CN105292285A - Robot platform in pipeline for dragging - Google Patents
Robot platform in pipeline for dragging Download PDFInfo
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- CN105292285A CN105292285A CN201510820873.1A CN201510820873A CN105292285A CN 105292285 A CN105292285 A CN 105292285A CN 201510820873 A CN201510820873 A CN 201510820873A CN 105292285 A CN105292285 A CN 105292285A
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Abstract
The invention belongs to the technical field of pipeline robots, and in particular relates to a robot platform in a pipeline for dragging. The robot platform comprises crawler walking mechanisms, a case, a grab bar, a grab column and the like, wherein three groups of crawler walking mechanisms are uniformly arranged around the case and can stably position and walk in the pipeline; the special bent lever design of the crawler walking mechanisms enables a vehicle body to keep a stable state when a crawler belt on a support wheel adapts to the influence of accumulation in a bigger pipeline in the walking process of the vehicle; in addition, the grab bar can grab the accumulation in the front pipeline and enables the accumulation to be dragged out of the pipeline under the super strong walking capacity of three crawler belts of the robot. According to the invention, by the adoption of a lever combined suspension, an adjust wheel and the grab bar, the capacity of adapting to the bigger accumulation of the robot can be increased; and the robot platform has strong pipeline accumulation dragging capacity and relatively high practicability.
Description
Art
The invention belongs to pipeline robot technique field, particularly relating to the robot platform for pulling in a kind of pipeline.
Background technology
Current pipe robot is mainly used in pipeline exploration, pipeline cleaning etc., for deposit large and bad cleaning in pipeline, robot cannot be cleared up smoothly, hydraulic giant is often manually used to impact the object reaching dredging, but often being accumulated gradually at another pipeline place again to produce to pile up by the deposit washed out blocks, so how to allow, to clean out pipeline deposit that is large and that be not easy to clear up be the problem being starved of solution robot autonomously.
The present invention designs in a kind of pipeline and solves as above problem for the robot platform pulled.
Summary of the invention
For solving above-mentioned defect of the prior art, the present invention discloses the robot platform for pulling in a kind of pipeline, and it realizes by the following technical solutions.
A robot platform for pulling in pipeline, is characterized in that: it comprises drive wheel, drive headstock, crawler belt, support-side baffle plate, roof supporting, bending lever bracket frame, support wheel, top board top tumbler, regulate guide rail sleeve, adjusting knurl, drive wheel rotating shaft support plate, regulate guide rail, axle drive shaft, guide wheel supports, adjusting knurl rotating shaft, cone tooth group, drive wheel rotating shaft, support wheel rotating shaft, guide rail spring, guide rail spring jacking block, headstock support plate, drive wheel rotating shaft support plate supports, shock-damping structure, lever shaft supports, lever shaft, 3rd track support, 4th track support, crawler belt supports revolute, second track support, first track support, shell, grab post, grab bar, grab bar gland, wide gear, strut member fixed cover, strut member electric machine fixation structure, strut member motor, gear, grab post fixed cover, grab post electric machine fixation structure, grab post motor, grab bar rotating shaft, grab bar block, grab bar gland locating surface, grab bar block face, grab bar mounting groove, creeper undercarriage, its housing is a hollow cylinder, and three groups of creeper undercarriages are arranged on ambient envelope by six the 4th track supports, the installation of three groups of creeper undercarriages can the locomotor activity of reinforced pipe pipeline robot, prevents from skidding pulling crawler belt and pipeline in process.
