CN103982750A - Four-branched chain parallel wheel pipeline robot - Google Patents
Four-branched chain parallel wheel pipeline robot Download PDFInfo
- Publication number
- CN103982750A CN103982750A CN201410211012.9A CN201410211012A CN103982750A CN 103982750 A CN103982750 A CN 103982750A CN 201410211012 A CN201410211012 A CN 201410211012A CN 103982750 A CN103982750 A CN 103982750A
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- China
- Prior art keywords
- side chain
- jackscrew
- hinge
- bar
- push rod
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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
- 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
- F16L55/40—Constructional aspects of the body
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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
A four-branched chain parallel wheel pipeline robot comprises first to third side rod system branched chains (B, C and D) and an electric push rod system branched chain (A). Three uniformly distributed square slots a, b and c of a first space hinge (A-1) in the electric push rod system branched chain (A) are respectively connected with a ends of first rods (B-1) of the first to third side rod system branched chains (B, C and D), are fixed by pin shafts and form rotation; three uniformly distributed square slots a, b and c of a second space hinge (A-7) in the electric push rod system branched chain (A) are respectively connected with a ends of second rods (B-3) of the first to third side rod system branched chains (B, C and D), are fixed by pin shafts and form rotation. The robot can stably walk in a pipeline by the support force between the first to third side rod system branched chains (B, C and D) and the pipeline wall, reducing is realized by the telescopic motion of the electric push rod system branched chain (A) and the robot is suitable for the pipelines of different diameters.
Description
Technical field:
The present invention relates to a kind of carrying robot, relate to especially a kind of four side chains wheeled pipeline robot in parallel, it can utilize extending means to realize the adaptation to different-diameter pipeline inwall, also can utilize wheeled winding machine to move, can be used as the apparatus of transport that detects maintenance pipeline, also can be applicable to military investigation instrument and teaching aid.
Background technique:
Flexibly, degrees of freedom is little, is widely used in robot architecture's design in wheeled robot motion.China's pipeline robot technique developed comparatively fast in recent years, wherein in the majority with sufficient formula walking robot.Chinese invention patent CN101973319 discloses a kind of hexahedron walking mechanism especially.This mechanism is made up of two cross-baves and four side chains, and each cross-bar is connected with one end of four side chains respectively, is driven, thereby realize moving and turning to of mechanism by two motors.But sufficient formula walking robot motion is discontinuous, controls complexity, very high to manufacture accuracy requirement, and this deformation is less, space is limited, affects its roaming capability.The present invention designs a kind of four side chains wheeled pipeline robot in parallel with large deformation ability, has improved the Applicable scope of mechanism in the travelling performance that improves mechanism.
Summary of the invention:
Technical problem to be solved by this invention is: the entirety of mechanism is out of shape and mechanism simplifying to control section on a large scale.
The present invention solves the technological scheme of its technical problem:
A kind of four side chains wheeled pipeline robot in parallel, is characterized in that: this mechanism comprises that the first to the 3rd side lever is that side chain and electric pushrod are side chain.
The first to the 3rd side lever is that branched structure is measure-alike, and the first side lever is that a that b end and first side lever of side chain the first bar is the bar of middle the leverage of side chain holds and inserts respectively in same Hooke hinge two end slots, fixes with jackscrew; The first side lever is that the b end of the b end of side chain the second bar and the bar of middle leverage inserts respectively in the circular groove of same Hooke hinge two ends, fixes with jackscrew; So just complete the assembling that the first side lever is side chain.
First and second coupling shaft a end inserts respectively in the circular groove d of first and second space hinge, fixes with jackscrew; The b end of the first coupling shaft and a of a first motor casing Hooke chain connection for end, fixes with jackscrew; The b of the second coupling shaft b end and push rod Hooke chain connection for end, fixes with jackscrew; The rotating shaft of push-rod electric machine hold through a of the second motor casing and a that inserts push rod holds, and fixes with jackscrew; The b end of first and second motor casing is inserted at the two ends of push-rod electric machine simultaneously, and two motor casing surroundings are connected and fixed with stay bolt; Electric pushrod is in side chain, and the first bar a end that three square groove a, b of the first space hinge surrounding, c are side chain with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; The second bar a end that three square groove a, b of second space hinge surrounding, c are side chain with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; So just, completed the assembling of four side chains; Be the support force of side chain and tube wall by the first to the 3rd side lever, make robot stable walking in pipeline, and the fore and aft motion that is side chain by electric pushrod realizes reducing, adapt to the pipeline of different-diameter.
