CN103615630B - Extensible robot for climbing inner wall of pipeline - Google Patents
Extensible robot for climbing inner wall of pipeline Download PDFInfo
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- CN103615630B CN103615630B CN201310625043.4A CN201310625043A CN103615630B CN 103615630 B CN103615630 B CN 103615630B CN 201310625043 A CN201310625043 A CN 201310625043A CN 103615630 B CN103615630 B CN 103615630B
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- arm
- telescope motor
- extensible
- frame
- robot
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Classifications
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention provides an extensible robot for climbing an inner wall of a pipeline. The extensible robot comprises a middle connection mechanism, four extensible arms and two extensible mechanisms. Each extensible arm comprises a friction pad, an arm extensible motor, an arm extensible motor holder, an arm extensible pipe connection frame, an arm extensible lead screw, two outer arm extensible pipes and two inner arm extensible pipes. Each extensible mechanism is composed of an arm connection frame, an extensible motor, an extensible motor holder, an extensible pipe connection frame, an extensible lead screw, two outer extensible pipes and two inner extensible pipes. The middle connection mechanism comprises a center rotary frame I, a center rotary frame II, a steering motor I, a steering motor II and a center joint cross. The middle connection mechanism is fixedly connected with the extensible motor holders of the two extensible mechanisms through the center rotary frame I and the center rotary frame II. The arm connection frame of each extensible mechanism is fixedly connected with the arm extensible motor holder of the corresponding extensible arm. Each arm extensible motor holder is symmetrically provided with two extensible arms. The fixed position and the spatial two-freedom-degree rotation of the robot in the pipeline can be achieved.
Description
Technical field
The present invention relates to a kind of inner-walls of duct climbing robot.
Background technique
Along with the development of oil, chemical industry, rock gas, nuclear industry and the construction of modern city, various types of pipeline has been put in the middle of actual use, then the detection of various pipeline, maintenance, repair etc. need the research greatly facilitating pipeline robot.More to the wheeled pipeline robot research of many wheel supporting structures at present, but wheeled pipeline robot can move interference when running into bend or irregular pipeline, because in-fighting causes driving force not enough, thus easily cause robot to depart from correct posture position in the duct, there is the phenomenon that rollover is even stuck.Current researcher both domestic and external is mainly from structure, and as adopted differential mechanism, the aspect such as to flexibly connect and solve, but this can make structure very complicated, cost rolls up.
Summary of the invention
The object of the present invention is to provide one can adapt to difform pipeline, widen the using scope of robot, reduce the Telescopic pipeline inwall climbing robot of cost of production.
The object of the present invention is achieved like this:
Comprise intermediate connecting mechanism, four telescopic booms and two extending meanss,
Described telescopic boom comprises friction pad, arm telescope motor, arm telescope motor frame, arm telescopic pipe frame linking, arm stretches leading screw, two overhanging draws of arm, telescopic pipe in two arms, the outer end of friction pad and two overhanging draws of arm is connected, the other end of two overhanging draws of arm is fixed with one by arm telescopic pipe frame linking, in two arms, telescopic pipe and arm telescope motor are fixedly mounted on arm telescope motor frame, in two arms, telescopic pipe adopts to be slidably matched and is installed in the overhanging draw of arm respectively, stretch leading screw and arm telescopic pipe frame linking of arm adopts screw-driven fit system to install, arm stretches leading screw by the output shaft fixed connection of coupling and arm telescope motor,
Described extending means is by arm link press span, telescope motor, telescope motor frame, telescopic pipe frame linking, flexible leading screw, two overhanging draws and two interior telescopic pipes, one end of arm link press span and two overhanging draws is connected, the other end of two overhanging draws is fixed with one by telescopic pipe frame linking, two interior telescopic pipes and telescope motor are fixedly mounted on telescope motor frame, two interior telescopic pipes adopt to be slidably matched and are installed on two overhanging draws respectively, flexible leading screw and telescopic pipe frame linking adopt screw-driven fit system to install, flexible leading screw by the output shaft fixed connection of coupling and telescope motor,
Described intermediate connecting mechanism comprises center pivoted frame I, center pivoted frame II, steer motor I, steer motor II, central cross axle, central cross axle is fixedly installed in the middle of center pivoted frame I and center pivoted frame II by bearing, steer motor I to be fixedly installed on the pivoted frame I of center and to be connected by coupling one end by the output shaft of steer motor I and central cross axle, and steer motor II to be fixedly installed on the pivoted frame II of center and to be connected by the other end of coupling by the output shaft of steer motor II and central cross axle;
Intermediate connecting mechanism is fixedly connected with the telescope motor frame of two extending meanss respectively by center pivoted frame I, center pivoted frame II;
The arm link press span of each extending means is fixedly connected with the arm telescope motor frame of a telescopic boom, arm telescope motor frame is symmetrical arranged two telescopic booms.
