CN102601087A - Scissor pipeline robot putting and withdrawing device - Google Patents

Scissor pipeline robot putting and withdrawing device Download PDF

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Publication number
CN102601087A
CN102601087A CN2012100600590A CN201210060059A CN102601087A CN 102601087 A CN102601087 A CN 102601087A CN 2012100600590 A CN2012100600590 A CN 2012100600590A CN 201210060059 A CN201210060059 A CN 201210060059A CN 102601087 A CN102601087 A CN 102601087A
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scissor
scissor mechanism
hinged
base
adjusting nut
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CN2012100600590A
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沈惠平
潘祥生
邓嘉鸣
孟庆梅
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Changzhou University
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Changzhou University
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Abstract

一种剪叉式管道机器人投放回收装置，包括调节螺母(1)、丝杠(2)、移动小车(3)、剪式机构(4)、底座(5)、驱动装置(6)、托盘(8)，驱动装置(6)和丝杠(2)安装在移动小车(3)的底座(5)上，调节螺母(1)与丝杆(2)构成螺杆传动，剪式机构(4)上部的一端用转动副一(A)铰接在底座(5)上，剪式机构(4)上部的另一端用转动副二(B)铰接在调节螺母(1)上，托盘(8)用绳索连接在剪式机构(4)下部的另外两端，剪式机构(4)的所有杆件都是用转动副铰接；剪式机构(4)中杆件的数量可以变化。该装置具有良好的刚性、可靠性和适应性，操作方便，结构简单，制造维修容易，成本低。

Figure 201210060059

A scissor-type pipe robot delivery and recovery device, comprising an adjusting nut (1), a lead screw (2), a moving trolley (3), a scissor mechanism (4), a base (5), a driving device (6), a tray ( 8), the driving device (6) and the lead screw (2) are installed on the base (5) of the mobile trolley (3), the adjusting nut (1) and the screw rod (2) form a screw drive, and the upper part of the scissor mechanism (4) One end of the scissors mechanism (4) is hinged on the base (5) with a rotating pair (A), the other end of the upper part of the scissor mechanism (4) is hinged on the adjusting nut (1) with a rotating pair (B), and the tray (8) is connected with a rope At the other two ends of the lower part of the scissor mechanism (4), all the bars of the scissor mechanism (4) are hinged with revolving pairs; the number of bars in the scissor mechanism (4) can vary. The device has good rigidity, reliability and adaptability, convenient operation, simple structure, easy manufacture and maintenance, and low cost.

Figure 201210060059

Description

一种剪叉式管道机器人投放回收装置A scissor type pipe robot throwing and recycling device

技术领域 technical field

本发明涉及管道机器人投放回收装置，具体地说就是为管道作业机器人进入地下管道或从管道中回收，提供一种投放和回收的装置。The invention relates to a delivery and recovery device for a pipeline robot, in particular to provide a delivery and recovery device for a pipeline operation robot to enter an underground pipeline or recover from the pipeline.

背景技术 Background technique

随着城市管道清淤机器人研制步伐的加快，与之配套的机器人投放回收装置也变得越来越重要。如果用人工投放回收的话，费时费力，效率不高。从目前的升降装置来看，主要有用于轻质、柔性货物的双带式垂直升降机[1]，由于其结构本身的特点，对于升降对象的要求较高，同时作业成本高、价格昂贵、皮带易老化等原因，满足不了管道机器人投放与回收。液压控制的提升装置[2]需要精密的泵，阀，液压缸等元件，价格昂贵、安装复杂、密封要求高，且不利于维护，因此，不适用于城市管道作业的机器人投放与回收。因此，需要设计结构简单、操作方便、经济实用的管道机器人投放与回收装置。With the acceleration of the development of urban pipeline dredging robots, the matching robot delivery and recovery devices are becoming more and more important. If manual recycling is used, it is time-consuming and laborious, and the efficiency is not high. From the point of view of the current lifting devices, there are mainly double-belt vertical lifts [1] for light and flexible goods. For reasons such as easy aging, it cannot satisfy the delivery and recycling of pipeline robots. The hydraulically controlled lifting device [2] requires precise pumps, valves, hydraulic cylinders and other components, which are expensive, complicated to install, require high sealing, and are not conducive to maintenance. Therefore, they are not suitable for robot delivery and recovery in urban pipeline operations. Therefore, it is necessary to design a simple structure, convenient operation, economical and practical pipeline robot delivery and recovery device.