The present invention compares the beneficial effect having with prior art:
Whole mechanism can realize the pipeline of different inner diameters is in a big way adapted to.A push rod in the middle of this mechanism only needs to control, realizes himself convergent-divergent, comparatively easy on controlling.Meanwhile, utilize initiatively train to combine with passive train, can make robot move steadily reliable.
Brief description of the drawings:
The overall structure figure of a kind of four side chains of Fig. 1 wheeled pipeline robot in parallel;
Fig. 2 electric pushrod is the design sketch of side chain;
Fig. 3 electric pushrod is the blast amplification effect figure of the blast amplification effect figure of the first space hinge in side chain, the first coupling shaft, Hooke hinge and second space hinge, the second coupling shaft, Hooke hinge;
Fig. 4 electric pushrod is the first motor casing in side chain and the connection diagram of the second motor casing;
Fig. 5 electric pushrod is the first motor casing in side chain;
Fig. 6 electric pushrod is the second motor casing in side chain;
Fig. 7 the first side lever is side chain the first bar;
Fig. 8 the first side lever is the structural drawing of side chain;
The bar of leverage in the middle of Fig. 9;
The structural drawing of leverage in the middle of Figure 10;
The shortest structural drawing of entirety of a kind of four side chains of Figure 11 wheeled pipeline robot in parallel;
The longest structural drawing of entirety of a kind of four side chains of Figure 12 wheeled pipeline robot in parallel;
Figure 13 electric pushrod is the push rod in side chain;
Figure 14 is the burst effect figure of train initiatively;
The burst effect figure of the driven train of Figure 15;
Figure 16 electric pushrod is the first coupling shaft in side chain;
Figure 17 electric pushrod is the first space hinge in side chain;
The wheel plate of the driven train of Figure 18;
Figure 19 is the wheel plate of train initiatively.
Embodiment:
Below in conjunction with drawings and Examples, technical solution of the present invention is described in detail:
As shown in Figure 1, a kind of four side chains wheeled pipeline robot in parallel, is characterized in that: this mechanism comprises that the first to the 3rd side lever is that side chain (B, C, D) and electric pushrod are side chain (A).
As shown in Fig. 7,8,9,10, the first to the 3rd side lever is that side chain (B, C, D) physical dimension is identical, the first side lever is that a that b end and first side lever of side chain (B) the first bar (B-1) is the bar (B-2-2) of middle the leverage (B-2) of side chain (B) holds and inserts respectively in same Hooke hinge (5) two end slots, fixes with jackscrew; The first side lever is that the b end of the b end of side chain (B) the second bar (B-3) and the bar (B-2-2) of middle leverage (B-2) inserts respectively in the circular groove of same Hooke hinge (5) two ends, fixes with jackscrew; So just complete the assembling that the first side lever is side chain (B).
As shown in Figure 2,3, first and second coupling shaft (A-2, A-6) a end inserts respectively in the circular groove d of first and second space hinge (A-1, A-7), fixes with jackscrew; The b end of the first coupling shaft (A-2) and a of the first motor casing (A-3) hold and are connected with a Hooke hinge (5), fix with jackscrew; The second coupling shaft (A-6) b end and the b of push rod (A-5) hold and are connected with a Hooke hinge (5), fix with jackscrew; The rotating shaft of push-rod electric machine (1) hold through a of the second motor casing (A-4) and a that inserts push rod (A-5) holds, and fixes with jackscrew; The b end of first and second motor casing (A-3, A-4) is inserted at the two ends of push-rod electric machine (1) simultaneously, and two motor casing surroundings are connected and fixed with stay bolt.Electric pushrod is in side chain (A), the a end that three square groove a, b of the first space hinge (A-1) surrounding, c are first bar (B-1) of side chain (B, C, D) with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; The a end that three square groove a, b of second space hinge (A-7) surrounding, c are second bar (B-3) of side chain (B, C, D) with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; So just, completed the assembling of four side chains (A, B, C, D).