Occur that rollover and stuck phenomenon realize robot flexible fast moving in the duct in the duct to solve pipeline robot, the flexible position realizing robot that the present invention is based on the telescopic advance and robots arm that lead screw transmission principle realizes robot is fixed, and realizes turning to flexibly of robot by intermediate connecting mechanism.First, the screw-driven principle of application leading screw realizes mechanism and stretches and robots arm flexible, makes robot can carry out linear type climbing rapidly mobile, and robot is fixed on the specified position in pipeline by robots arm flexible.Secondly, robot intermediate connecting mechanism adopts cross axle to be rotationally connected design, and robot implementation space two degrees of freedom in pipeline can be made to rotate.Again, the friction pad of robotic end-of-arm adopts Changable type design, according to the friction pad of the shape choice for use respective shapes of inner-walls of duct, greatly can widen the using scope of robot, reduced cost of production.
Tool of the present invention has the following advantages:
1. apply the screw-driven principle design of leading screw extending means, the quick-expansion of the straight line climbing and robots arm that make robot can carry out Quick telescopic realizes the position of robot in pipeline and fixes.
2. robot intermediate connecting mechanism adopts cross axle to be rotationally connected design, robot implementation space two degrees of freedom in pipeline can be made to rotate, improve the flexibility of robot, avoid robot and occur rollover and stuck phenomenon.
3. the friction pad of robotic end-of-arm adopts Changable type design, according to the friction pad of the shape choice for use respective shapes of inner-walls of duct, greatly can widen the using scope of robot, reduced cost of production.
Accompanying drawing explanation
Fig. 1: robot transmission relation complete section schematic diagram.
Fig. 2: robot three-dimensional schematic diagram.
Fig. 3: center bindiny mechanism of robot schematic three dimensional views.
Fig. 4 a-Fig. 4 g: robot is forward motion process schematic in pipeline.
Fig. 5 a-Fig. 5 g: robot is backward movement process schematic in pipeline.
Fig. 6 a-Fig. 6 p: course of action schematic diagram when robot runs into little obstacle.
Fig. 7 a-Fig. 7 m: robot is by turning action process schematic during curved areas.
Fig. 8 a-Fig. 8 f: robot is by returning direct action process schematic during curved areas.
Embodiment
Below in conjunction with accompanying drawing citing, the present invention is described in more detail.