发明内容 Contents of the invention

本发明目的是克服现有技术的缺点，提供一种结构简单、操作方便、经济实用的管道机器人投放与回收装置，其技术方案是：一种剪叉式管道机器人投放回收装置，包括调节螺母(1)、丝杠(2)、移动小车(3)、剪式机构(4)、底座(5)、驱动装置(6)、托盘(8)，其特征是驱动装置(6)和丝杠(2)安装在移动小车(3)的底座(5)上，调节螺母(1)与丝杆(2)构成螺杆传动，剪式机构(4)上部的一端用转动副一(A)铰接在底座(5)上，剪式机构(4)上部的另一端用转动副二(B)铰接在调节螺母(1)上，托盘(8)用绳索连接在剪式机构(4)下部的另外两端，剪式机构(4)的所有杆件都是用转动副铰接；且剪式机构(4)中杆件的数量根据需要可以变化。The object of the present invention is to overcome the shortcomings of the prior art and provide a simple in structure, convenient to operate, economical and practical pipeline robot delivery and recovery device. 1), lead screw (2), mobile trolley (3), scissor mechanism (4), base (5), driving device (6), pallet (8), it is characterized in that driving device (6) and leading screw ( 2) Installed on the base (5) of the mobile trolley (3), the adjusting nut (1) and the screw rod (2) form a screw drive, and one end of the upper part of the scissor mechanism (4) is hinged to the base with a rotating pair (A) (5), the other end of the upper part of the scissor mechanism (4) is hinged on the adjusting nut (1) with the second rotating pair (B), and the tray (8) is connected to the other two ends of the lower part of the scissor mechanism (4) with a rope , all the rods of the scissor mechanism (4) are hinged by rotating pairs; and the number of rods in the scissor mechanism (4) can be changed according to needs.

该装置具有良好的刚性、可靠性和适应性，操作方便，结构简单，制造维修容易，成本低。The device has good rigidity, reliability and adaptability, convenient operation, simple structure, easy manufacture and maintenance, and low cost.

附图说明 Description of drawings

附图1为本发明的一个实施例结构示意图。Accompanying drawing 1 is a structural schematic diagram of an embodiment of the present invention.

具体实施方式 Detailed ways

下面通过附图和实例对本发明的技术给予进一步地说明。The technology of the present invention will be further described below by means of accompanying drawings and examples.

附图1所示为本发明的一个实施例，一种剪叉式管道机器人投放回收装置，包括调节螺母1、丝杠2、移动小车3、剪式机构4、底座5、驱动装置6、托盘8，驱动装置6和丝杠2安装在移动小车3的底座5上，调节螺母1与丝杆2构成螺杆传动，剪式机构4上部的一端用转动副一A铰接在底座5上，上部的另一端用转动副二B铰接在调节螺母1上，托盘8用绳索连接在剪式机构4下部的另外两端，剪式机构4的所有杆件都是用转动副铰接；且剪式机构4中杆件的数量根据需要可以变化。Accompanying drawing 1 shows an embodiment of the present invention, a kind of scissor type pipeline robot puts in and recovers the device, comprises adjusting nut 1, leading screw 2, mobile trolley 3, scissor mechanism 4, base 5, driving device 6, tray 8. The driving device 6 and the lead screw 2 are installed on the base 5 of the mobile trolley 3, the adjusting nut 1 and the screw rod 2 form a screw drive, one end of the upper part of the scissor mechanism 4 is hinged on the base 5 with a rotating pair A, and the upper part The other end is hinged on the adjustment nut 1 with the rotating pair B, and the tray 8 is connected to the other two ends of the lower part of the scissor mechanism 4 with ropes, and all the bars of the scissor mechanism 4 are hinged with the rotating pair; and the scissor mechanism 4 The number of middle rods can be varied as required.

其工作原理是：管道作业机器人在托盘8上放置好后，推动移动小车3，使托盘8落入竖井后，再使管道作业机器人在下降过程中处于竖井的中心位置，此时，驱动装置6工作，驱动丝杠2转动，调节螺母1左右移动，从而改变丝杠2与剪式机构4夹角的大小，当夹角增大时处于下降状态，反之处于上升状态。托盘8下降到适当位置时，调节移动小车3在水平方向的位置，使托8能很好地和水平管道衔接，使作业机器人顺利地走出托盘8开始工作，从而达到作业机器人的投放功能，易知，回收过程是投放过程的逆过程。Its working principle is: after the pipeline operation robot is placed on the pallet 8, it pushes the mobile trolley 3 to make the pallet 8 fall into the shaft, and then the pipeline operation robot is in the center of the shaft during the descent process. At this time, the driving device 6 Work, drive screw 2 to rotate, adjust nut 1 to move left and right, thereby changing the size of the angle between screw 2 and scissor mechanism 4, when the angle increases, it is in a downward state, otherwise it is in an upward state. When the pallet 8 is lowered to an appropriate position, adjust the horizontal position of the mobile trolley 3 so that the pallet 8 can be well connected with the horizontal pipeline, so that the operating robot can smoothly walk out of the pallet 8 and start working, so as to achieve the delivery function of the operating robot. As we know, the recycling process is the reverse process of the putting process.