Be side chain (B, C, D) and the support force of tube wall by the first to the 3rd side lever, make robot stable walking in pipeline, and the fore and aft motion that is side chain (A) by electric pushrod realizes reducing, adapt to the pipeline of different-diameter.
As shown in Figure 2, electric pushrod is that side chain (A) comprises first and second space hinge (A-1, A-7), first and second coupling shaft (A-2, A-6), first and second motor casing (A-3, A-4), push rod (A-5), second space hinge (A-7), motor (1) and two Hooke hinges (5); First and second space hinge (A-1, A-7) surrounding is separated by, and (a, b, c), arrange through hole and be convenient to pack into bearing pin on cell wall for three square grooves of 120 °; Circular groove (d) and first and second coupling shaft a end is connected, in three side openings of 120 ° of being separated by cell wall for jackscrew is installed.
As shown in figure 16, first and second coupling shaft (A-2, A-6) physical dimension is identical, and the first coupling shaft (A-2) a end side surface has three planes, is mutually 60 ° of layouts, and the circular groove in each plane is used for jackscrew is installed; The first coupling shaft (A-2) b end side surface has two planes, and parallel to each other, the circular groove in each plane is fixed in order to jackscrew;
As shown in Figure 4,5, 6, uniform 4 through holes of first and second motor casing (A-3, A-4) distolateral wall of b; In the large through-hole of the first motor casing (A-3) a end, insert Hooke hinge (5) one end, the distolateral wall of a has two top wire holes, becomes 180 ° of layouts, to jackscrew is installed; The second motor casing (A-4) a end end face has two screw holes, become 180 ° of layouts, be connected fasteningly with screw with motor (1), motor (1) and the second motor casing (A-4) be linked to be as a whole, to facilitate transmitting torque;
As shown in figure 13, in push rod (A-5) a end large through-hole, insert Hooke hinge (5) one end, sidewall has two top wire holes, becomes 180 ° of layouts, to jackscrew is installed.
Between the first space hinge (A-1) and push rod (A-5), being connected to universal joint pair is connected, push rod (A-5) self forms sliding pair, is connected to universal joint pair and is connected between second space hinge (A-7) and push rod (A-5).
As shown in Fig. 9,10, middle leverage (B-2), respectively there are two through holes at bar (B-2-2) two ends, and driven train (B-2-1) and initiatively respectively with two groups of through holes of train (B-2-3) are joined with bolts.
As shown in figure 15, driven train (B-2-1), comprise follower (B-2-1-1), long sleeve (B-2-1-2), bearing support (B-2-1-3), wheel shaft (B-2-1-4), angular contact ball bearing (B-2-1-5), short sleeve (B-2-1-6) and wheel plate (B-2-1-7); Bearing support (B-2-1-3) inserts in the central through bore of wheel plate (B-2-1-7), realizes interference fit; Angular contact ball bearing (B-2-1-3) inserts in bearing support (B-2-1-3), realizes interference fit; Wheel shaft (B-2-1-4) inserts in follower (B-2-1-1) through angular contact ball bearing (B-2-1-5), screw screws in the blind hole of wheel shaft (B-2-1-4) end through the center hole of follower (B-2-1-1), axle head is fixed with back-up ring.
As shown in figure 18, between the corresponding through hole a of two groups of wheel plates (B-2-1-7), put into long sleeve (B-2-1-2), and be fixedly connected with bolt; Between the corresponding through hole b of two groups of wheel plates (B-2-1-7), put into short sleeve (B-2-1-6), and be fixedly connected with bolt, make bar (B-2-2) and driven train (B-2-1) be linked to be an entirety.
As shown in figure 14, initiatively train (B-2-3), comprises driving wheel (B-2-3-1), short sleeve (B-2-3-2), wheel plate (B-2-3-3), long sleeve (B-2-3-4) and dual-axle motor (2); The annexation of above-mentioned each part is: respectively there are four apertures at dual-axle motor (2) two ends, is bolted and is fixed in the middle of two wheel plates (B-2-3-3); Respectively there are two outrigger shafts at dual-axle motor (2) two ends, insert respectively two driving wheels (B-2-3-1) separately in center hole, fix with jackscrew.