Robot body of the present invention is symmetrical structure, take intermediate connecting mechanism as symmetry center, telescopic boom I part, telescopic boom II part, telescopic boom III part and telescopic boom IV part, robot extending means I part identical with extending means II part-structure.Telescopic boom I part is installed respectively by arm motor rack symmetry with telescopic boom IV part with telescopic boom II part, telescopic boom III part, and extending means I part is fixedly connected with installation with extending means II part by intermediate connecting mechanism.Below the structure composition of telescopic boom I part, extending means I part and intermediate connecting mechanism is described in detail:
Composition graphs 1, Fig. 2, is described in detail to the telescopic boom I part of robot.Telescopic boom I part is made up of friction pad I1, arm telescope motor I53, arm telescope motor frame I52, arm telescopic pipe frame linking I54, the arm telescopic pipe II3 in telescopic pipe I56 in leading screw I55, arm overhanging draw I57, the overhanging draw II2 of arm, arm, arm that stretches.The outer end of friction pad I1 and arm overhanging draw I57, the overhanging draw II2 of arm is connected, and the other end of arm overhanging draw I57, the overhanging draw II2 of arm is fixed with one by arm telescopic pipe frame linking I54.In arm, in telescopic pipe I56, arm, telescopic pipe II6 and arm telescope motor I53 is fixedly mounted on arm telescope motor frame I52, and in arm, in telescopic pipe I56, arm, telescopic pipe II2 adopts and is slidably matched and is installed on respectively in arm overhanging draw I57, the overhanging draw II2 of arm.The arm leading screw I55 and arm telescopic pipe frame linking I54 that stretches adopts screw-driven fit system to install, and arm stretches leading screw I55 by the output shaft fixed connection of coupling and arm telescope motor I53.According to above annexation, the rotation motion that leading screw I55 exports of stretching of arm telescope motor I53 driving arm can be converted into the straight line motion of arm telescopic pipe frame linking I54, thus realizes the expanding-contracting action of Telescopic arm of robot I part.The structure of telescopic boom II part, telescopic boom III part, telescopic boom IV part is identical with telescopic boom I part, telescopic boom I part is fixedly installed in arm motor rack I52 both sides respectively with telescopic boom II part, and is fixedly connected with the arm link press span I43 of the extending means I part of robot by arm motor rack I52.Telescopic boom III part is fixedly installed in arm motor rack II24 both sides respectively with telescopic boom IV part, and is fixedly connected with the arm link press span II25 of the extending means II part of robot by arm motor rack II24.According to the above-mentioned relation that is connected, arm telescope motor II51, arm telescope motor III23, arm telescope motor IV26 work can realize the expanding-contracting action of each telescopic boom part of robot.The support that each arm telescope motor cooperating can realize robot is fixed.In addition, the shape of friction pad I1, friction pad II47, friction pad III20 and friction pad IV31 can be selected according to the shape of pipeline, the circular arc friction pad selected for more common circular pipe in fig. 2, if inner-walls of duct be square can choice for use cuboid friction pad, the pipeline of special shape can carry out friction pad customized according to pipe shape.
Composition graphs 1, Fig. 2, is described in detail to the extending means I part of robot.Extending means I part is made up of arm link press span I43, telescope motor I40, telescope motor frame I8, telescopic pipe frame linking I7, flexible leading screw I6, overhanging draw I4, overhanging draw II41, interior telescopic pipe I5, interior telescopic pipe II42.The outer end of arm link press span I43 and overhanging draw I4, overhanging draw II41 is connected, and the other end of overhanging draw I4, overhanging draw II41 is fixed with one by telescopic pipe frame linking I7.Interior telescopic pipe I5, interior telescopic pipe II42 and telescope motor I40 are fixedly mounted on telescope motor frame I8, and interior telescopic pipe I5, interior telescopic pipe II42 adopt to be slidably matched and be installed on respectively in overhanging draw I4, overhanging draw II41.Flexible leading screw I6 and telescopic pipe frame linking I7 adopts screw-driven fit system to install, and stretch leading screw I6 by the output shaft fixed connection of coupling and telescope motor I40.According to above annexation, the rotation motion that telescope motor I40 drives flexible leading screw I6 to export can be converted into the straight line motion of telescopic pipe frame linking I7, thus realizes the expanding-contracting action of robot extending means I part.Extending means I part is fixedly connected with the arm telescope motor frame I52 of telescopic boom I part by arm link press span I43, and is fixedly connected with the center pivoted frame I9 of intermediate connecting mechanism by telescope motor frame I8.The structure of extending means II part is identical with extending means I part, extending means II part is fixedly connected with by arm link press span II25 and the arm III arm telescope motor frame II24 partly that stretches, and is fixedly connected with the center pivoted frame II11 of intermediate connecting mechanism by telescope motor frame II12.According to the above-mentioned relation that is connected, telescope motor II37 work can realize the expanding-contracting action of the part of extending means II.According to the above-mentioned relation that is connected, each telescope motor cooperating can realize the integral telescopic action of robot.
