CN103672295A - Peristaltic pipeline robot crawling mechanism - Google Patents
Peristaltic pipeline robot crawling mechanism Download PDFInfo
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- CN103672295A CN103672295A CN201310656981.0A CN201310656981A CN103672295A CN 103672295 A CN103672295 A CN 103672295A CN 201310656981 A CN201310656981 A CN 201310656981A CN 103672295 A CN103672295 A CN 103672295A
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- locking mechanism
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
- F16L2101/10—Treating the inside of pipes
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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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- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a peristaltic pipeline robot crawling mechanism which is suitable for the pipeline diameter between 160mm and 220mm. The three-segment modularization design is adopted in the structure of the mechanism, the tail portion and the end portion of the mechanism are provided with a front locking mechanism and a rear locking mechanism respectively, and the middle of the mechanism is a telescopic mechanism. When the peristaltic pipeline robot crawling mechanism moves forward in a pipeline, the front locking mechanism firstly loosens, the rear locking mechanism is locked, the telescopic mechanism extends and pushes out the front locking mechanism forward, then the front locking mechanism is locked, the rear locking mechanism loosens, the telescopic mechanism retracts and drives the rear locking mechanism to move forward to finish an advancing period, the peristaltic pipeline robot crawling mechanism moves circularly, and accordingly periodical advancing of a peristaltic pipeline robot is achieved. Otherwise, periodical back moving of the peristaltic pipeline robot is achieved. By means of the modularized design, the peristaltic pipeline robot crawling mechanism has certain pipe diameter change adaptive capacity and bent pipe passing capacity, and peristaltic advancing or back moving of the robot in the pipeline can be achieved.
Description
Technical field
The present invention relates to a kind of creeping type pipeline robot crawling mechanism.
Background technique
At present, pipeline is widely used in many industries such as oil, chemical industry, plumbing, and these pipelines are after long-time use, easily occurs that corrosion and fatigue is destroyed or damaged and cause leakage accident etc.Therefore, need to pipeline, safeguard termly and overhaul, however due to the residing environment of pipeline often manpower limit or people can't be obtained, maintenance difficulty very large.The detection that the research of pipeline robot is pipeline, maintenance provide new technological means, have changed the single-mode of conventional pipelines excavation sampling observation.The domestic research for pipeline robot has had certain basis, but with compare in addition a certain distance abroad.
At present both at home and abroad the robot of development can be divided into the types such as wheeled, crawler, creeping type by move mode, and wheeled pipeline robot tractive force is large, has very high bearing capacity, easily design with manufacture.But its obstacle climbing ability a little less than, pipeline bad adaptability.Crawler belt type pipeline robot, has overcome the shortcoming of wheeled pipeline robot, but between crawler belt and tube wall, excessive frictional force can produce and impact inner-walls of duct, easily damage pipeline.Squirmy robot obstacle climbing ability is strong, stable, but the creepage robot that adopts marmem, piezoelectricity metal and Electromagnetic Drive to pipeline require too highly, adaptive capacity is poor, motion speed is slow, a little less than bearing capacity.
Therefore, overcoming on the basis of above three kinds of pipeline robot shortcomings, designing and developing a kind of novel creeping type pipeline robot crawling mechanism.Have important practical significance.
Summary of the invention
The object of this invention is to provide a kind of creeping type pipeline robot crawling mechanism, adopt modular design, can adapt to the pipe diameter between 160-220mm.
Object of the present invention is achieved through the following technical solutions:
Creeping type pipeline robot crawling mechanism, comprises front locking mechanism, extending means, rear locking mechanism, it is characterized in that: front locking mechanism is arranged on the front end of extending means by coupling, and rear locking mechanism is arranged on the rear end of extending means by coupling.