As shown in figure 19, between the corresponding through hole a of two groups of wheel plates (B-2-3-3), put into long sleeve (B-2-3-4), and be fixedly connected with bolt; Between the corresponding through hole b of two groups of wheel plates (B-2-3-3), put into short sleeve (B-2-3-2), and be fixedly connected with bolt, make bar (B-2-2) and train (B-2-3) initiatively be linked to be an entirety.
Claims (3)
1. a four side chains wheeled pipeline robot in parallel, is characterized in that: this mechanism comprises that the first to the 3rd side lever is that side chain (B, C, D) and electric pushrod are side chain (A);
The first to the 3rd side lever is that side chain (B, C, D) physical dimension is identical, the first side lever is that a that b end and first side lever of side chain (B) the first bar (B-1) is the bar (B-2-2) of middle the leverage (B-2) of side chain (B) holds and inserts respectively in same Hooke hinge (5) two end slots, fixes with jackscrew; The first side lever is that the b end of the b end of side chain (B) the second bar (B-3) and the bar (B-2-2) of middle leverage (B-2) inserts respectively in the circular groove of same Hooke hinge (5) two ends, fixes with jackscrew; So just complete the assembling that the first side lever is side chain (B);
First and second coupling shaft (A-2, A-6) a end inserts respectively in the circular groove d of first and second space hinge (A-1, A-7), fixes with jackscrew; The b end of the first coupling shaft (A-2) and a of the first motor casing (A-3) hold and are connected with a Hooke hinge (5), fix with jackscrew; The second coupling shaft (A-6) b end and the b of push rod (A-5) hold and are connected with a Hooke hinge (5), fix with jackscrew;
The rotating shaft of push-rod electric machine (1) hold through a of the second motor casing (A-4) and a that inserts push rod (A-5) holds, and fixes with jackscrew; The b end of first and second motor casing (A-3, A-4) is inserted at the two ends of push-rod electric machine (1) simultaneously, and two motor casing surroundings are connected and fixed with stay bolt;
Electric pushrod is in side chain (A), the a end that three square groove a, b of the first space hinge (A-1) surrounding, c are first bar (B-1) of side chain (B, C, D) with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; The a end that three square groove a, b of second space hinge (A-7) surrounding, c are second bar (B-3) of side chain (B, C, D) with the first to the 3rd side lever is respectively connected, and fixes and forms revolute pair with bearing pin; So just, completed the assembling of four side chains (A, B, C, D);
Be side chain (B, C, D) and the support force of tube wall by the first to the 3rd side lever, make robot stable walking in pipeline, and the fore and aft motion that is side chain (A) by electric pushrod realizes reducing, adapt to the pipeline of different-diameter.
2. a kind of four side chains as claimed in claim 1 wheeled pipeline robot in parallel, is characterized in that:
Electric pushrod is that side chain (A) comprises first and second space hinge (A-1, A-7), first and second coupling shaft (A-2, A-6), first and second motor casing (A-3, A-4), push rod (A-5), second space hinge (A-7), motor (1) and two Hooke hinges (5);
First and second space hinge (A-1, A-7) surrounding is separated by, and (a, b, c), arrange through hole and be convenient to pack into bearing pin on cell wall for three square grooves of 120 °; Circular groove (d) and first and second coupling shaft a end is connected, in three side openings of 120 ° of being separated by cell wall for jackscrew is installed;
First and second coupling shaft (A-2, A-6) physical dimension is identical, and the first coupling shaft (A-2) a end side surface has three planes, is mutually 60 ° of layouts, and the circular groove in each plane is used for jackscrew is installed; The first coupling shaft (A-2) b end side surface has two planes, and parallel to each other, the circular groove in each plane is fixed in order to jackscrew;
Uniform 4 through holes of first and second motor casing (A-3, A-4) distolateral wall of b; In the large through-hole of the first motor casing (A-3) a end, insert Hooke hinge (5) one end, the distolateral wall of a has two top wire holes, becomes 180 ° of layouts, to jackscrew is installed; The second motor casing (A-4) a end end face has two screw holes, become 180 ° of layouts, be connected fasteningly with screw with motor (1), motor (1) and the second motor casing (A-4) be linked to be as a whole, to facilitate transmitting torque;
In push rod (A-5) a end large through-hole, insert Hooke hinge (5) one end, sidewall has two top wire holes, becomes 180 ° of layouts, to jackscrew is installed;
Between the first space hinge (A-1) and push rod (A-5), being connected to universal joint pair is connected, push rod (A-5) self forms sliding pair, is connected to universal joint pair and is connected between second space hinge (A-7) and push rod (A-5).