该装置操作方便、结构简单、制造方便、成本低廉、适应性强，能够满足不同管径作业机器人投放回收的需要。The device is convenient in operation, simple in structure, convenient in manufacture, low in cost and strong in adaptability, and can meet the needs of putting and recycling robots with different pipe diameters.

Claims (2)

1. a scissor-type pipe robot is thrown in retracting device; Comprise adjusting nut (1), leading screw (2), travelling car (3), scissor (4), base (5), drive unit (6), pallet (8); It is characterized in that drive unit (6) and leading screw (2) are installed on the base (5) of travelling car (3); Adjusting nut (1) constitutes screw drive with screw mandrel (2), and an end on scissor (4) top is hinged on the base (5) with revolute pair one (A), and the other end on scissor (4) top is hinged on the adjusting nut (1) with revolute pair two (B); Pallet (8) is connected the other two ends of scissor (4) bottom with rope, and all rod members of scissor (4) all are hinged with revolute pair.
2. throw in retracting device by the described scissor-type pipe robot of claim 1, it is characterized in that the quantity of rod member in the scissor (4) can change.
CN2012100600590A 2012-03-09 2012-03-09 Scissor pipeline robot putting and withdrawing device Pending CN102601087A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103541760A (en) * 2012-10-27 2014-01-29 合肥建工集团有限公司 Channel special for underground civil air defence shelter material conveying
CN107089526A (en) * 2017-05-27 2017-08-25 广州市意诺仕智能设备有限公司 A kind of unmanned loading system of bagged cement and its application method
CN107381103A (en) * 2017-08-15 2017-11-24 广州市意诺仕智能设备有限公司 A kind of double-arm sway loading machine and bagging method
CN107840238A (en) * 2017-09-15 2018-03-27 南京航空航天大学 A kind of pipe robot is gone into the well mechanism and its operational method
CN110526164A (en) * 2019-09-27 2019-12-03 深圳市施罗德工业集团有限公司 Upper downhole device
CN112354987A (en) * 2020-10-14 2021-02-12 国网山东省电力公司潍坊供电公司 Pipe well dredging device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0486503A (en) * 1990-07-31 1992-03-19 Hitachi Cable Ltd Electric conductor insertion position detection device
JPH09286503A (en) * 1996-04-22 1997-11-04 Thk Kk Garbage box having garbage compressing function and garbage box disposing device incorporating garbage box
CN201952162U (en) * 2011-01-30 2011-08-31 北京谊安医疗系统股份有限公司 Lifting device and packing case with the lifting device
CN201999438U (en) * 2011-03-22 2011-10-05 昆明新高原电子信息有限公司 Double-track shuttle stacking machine
CN102298254A (en) * 2011-08-16 2011-12-28 刘坎坎 Concealed projector hanger

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0486503A (en) * 1990-07-31 1992-03-19 Hitachi Cable Ltd Electric conductor insertion position detection device
JPH09286503A (en) * 1996-04-22 1997-11-04 Thk Kk Garbage box having garbage compressing function and garbage box disposing device incorporating garbage box
CN201952162U (en) * 2011-01-30 2011-08-31 北京谊安医疗系统股份有限公司 Lifting device and packing case with the lifting device
CN201999438U (en) * 2011-03-22 2011-10-05 昆明新高原电子信息有限公司 Double-track shuttle stacking machine
CN102298254A (en) * 2011-08-16 2011-12-28 刘坎坎 Concealed projector hanger

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103541760A (en) * 2012-10-27 2014-01-29 合肥建工集团有限公司 Channel special for underground civil air defence shelter material conveying
CN107089526A (en) * 2017-05-27 2017-08-25 广州市意诺仕智能设备有限公司 A kind of unmanned loading system of bagged cement and its application method
CN107089526B (en) * 2017-05-27 2023-03-28 广州市意诺仕智能设备有限公司 Bagged cement unmanned loading system and using method thereof
CN107381103A (en) * 2017-08-15 2017-11-24 广州市意诺仕智能设备有限公司 A kind of double-arm sway loading machine and bagging method
CN107840238A (en) * 2017-09-15 2018-03-27 南京航空航天大学 A kind of pipe robot is gone into the well mechanism and its operational method
CN110526164A (en) * 2019-09-27 2019-12-03 深圳市施罗德工业集团有限公司 Upper downhole device
CN112354987A (en) * 2020-10-14 2021-02-12 国网山东省电力公司潍坊供电公司 Pipe well dredging device

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Application publication date: 20120725