When pipeline robot advances, first front locking mechanism unclamps, rear locking mechanism locking, when extending means extends, before driving, locking mechanism moves forward, subsequently front locking mechanism locking, rear locking mechanism unclamps, when extending means shrinks, after driving, locking mechanism moves forward, and realizes a progressive motion cycle of pipeline robot;
When pipeline robot retreats, first front locking mechanism locking, rear locking mechanism unclamps, when extending means extends, after driving, locking mechanism moves backward, and front locking mechanism unclamps subsequently, rear locking mechanism locking, when extending means shrinks, before driving, locking mechanism moves backward, realizes a return motion cycle of pipeline robot;
When current locking mechanism and rear locking mechanism are all locked, can make pipeline robot stably rest on somewhere, for pipeline robot, carrying out the operations such as pipe detection maintenance provides a working platform.
According to an aspect of the present invention, provide a kind of creeping type pipeline robot crawling mechanism, it is characterized in that comprising:
Extending means;
The front coupling being connected with the front end of extending means,
The rear coupling being connected with the rear end of extending means,
Front locking mechanism, it is connected with the front end of extending means by front coupling, for locking or unclamp with inner-walls of duct;
Rear locking mechanism, it is connected with the rear end of extending means by rear coupling, for locking or unclamp with inner-walls of duct.
According to a further aspect of the present invention, the method for creeping of creeping type pipeline robot crawling mechanism is provided, it is characterized in that comprising:
A) make the second motor forward in front locking mechanism, thereby by the second coupling, drive the second leading screw forward, the second feed screw nut is moved to the left, drive slidercrank mechanism action, make to be hinged on large guide rod upper support arm and move inward, thereby realize unclamping of front locking mechanism and tube wall; Make the second motor reversal in rear locking mechanism, the locking of locking mechanism and tube wall after realizing;
B) make the first motor forward in extending means, thereby drive the first leading screw forward by the first coupling, because rear locking mechanism and pipeline are in locking state, the rear end cover being now connected with rear locking mechanism by rear coupling is fixing indefinite, and then first feed screw nut, fixed block, shell is also in maintaining static state, thereby make the first motor, the first coupling, the first leading screw is around self axis rotation, drive the first front cover, the first guide rod, the first front casing, casing in first, the first rear box, the first round nut, the first sleeve, clutch shaft bearing is as an integrated moving,
C) make the second motor reversal in front locking mechanism, thereby by the second coupling, drive the second leading screw to reverse, the second feed screw nut is moved, drive slidercrank mechanism action, make to be hinged on large guide rod upper support arm and outwards move, thus the locking of the front locking mechanism of realization and tube wall; Make the second motor forward in rear locking mechanism, thereby realize unclamping of rear locking mechanism and tube wall;
D) make the first motor reversal in extending means, thereby drive the first leading screw to reverse by the first coupling, because front locking mechanism and pipeline are in locking state, in the first front cover being now connected with front locking mechanism by front coupling, the first guide rod, the first front casing, first, casing, the first rear box, the first round nut, the first sleeve, clutch shaft bearing are done as a whole maintaining static, and the first feed screw nut drives fixed block, shell, rear end cover, rear coupling and rear locking mechanism as an integrated moving.
The outstanding substantive distinguishing features of technical solution of the present invention and significant progressive being mainly reflected in:
Compact structure of the present invention, be easy to realize, obstacle climbing ability is strong, and pipeline is adaptable, the advantage that obstacle climbing ability is strong, and its power source is no longer to be provided by the frictional force between driving wheel and tube wall, thus can impulse piping inwall during operation, stable.Pipeline robot can be suitable for calibers different between 160-220mm, and application prospect is good.
According to an aspect of the present invention, provide a kind of creeping type pipeline robot crawling mechanism, it is characterized in that comprising:
Front locking mechanism and rear locking mechanism, loosening or locking for pipeline robot and inner-walls of duct;
Extending means, cooperatively interacts with front locking mechanism and rear locking mechanism, realizes the creeping type of pipeline robot in pipeline and advances or retreat.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Fig. 1 is creeping type pipeline robot crawling mechanism general structure schematic diagram according to an embodiment of the invention;
Fig. 2 is extending means structural representation according to an embodiment of the invention.
Fig. 3 is front locking mechanism according to an embodiment of the invention or rear locking mechanism structure schematic diagram.