Above-mentioned creeper undercarriage is organized for each, wherein lever shaft is supported for an elongated flattened plates, both sides are separately installed with the different lever shaft of three length, lever shaft is positioned at one end that lever shaft supports every side, for one end, every side, the lever shaft length of installing to mid point from outer end reduces successively, article six, the spacing of lever shaft position of installation on lever shaft supports is equal, article six, identical bending lever bracket is arranged on six lever shaft one end respectively in the same manner, the design goal that lever shaft length is different is to allow and is arranged on bending lever in rotating shaft in the space swung up and down not in a plane, define multilayer lever swing plane, can not mutually interfere and collide during such lever swing, the object alleviated road surface and rise and fall can be played again, article six, support wheel rotating shaft is arranged on the circular hole place on six bending lever bracket lower ends respectively, six pairs of support wheels are arranged on six support wheel rotating shaft two ends respectively, support wheel can around support wheel axis of rotation, crawler belt is used for support vehicle body, six shock-damping structure one end are arranged on six bending lever brackets and close lever shaft place respectively, and the shock-damping structure other end is installed in roof supporting bottom surface, two support side plate are arranged on roof supporting both sides respectively, when whole mechanism in the present invention uses, vehicle body is fixed on top board or side plate, the vibrations of top board and heave and set represent vibrations and the fluctuating of vehicle body, the characteristic that the stability of top board and anti-road surface rise and fall represents the traveling comfort of interior of body, top board is arranged on bending lever by six shock-damping structures, and then by the weight distribution of vehicle body on six levers, six shock-damping structures are installed on corresponding bending lever bracket and close lever shaft place, object is that lever is around axis of rotation, spot wobble amplitude the closer to rotating shaft in each point on lever is less, such design can reach following effect: when road surface rises and falls very large, one end that lever contacts with support wheel rises and falls inevitable very large, but the fluctuating of shock-damping structure installation site will be very little, add between upper plate and lever is shock-damping structure, the elastic deformation of shock-damping structure can reduce the vibrations of top board further, certain stabilization is played to vehicle body.
Above-mentioned headstock support plate is arranged on biside plate bottom surface, headstock is driven to be arranged on headstock support plate, two drive wheel rotating shaft support plates support the both sides being arranged on headstock support plate one end, two drive wheel rotating shaft support plates are arranged on two drive wheel rotating shaft support plates respectively and support, drive wheel rotating shaft is arranged on two drive wheel rotating shaft support plates, axle drive shaft one end is connected with driving headstock, and the other end is connected with the cone tooth group on drive wheel spindle central, and pair of driving wheels is arranged on drive wheel rotating shaft both sides; Axle drive shaft is vertical with drive wheel rotating shaft, and axle drive shaft adopts the mode of tradition ripe cone tooth group or other maturations to drive drive shaft to rotate.
Above-mentioned two adjustment guide rail sleeves are arranged on the downside outside two support side plate respectively, two adjustment guide rail one end are arranged on two respectively and regulate guide rail sleeve inner, the other end is installed in the both sides in adjusting knurl rotating shaft, and a pair adjusting knurl is arranged on adjusting knurl rotating shaft two ends respectively, guide rail spring fitting is inner at adjustment guide rail sleeve, one end with regulate guide rail contact, the other end be arranged on the guide rail spring jacking block regulating guide rail sleeve top and contact, because the larger projection on road surface and depression, cause the crawler belt indent with earth surface, this will increase the length with earth surface crawler belt, because crawler belt overall length is certain, so devise the distance that adjusting knurl can reduce adjusting knurl and vehicle body, thus reduce not with the length of the crawler belt of earth surface, play regulate with earth surface crawler belt and not with the length ratio of earth surface crawler belt, adjusting knurl reaches regulating action by regulating guide rail at adjustment guide rail sleeve internal slide, guide rail spring plays and keeps regulating guide rail to have outside power, so not only can play the effect of tensioning to crawler belt but also after road surface flattens from fluctuating, restitution be played to crawler belt.
Above-mentioned two pairs of top board top tumblers are arranged on two guide wheels respectively and support, and two guide wheel supports are arranged on the two ends on the upside of top board, and crawler belt is arranged on guide wheel, drive wheel, support wheel and adjusting knurl.
The concrete structure of the crawler belt in the present invention, drive wheel, support wheel, adjusting knurl, guide wheel uses traditional mature technology.The present invention does not do particular design.