Composition graphs 1, Fig. 2, Fig. 3, is described in detail to the intermediate connecting mechanism of robot.Intermediate connecting mechanism is made up of center pivoted frame I9, center pivoted frame II11, steer motor I39, steer motor II38, central cross axle 10.Central cross axle 10 is fixedly installed in the middle of center pivoted frame I9 and center pivoted frame II11 by bearing, and center pivoted frame I9 and center pivoted frame II11 can be realized up and down by central cross axle 10, two degrees of freedom in the both direction of left and right is rotated.Steer motor I39 is fixedly installed on the pivoted frame I9 of center, and is connected by coupling one end by the output shaft of steer motor I39 and central cross axle 10.Steer motor II38 is fixedly installed on the pivoted frame II11 of center, and is connected by the other end of coupling by the output shaft of steer motor II38 and central cross axle 10.By the above-mentioned relation that is connected, steer motor I39 drives pivoted frame II11 part in center to rotate, and steer motor II38 drives pivoted frame I9 part in center to rotate.Intermediate connecting mechanism is fixedly connected with the telescope motor frame II12 of extending means II part with the telescope motor frame I8 of extending means I part respectively by center pivoted frame I9, center pivoted frame II11, by the above-mentioned relation that is connected, each steer motor cooperating can realize the binary go to action in robot space.
Fig. 4 a-Fig. 4 g, course of action robot being realized in pipeline 58 to advance climbing is described in detail.First, after robot enters pipeline 58, telescope motor I40, the telescope motor II37 work each extending means portion retracts of drive machines people respectively, robot fuselage is contracted to the shortest, simultaneously arm telescope motor I53, arm telescope motor II51, arm telescope motor III23, the arm telescope motor IV26 each telescopic boom part of drive machines people respectively that works is stretched out, each friction pad is fully contacted with pipeline 58 inwall, and make Telescopic arm of robot keep tensioning state, thus robot is fixed at pipeline 58 inwall specified position.Secondly, arm telescope motor I53, arm telescope motor II51 task driven telescopic boom I part, telescopic boom II portion retracts, be contracted to appropriate location by friction pad I1, friction pad II47.Meanwhile, work drive machines people extending means I part, extending means II part respectively of telescope motor I40, telescope motor II37 is stretched out, and Telescopic arm of robot I part and telescopic boom II is partly extend out to most long status.Again, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part respectively, telescopic boom II part extend out to appropriate location, friction pad I1, friction pad II47 are fully contacted with pipeline 58 inwall, and make Telescopic arm of robot I part, telescopic boom II part keep tensioning state, robot is fixed on pipeline 58 inwall.Then, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part, telescopic boom IV portion retracts respectively, and friction pad III20, friction pad IV31 are contracted to appropriate location.Simultaneous retractable motor I 40, telescope motor II37 task driven robot extending means I part, extending means II portion retracts are to most short status.Finally, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part respectively, telescopic boom IV part is stretched out, friction pad III20, friction pad IV31 are extend out to appropriate location, friction pad III20, friction pad IV31 are fully contacted with pipeline 58 inwall, and make Telescopic arm of robot III part, telescopic boom IV part keep tensioning state, robot is fixed on pipeline 58 inwall.So far, robot completes the advance climbing motion of one-period, repeats the linear type advance that this action can realize robot.