Reference character:
Embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, creeping type pipeline robot crawling mechanism according to an embodiment of the invention adopts modular design, is divided into front locking mechanism, extending means, rear locking mechanism totally 3 modules.
Front locking mechanism 1 is identical with rear locking mechanism 3 structures, by front coupling 4 and rear coupling 5, be arranged on respectively the front-end and back-end of extending means 2, respectively comprise casing 26, the second rear box 27, the second motor 28, the second coupling 29, the second round nut 30, the second sleeve 31, the second bearing 32, little guide rod 33, support arm 34, bolt 35, nut 36, bearing pin 37, large guide rod 38, fixed block 39 in the second front cover 21, the second leading screw 22, the second guide rod 23, the front casing of the second feed screw nut 24, second 25, second.
Its medium and small guide rod 33, large guide rod 38, fixed block 39 and the second guide rod 23 form one group of slidercrank mechanism, at whole circumferencial direction with symmetrical 3 groups of these slidercrank mechanisms of 120 degree.The second motor 28 and the second leading screw 22 link together by the second coupling 29, and the second leading screw 22 is bearing on the second front casing 25 by the second bearing 32 and the second round nut 30.In the second front casing 25, second, casing 26, the second rear box 27 use bolts 44,45 link together.The second feed screw nut 24 is contained on the second leading screw 22, along the second guide rod 23, moves left and right.Fixed block 39 and the second feed screw nut 24 are installed together by lock bolt 40, and move with the second feed screw nut 24, and then drive slidercrank mechanism action, the support arm 34 hinged with large guide rod 38 moved in or out, thereby realize unclamping or locking of robot and tube wall.
Referring to Fig. 2, extending means 2 comprises the first front cover 6, fixed block 7, the first guide rod 8, the first feed screw nuts 9, shell 10, casing 13 in the front casing 12, the first of the first leading screw 11, the first, the first rear box 14, rear end cover 15, the first motors 16, the first coupling 17, the first round nut 18, the first sleeves 19, clutch shaft bearing 20.
Wherein, the first motor 16 and the first leading screw 11 link together by the first coupling 17, and the first leading screw 11 is bearing on the first front casing 12 by clutch shaft bearing 20 and the first round nut 18.In the first front casing 12, first, casing 13, the first rear box 14 use bolts 41,42 link together.The first feed screw nut 9 is contained on the first leading screw 11, along the first guide rod 8, moves left and right.The first feed screw nut 9, fixed block 7, shell 10 and rear end cover 15 link together by bolt 43, the first guide rod 8 and the first front cover 6 being threaded togather by the first guide rod 8 front ends.
In concrete application, when pipeline robot advances (suppose direction of advance be in figure left), whole process can be divided into four steps.
The first step: the second motor 28 forwards in front locking mechanism 1, by the second coupling 29, drive the second leading screw 22 forwards, the second feed screw nut 24 on it is moved to the left, drive 3 groups of slidercrank mechanism actions, make to be hinged on large guide rod 38 upper support arms 34 and move inward, thereby realize unclamping of front locking mechanism 1 and tube wall.According to same principle, the second motor 28 reversions in rear locking mechanism 3, the locking of locking mechanism 3 and tube wall after realizing.
Second step: the first motor 16 forwards in extending means 2, by the first coupling 17, drive the first leading screw 11 forwards, and due to rear locking mechanism 3 with pipeline in locking state, the rear end cover 15 being now connected with rear locking mechanism 3 by rear coupling 5 is fixing indefinite, and then first feed screw nut 9, fixed block 7, shell 10 is also in maintaining static state, thereby make the first motor 16, the first coupling 17, the first leading screw 11 is around self axis rotation, drive the first front cover 6, the first guide rod 8, the first front casing 12, in first, casing 13, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is done as a whole being moved to the left.
The 3rd step: the second motor 28 reversions in front locking mechanism 1, by the second coupling 29, drive the second leading screw 22 reversions, the second feed screw nut 24 on it moves right, drive 3 groups of slidercrank mechanism actions, make to be hinged on large guide rod 38 upper support arms 34 and outwards move, thus the locking of the front locking mechanism 1 of realization and tube wall.According to same principle, the second motor 28 forwards in rear locking mechanism 3, after realizing, locking mechanism 3 and tube wall unclamps.