3. a kind of four side chains as claimed in claim 1 wheeled pipeline robot in parallel, is characterized in that:
Middle leverage (B-2), respectively there are two through holes at bar (B-2-2) two ends, and driven train (B-2-1) and initiatively respectively with two groups of through holes of train (B-2-3) are joined with bolts;
Driven train (B-2-1), comprise follower (B-2-1-1), long sleeve (B-2-1-2), bearing support (B-2-1-3), wheel shaft (B-2-1-4), angular contact ball bearing (B-2-1-5), short sleeve (B-2-1-6) and wheel plate (B-2-1-7); Bearing support (B-2-1-3) inserts in the central through bore of wheel plate (B-2-1-7), realizes interference fit; Angular contact ball bearing (B-2-1-3) inserts in bearing support (B-2-1-3), realizes interference fit; Wheel shaft (B-2-1-4) inserts in follower (B-2-1-1) through angular contact ball bearing (B-2-1-5), screw screws in the blind hole of wheel shaft (B-2-1-4) end through the center hole of follower (B-2-1-1), axle head is fixed with back-up ring;
Between the corresponding through hole a of two groups of wheel plates (B-2-1-7), put into long sleeve (B-2-1-2), and be fixedly connected with bolt; Between the corresponding through hole b of two groups of wheel plates (B-2-1-7), put into short sleeve (B-2-1-6), and be fixedly connected with bolt, make bar (B-2-2) and driven train (B-2-1) be linked to be an entirety;
Initiatively train (B-2-3), comprises driving wheel (B-2-3-1), short sleeve (B-2-3-2), wheel plate (B-2-3-3), long sleeve (B-2-3-4) and dual-axle motor (2); Respectively there are four apertures at dual-axle motor (2) two ends, are bolted and are fixed in the middle of two wheel plates (B-2-3-3); Respectively there are two outrigger shafts at dual-axle motor (2) two ends, insert respectively two driving wheels (B-2-3-1) separately in center hole, fix with jackscrew;
Between the corresponding through hole a of two groups of wheel plates (B-2-3-3), put into long sleeve (B-2-3-4), and be fixedly connected with bolt; Between the corresponding through hole b of two groups of wheel plates (B-2-3-3), put into short sleeve (B-2-3-2), and be fixedly connected with bolt, make bar (B-2-2) and train (B-2-3) initiatively be linked to be an entirety.
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| CN201410211012.9A CN103982750B (en) | 2014-05-19 | 2014-05-19 | A kind of four side chains wheeled pipeline robot in parallel |
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| CN201410211012.9A CN103982750B (en) | 2014-05-19 | 2014-05-19 | A kind of four side chains wheeled pipeline robot in parallel |
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| CN103982750B CN103982750B (en) | 2016-04-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106192936A (en) * | 2016-08-17 | 2016-12-07 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembled large-sized concrete pipeline is creeped apparatus for work |
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| CN108223966A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of adaptation small pipeline entire roboticized work device |
| CN108223966B (en) * | 2017-12-01 | 2021-01-12 | 上海大学 | Full-automatic operation device suitable for small-sized pipeline |
| CN108175363A (en) * | 2017-12-27 | 2018-06-19 | 浙江帝恒实业有限公司 | A kind of shoe baking device and its baking shoes method |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN111350902B (en) * | 2020-03-13 | 2022-04-01 | 广州大学 | Pipeline robot with steering driving wheel belt |
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