When robot runs into the obstacle that cannot pass through in advance process, original place can be realized by backward movement and retreat, robot be back to initial position or other specified positiones thus can reselect current pipeline 58.
Composition graphs 4a-Fig. 5 g, course of action robot being realized retreating in pipeline 58 to climbing is described in detail.First, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part, telescopic boom IV portion retracts respectively, and friction pad III20, friction pad IV31 are contracted to appropriate location.Simultaneous retractable motor I 40, telescope motor II37 task driven robot extending means I part, extending means II part extend out to most long status.Secondly, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part respectively, telescopic boom IV part is stretched out, friction pad III20, friction pad IV31 are extend out to appropriate location, friction pad III20, friction pad IV31 are fully contacted with pipeline 58 inwall, and make Telescopic arm of robot III part, telescopic boom IV part keep tensioning state, robot is fixed on pipeline 58 inwall.Then, arm telescope motor I53, arm telescope motor II51 task driven telescopic boom I part, telescopic boom II portion retracts, be contracted to appropriate location by friction pad I1, friction pad II47.Meanwhile, telescope motor I40, telescope motor II37 task driven robot extending means I part, extending means II portion retracts, by extremely most to Telescopic arm of robot I part and telescopic boom II portion retracts short status.Finally, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part respectively, telescopic boom II part extend out to appropriate location, friction pad I1, friction pad II47 are fully contacted with pipeline 58 inwall, and make Telescopic arm of robot I part, telescopic boom II part keep tensioning state, robot is fixed on pipeline 58 inwall.So far, robot completes the retrogressing climbing motion of one-period, repeats the linear type retrogressing that this action can realize robot.
Robot runs into less obstacle time mobile in pipeline 58, judging, can cross little obstacle 59 by the contraction deformation of robot when not changing advance route through the sensor carried.
Composition graphs 6a-Fig. 6 p, course of action when running into little obstacle 59 to robot in advance process is described in detail.The sensor carried through robot judges, little obstacle 59 is on the right side of pipeline 58 inwall robot, first, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part, telescopic boom II portion retracts respectively, and friction pad I1, friction pad II47 are contracted to appropriate location; Arm telescope motor III23 task driven telescopic boom III portion retracts, meanwhile, arm telescope motor IV26 task driven telescopic boom IV part is synchronized stretches out, and robot fuselage is moved to the appropriate location near left side.Secondly, work drive machines people extending means I part, extending means II part respectively of telescope motor I40, telescope motor II37 is stretched out, and Telescopic arm of robot I part and telescopic boom II is partly extend out to most long status.Again, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part respectively, telescopic boom II part extend out to appropriate location, make friction pad I1, friction pad II47 and pipeline 58 contact internal walls, and make Telescopic arm of robot I part, telescopic boom II part keep tensioning, robot is fixed on pipeline 58 inwall.Then, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part, telescopic boom IV portion retracts respectively, and friction pad III20, friction pad IV31 are contracted to appropriate location.Simultaneous retractable motor I 40, telescope motor II37 task driven robot extending means I part, extending means II portion retracts are to most short status.Finally, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part respectively, telescopic boom IV part is stretched out, friction pad III20, friction pad IV31 are extend out to appropriate location, make friction pad III20, friction pad IV31 and pipeline 58 contact internal walls, and make Telescopic arm of robot III part, telescopic boom IV part keep tensioning, robot is fixed on pipeline 58 inwall.So far, robot completes the obstacle detouring climbing motion of one-period, repeats this action until robot fully passes over little obstacle 59.Finally, robot realizes obstacle detouring when not changing advance route and passes through.
Robot, when by curved areas 60, is totally divided into two course of action: turning action process and time direct action process.