The 4th step: the first motor 16 reversions in extending means 2, by the first coupling 17, drive the first leading screw 11 reversions, and due to front locking mechanism 1 with pipeline in locking state, the first front cover 6 being now connected with front locking mechanism 1 by front coupling 4, the first guide rod 8, the first front casing 12, in first, casing 13, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is done as a whole maintaining static, the first feed screw nut 9 drives fixed block 7, shell 10, rear end cover 15, rear coupling 5 and rear locking mechanism 3 are done as a whole being moved to the left.
So far completed a progressive motion cycle, the creeping type that can realize pipeline robot by above four steps that circulate advances.When with above four step motion controls when contrary, the creeping type that can realize pipeline robot retreats.
When current locking mechanism 1 and rear locking mechanism 3 are all locked, can make pipeline robot stably rest on somewhere in pipeline, for detecting the operations such as maintenance, provide a working platform.
Creeping type pipeline robot crawling mechanism according to an embodiment of the invention is applicable to for example pipe diameter of about 160-220mm, and the creeping type that can realize in pipeline moves forward and backward, and also can be used as the stable pipe interior somewhere that rests on of working platform.
Below be only concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technological scheme of formation, within all dropping on rights protection scope of the present invention.
Claims (7)
1. a creeping type pipeline robot crawling mechanism, is characterized in that comprising:
Extending means (2);
The front coupling (4) being connected with the front end of extending means (2),
The rear coupling (5) being connected with the rear end of extending means (2),
Front locking mechanism (1), it is connected with the front end of extending means (2) by front coupling (4), for locking or unclamp with inner-walls of duct;
Rear locking mechanism (3), it is connected with the rear end of extending means (2) by rear coupling (5), for locking or unclamp with inner-walls of duct.
2. according to the creeping type pipeline robot crawling mechanism of claim 1, it is characterized in that front locking mechanism (1) is identical with rear locking mechanism (3) structure, respectively comprises:
Form the little guide rod (33) of a slidercrank mechanism, large guide rod (38), fixed block (39) and the second guide rod (23);
The second coupling (29);
The second motor (28) linking together by the second coupling (29) and the second leading screw (22);
Casing (26), the second rear box (27) and motor (28) in the second front casing (25), second, wherein in the second front casing (25), second casing (26), the second rear box (27) and motor (28) with being fixed together;
The second bearing (32) and the second round nut (30); The second leading screw (22) is bearing on the second front casing (25) by the second bearing (32) and the second round nut (30);
The second feed screw nut 24, it is contained on the second leading screw 22 and along the second guide rod 23 and moves;
The support arm 34 hinged with large guide rod 38,
Wherein, fixed block 39 and the second feed screw nut 24 link together by lock bolt 40, and move with the second feed screw nut 24, and then drive slidercrank mechanism to move, the support arm 34 hinged with large guide rod 38 moved in or out, thereby realize unclamping or locking of robot and tube wall.
3. according to the creeping type pipeline robot crawling mechanism of claim 2, it is characterized in that front locking mechanism (1) and rear locking mechanism (3) are respectively included in circumferencial direction with slidercrank mechanism described in symmetrical 3 groups of 120 degree.
4. according to the creeping type pipeline robot crawling mechanism of one of claim 1-3, it is characterized in that extending means 2 comprises:
Along the first guide rod 8,
Casing 13, the first rear box 14 and the first motor 16 in the first front casing 12, first,
Clutch shaft bearing 20 and the first round nut 18,
The first coupling 17,
The first motor 16 linking together by the first coupling 17 and the first leading screw 11, wherein the first leading screw 11 is bearing on the first front casing 12 by clutch shaft bearing 20 and the first round nut 18, in the first front casing 12, first, casing 13, the first rear box 14 and the first motor 16 are fixed together
Be contained in the first feed screw nut 9 on the first leading screw 11, it moves along the first guide rod 8,
The first front cover 6,
Fixed block 7, shell 10 and rear end cover 15, wherein
The first feed screw nut 9, fixed block 7, shell 10 and rear end cover 15 are fixed together, and the first guide rod 8 and the first front cover 6 are fixed together.
