to; According to the above-mentioned steps operation, make the turning of pipe robot in piping again.The anglec of rotation of pipe robot can be adjusted according to the situation of change of the angle of bend in the pipeline.
Claims (4)
1. a legged pipe robot is characterized in that: be made up of two groups of identical, symmetrically arranged assemblies of structure, be connected through steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure; One end of three scissors mechanisms is connected to last, the stretching through the meshed transmission gear on gear and the motor output shaft, realization scissors mechanism of second bracing frame (8); Wherein the other end as two scissors mechanisms of hold-down arm is respectively equipped with supporting pad (13), and the other end of the 3rd scissors mechanism is connected with steering hardware; Front end at pipe robot is equipped with pick up camera (14); Said steering hardware comprises steer motor (1), first bracing frame (2) and the first～three steering gear (3～5); Wherein steer motor (1) is installed on first bracing frame (2); Be connected with first steering gear (3) on the output shaft of steer motor (1); Said second and third steering gear (4,5) is installed on first bracing frame (2) through gear wheel shaft (6) respectively, and first steering gear (3) is meshed with second steering gear (4), and second steering gear (4) is meshed with the 3rd steering gear (5); The other end of the 3rd scissors mechanism in said two assemblies links to each other with second steering gear (4) or the 3rd steering gear (5) through adapter shaft (7).
2. by the described legged pipe robot of claim 1, it is characterized in that: three motors (12) are installed on said second bracing frame (8), are connected with first gear (9) on the output shaft of each motor (12) respectively; One end of said three scissors mechanisms is respectively equipped with second and third gear (10,11), and is installed on second bracing frame (8) through gear wheel shaft, and first gear (9) is meshed with second gear (10), and second gear (10) is meshed with the 3rd gear (11).
3. by the described legged pipe robot of claim 2; It is characterized in that: said three scissors mechanisms are " T " shape and are provided with; As two scissors mechanism conllinear of hold-down arm, be provided with supporting pad (13) with the end of tube contacts, the 3rd scissors mechanism and said two scissors mechanisms that link to each other with steering hardware are perpendicular.
4. by the described legged pipe robot of claim 2, it is characterized in that: each scissors mechanism be two be provided with up and down, double-row type scissors mechanism that part that structure is identical is formed, the top and the bottom of this double-row type scissors mechanism link to each other through adapter shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910249024A CN102114878B (en) | 2009-12-30 | 2009-12-30 | Walking type pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910249024A CN102114878B (en) | 2009-12-30 | 2009-12-30 | Walking type pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102114878A CN102114878A (en) | 2011-07-06 |
| CN102114878B true CN102114878B (en) | 2012-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910249024A Expired - Fee Related CN102114878B (en) | 2009-12-30 | 2009-12-30 | Walking type pipeline robot |
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| Country | Link |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103615630B (en) * | 2013-11-29 | 2015-07-22 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN104708622B (en) * | 2015-02-13 | 2017-03-08 | 湖北三江航天红林探控有限公司 | A kind of reciprocating mechanism |
| CN112204294B (en) * | 2020-08-17 | 2022-07-22 | 哈尔滨工业大学（深圳） | Pipeline robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2408340A (en) * | 2003-11-18 | 2005-05-25 | Radiodetection Ltd | A vehicle for inspecting a pipe |
| CN2933744Y (en) * | 2006-02-13 | 2007-08-15 | 北京联合大学 | Connecting rod creeping conduit robot |
| CN101117138A (en) * | 2007-09-19 | 2008-02-06 | 西南交通大学 | Helix driven round pipe robot |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN201566717U (en) * | 2009-12-30 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Walking style pipe robot |
-
2009
- 2009-12-30 CN CN200910249024A patent/CN102114878B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2408340A (en) * | 2003-11-18 | 2005-05-25 | Radiodetection Ltd | A vehicle for inspecting a pipe |
| CN2933744Y (en) * | 2006-02-13 | 2007-08-15 | 北京联合大学 | Connecting rod creeping conduit robot |
| CN101117138A (en) * | 2007-09-19 | 2008-02-06 | 西南交通大学 | Helix driven round pipe robot |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN201566717U (en) * | 2009-12-30 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Walking style pipe robot |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2000-6795A 2000.01.11 |
| JP特开平8-233976A 1996.09.13 |
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| CN102114878A (en) | 2011-07-06 |
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