Composition graphs 7a-Fig. 7 m, to robot being described in detail by turning action process during curved areas 60.First, arm telescope motor I53, arm telescope motor II51 task driven telescopic boom I part, telescopic boom II portion retracts, be contracted to appropriate location by friction pad I1, friction pad II47.Meanwhile, work drive machines people extending means I part, extending means II part respectively of telescope motor I40, telescope motor II37 is stretched out, and Telescopic arm of robot I part and telescopic boom II are partly extend out to appropriate location.Secondly, steer motor II38 task driven robot extending means I part and telescopic boom I part and telescopic boom II part rotate suitable angle to the side of curved areas 60 turning.Again, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part respectively, telescopic boom II part extend out to appropriate location, make friction pad I1, friction pad II47 and curved areas 60 contact internal walls, and make Telescopic arm of robot I part, telescopic boom II part keep tensioning, robot is fixed on the inwall of curved areas 60.Then, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part, telescopic boom IV portion retracts respectively, friction pad III20, friction pad IV31 are contracted to appropriate location, and telescope motor I40, telescope motor II37 task driven robot extending means I part, extending means II portion retracts are to appropriate location.Meanwhile, steer motor II task driven extending means II part and telescopic boom III part and the extremely suitable position of telescopic boom IV partial turn.Finally, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part respectively, telescopic boom IV part is stretched out, friction pad III20, friction pad IV31 are extend out to appropriate location, make friction pad III20, friction pad IV31 and curved areas 60 contact internal walls, and make Telescopic arm of robot III part, telescopic boom IV part keep tensioning, robot is fixed on the inwall of curved areas 60.So far, robot completes the turning climbing motion of one-period, repeats this action until robot arrives fuselage can go back to positive position.
After robot completes turning action process, next step enters back direct action process.Composition graphs 8a-Fig. 8 f, to robot by during curved areas 60 return direct action process be described in detail.First, arm telescope motor I53, arm telescope motor II51 task driven telescopic boom I part, telescopic boom II portion retracts, be contracted to appropriate location by friction pad I1, friction pad II47.Secondly, work drive machines people extending means I part, extending means II part respectively of telescope motor I40, telescope motor II37 is stretched out, and Telescopic arm of robot I part and telescopic boom II are partly extend out to appropriate location.Meanwhile, steer motor II38 task driven robot extending means I part and telescopic boom I part and the suitable angle of telescopic boom II partial turn, make Telescopic arm of robot I part partly get back to the state vertical with curved areas 60 inwall with telescopic boom II.Again, arm telescope motor I53, arm telescope motor II51 work drives telescopic boom I part respectively, telescopic boom II part extend out to appropriate location, make friction pad I1, friction pad II47 and curved areas 60 contact internal walls, and make Telescopic arm of robot I part, telescopic boom II part keep tensioning, robot is fixed on the inwall of curved areas 60.Then, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part, telescopic boom IV portion retracts respectively, friction pad III20, friction pad IV31 are contracted to appropriate location, and telescope motor I40, telescope motor II37 task driven robot extending means I part, extending means II portion retracts are to most short status.Meanwhile, steer motor II task driven extending means II part and telescopic boom III part and telescopic boom IV part rotate suitable angle to the direction that bend is contrary gradually along with the contraction of telescope motor, make Telescopic arm of robot III part partly get back to the state vertical with curved areas 60 inwall with telescopic boom IV.Finally, arm telescope motor III23, arm telescope motor IV26 work drives telescopic boom III part respectively, telescopic boom IV part is stretched out, friction pad III20, friction pad IV31 are extend out to appropriate location, make friction pad III20, friction pad IV31 and curved areas 60 contact internal walls, and make Telescopic arm of robot III part, telescopic boom IV part keep tensioning, robot is fixed on the inwall of curved areas 60.So far, robot complete by during curved areas 60 return positive climbing motion.Finally, robot by curved areas 60, realizes moving on completely.