5. the method for creeping of creeping type pipeline robot crawling mechanism, described creeping type pipeline robot crawling mechanism according to claim 4, is characterized in that comprising:
A) make the second motor 28 forwards in front locking mechanism 1, thereby drive the second leading screw 22 forwards by the second coupling 29, the second feed screw nut 24 is moved to the left, the action of drive slidercrank mechanism, make to be hinged on large guide rod 38 upper support arms 34 and move inward, thereby realize unclamping of front locking mechanism 1 and tube wall; Make the second motor 28 reversions in rear locking mechanism 3, the locking of locking mechanism 3 and tube wall after realizing;
B) make the first motor 16 forwards in extending means 2, thereby drive the first leading screw 11 forwards by the first coupling 17, due to rear locking mechanism 3 with pipeline in locking state, the rear end cover 15 being now connected with rear locking mechanism 3 by rear coupling 5 is fixing indefinite, and then first feed screw nut 9, fixed block 7, shell 10 is also in maintaining static state, thereby make the first motor 16, the first coupling 17, the first leading screw 11 is around self axis rotation, drive the first front cover 6, the first guide rod 8, the first front casing 12, in first, casing 13, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is as an integrated moving,
C) make the second motor 28 reversions in front locking mechanism 1, thereby drive the second leading screw 22 reversions by the second coupling 29, the second feed screw nut 24 is moved, the action of drive slidercrank mechanism, make to be hinged on large guide rod 38 upper support arms 34 and outwards move, thus the locking of the front locking mechanism 1 of realization and tube wall; Make the second motor 28 forwards in rear locking mechanism 3, thereby realize unclamping of rear locking mechanism 3 and tube wall;
D) make the first motor 16 reversions in extending means 2, thereby drive the first leading screw 11 reversions by the first coupling 17, due to front locking mechanism 1 with pipeline in locking state, the first front cover 6 being now connected with front locking mechanism 1 by front coupling 4, the first guide rod 8, the first front casing 12, in first, casing 13, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is done as a whole maintaining static, and the first feed screw nut 9 drives fixed block 7, shell 10, rear end cover 15, rear coupling 5 and rear locking mechanism 3 are as an integrated moving.
6. according to the method for claim 5, it is characterized in that:
Steps A is carried out in circulation successively)-B)-C)-D).
7. according to the method for claim 5, it is characterized in that:
Step D is carried out in circulation successively)-C)-B)-A).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656981.0A CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656981.0A CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
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| CN103672295A true CN103672295A (en) | 2014-03-26 |
| CN103672295B CN103672295B (en) | 2016-04-20 |
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| CN201310656981.0A Expired - Fee Related CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
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| CN104165257A (en) * | 2013-12-30 | 2014-11-26 | 山东北方光学电子有限公司 | Step-length-fixed telescopic automatic walking mechanism |
| CN104266037A (en) * | 2014-08-11 | 2015-01-07 | 北京航空航天大学 | Telescopic pipeline robot device |
| CN105689785A (en) * | 2016-05-01 | 2016-06-22 | 羊丁 | Steel strip tube internal support ring-cutting robot |
| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
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| CN107270028A (en) * | 2017-06-29 | 2017-10-20 | 广东科朗管道修复技术有限公司 | A kind of automatically walk pipeline rehabilitation device and pipe repairing method |
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| CN107489856A (en) * | 2017-09-11 | 2017-12-19 | 三峡大学 | Stepped pipe pipeline robot |
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| CN104165257B (en) * | 2013-12-30 | 2018-01-30 | 山东北方光学电子有限公司 | The telescopic automatic traveling mechanism of fixed step size |
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| CN105689785A (en) * | 2016-05-01 | 2016-06-22 | 羊丁 | Steel strip tube internal support ring-cutting robot |
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| CN108555915B (en) * | 2016-07-13 | 2020-11-17 | 山东诺创电力科技有限公司 | Method for quickly and accurately inspecting iron tower |
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