Robot can carry out repeatedly turning action climbing, after reaching back and just requiring, then carries out back positive climbing motion, even if therefore curved areas 60 size, out-of-shape, robot also can complete turning, realizes moving on.
Claims (1)
1. a Telescopic pipeline inwall climbing robot, comprises intermediate connecting mechanism, four telescopic booms and two extending meanss, it is characterized in that:
Described telescopic boom comprises friction pad, arm telescope motor, arm telescope motor frame, arm telescopic pipe frame linking, arm stretches leading screw, two overhanging draws of arm, telescopic pipe in two arms, the outer end of friction pad and two overhanging draws of arm is connected, the other end of two overhanging draws of arm is fixed with one by arm telescopic pipe frame linking, in two arms, telescopic pipe and arm telescope motor are fixedly mounted on arm telescope motor frame, in two arms, telescopic pipe adopts to be slidably matched and is installed in the overhanging draw of arm respectively, stretch leading screw and arm telescopic pipe frame linking of arm adopts screw-driven fit system to install, arm stretches leading screw by the output shaft fixed connection of coupling and arm telescope motor,
Described extending means is by arm link press span, telescope motor, telescope motor frame, telescopic pipe frame linking, flexible leading screw, two overhanging draws and two interior telescopic pipes are formed, one end of arm link press span and two overhanging draws is connected, the other end of two overhanging draws is fixed with one by telescopic pipe frame linking, two interior telescopic pipes and telescope motor are fixedly mounted on telescope motor frame, two interior telescopic pipes adopt to be slidably matched and are installed on two overhanging draws respectively, flexible leading screw and telescopic pipe frame linking adopt screw-driven fit system to install, flexible leading screw by the output shaft fixed connection of coupling and telescope motor,
Described intermediate connecting mechanism comprises center pivoted frame I, center pivoted frame II, steer motor I, steer motor II, central cross axle, central cross axle is fixedly installed in the middle of center pivoted frame I and center pivoted frame II by bearing, steer motor I to be fixedly installed on the pivoted frame I of center and to be connected by coupling one end by the output shaft of steer motor I and central cross axle, and steer motor II to be fixedly installed on the pivoted frame II of center and to be connected by the other end of coupling by the output shaft of steer motor II and central cross axle;
Intermediate connecting mechanism is fixedly connected with the telescope motor frame of two extending meanss respectively by center pivoted frame I, center pivoted frame II;
The arm link press span of each extending means is fixedly connected with the arm telescope motor frame of a telescopic boom, arm telescope motor frame is symmetrical arranged two telescopic booms.
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| CN201310625043.4A CN103615630B (en) | 2013-11-29 | 2013-11-29 | Extensible robot for climbing inner wall of pipeline |
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| CN201310625043.4A CN103615630B (en) | 2013-11-29 | 2013-11-29 | Extensible robot for climbing inner wall of pipeline |
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| CN103615630B true CN103615630B (en) | 2015-07-22 |
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| CN101839385A (en) * | 2009-03-19 | 2010-09-22 | 许星元 | Complex pipeline moving rat |
| CN102114878A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Walking type pipeline robot |
| CN102773860A (en) * | 2012-07-10 | 2012-11-14 | 潘济安 | Throwable variable structure spherical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101255674B1 (en) * | 2011-11-02 | 2013-04-17 | 연세대학교 산학협력단 | In pipe driving robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2933744Y (en) * | 2006-02-13 | 2007-08-15 | 北京联合大学 | Connecting rod creeping conduit robot |
| CN101839385A (en) * | 2009-03-19 | 2010-09-22 | 许星元 | Complex pipeline moving rat |
| CN102114878A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Walking type pipeline robot |
| CN101818842A (en) * | 2010-04-02 | 2010-09-01 | 浙江师范大学 | Pipeline robot walking mechanism realizing walking by using self-locking |
| CN102773860A (en) * | 2012-07-10 | 2012-11-14 | 潘济安 | Throwable variable structure spherical robot |
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