Above-mentioned two the first track supports are arranged in two support side plate respectively, two the second track supports are arranged on two the first track supports respectively, 3rd track support is arranged on two the second track supports, 4th track support supports revolute by crawler belt and is arranged on the 3rd crawler belt midway location, and the 4th track support one end is with flute profile; Two the first track supports, two the second track supports, the 3rd track support and a 4th track support composition crawler belt supporting mechanism, one group of support side plate installs two groups of crawler belt supporting mechanisms in support side plate two ends according to combinations thereof mode;
Above-mentioned strut member motor is arranged on enclosure side by strut member electric machine fixation structure, two wide gears are arranged in the both sides rotating shaft of strut member motor respectively, each wide gear engages three the 4th track supports, and three the 4th track supports do not belong to same plane each other, each 4th track support is installed in corresponding strut member fixed cover, allow to slide in strut member fixed cover, strut member fixed cover is arranged on shell; Six the 4th track supports that two wide gears engage form one group between two between wide gear, two the 4th track supports often in group are distributed on different wide gears, and in a plane, and be arranged in the support side plate of same creeper undercarriage; When strut member electric machine rotation certain angle, drive wide gear turns an angle, because wide gear engages with the 4th track support, so drive the 4th track support to slide in strut member fixed cover, change the length that the 4th track support stretches out shell, and then change the distance in the creeper undercarriage distance shell center of circle; In order to make robot three groups of creeper undercarriages all and tube contacts, different pipe diameters requires the distance in the strut member electric machine rotation corresponding angular adjustment creeper undercarriage distance shell center of circle.
In the present invention, the mounting means of the 4th track support causes the path of motion only shell circle of the 4th track support, so add strut member revolute, make creeper undercarriage can adapt to the curved surface of pipeline, prevent creeper undercarriage and tube contacts face has a certain degree, increase the skidding possibility of crawler belt and pipeline.
Above-mentioned post one end of grabbing is with flute profile, grab post to be arranged on and to grab on post fixed cover, grab post fixed cover and be arranged on enclosure side, grab post motor and be arranged on grab on post fixed cover by grabbing post electric machine fixation structure, gear is arranged on grabs on post motor, and gear engages with the flute profile of grabbing post one end; Grab post one end and grab bar gland is installed, grab bar gland evenly has four grab bar mounting grooves, article four, grab bar is arranged in four grab bar mounting grooves by grab bar rotating shaft respectively, each grab bar mounting groove is processed with respectively grab bar gland locating surface, locating surface is an inclined-plane, grab bar block is arranged in the middle of four grab bar mounting grooves, and grab bar one end is processed with grab bar block face, and grab bar block face coordinates with grab bar block.Grab bar is around grab bar axis of rotation, when the face on grab bar contacts with grab bar gland locating surface, now grab bar is in closure state, under the control of grabbing post motor, grab post protruding from grabbing post fixed cover, grab bar gland puts in after in deposit, under grabbing post electric machine control, grab post and regain, now grab bar is under the obstruction of deposit, the grab bar block face of grab bar contacts with grab bar block, grab bar is in deployed condition, and the grab bar of expansion has caught a large amount of deposits, afterwards under robot motion, deposit is pulled out pipeline, reaches the object of cleaning pipeline.
As the further improvement of this technology, above-mentioned support wheel shaft length is identical, and aligns before and after six pairs of every sides of support wheel.Support wheel needs crawler belt is installed, so need to ensure that support wheel shaft length is identical, align before and after support wheel, this is different by causing the bending lever position be arranged in support wheel rotating shaft, determines the installation site of bending lever and support wheel rotating shaft in design according to the position of the support wheel of alignment.
As the further improvement of this technology, above-mentioned shock-damping structure comprises lever shock-absorbing support, roof supporting shock-absorbing support, damping spring, damping external member, damping internal member, wherein lever shock-absorbing support one end is arranged on bending lever bracket, the other end is arranged on damping internal member one end by revolute, damping external member one end is arranged on damping internal member, the other end is arranged on roof supporting shock-absorbing support by revolute, and roof supporting shock-absorbing support is arranged on the downside of roof supporting; Damping spring is arranged on damping internal member, and one end contacts with damping external member lower surface, and the other end contacts with bending lever bracket.Damping external member is thicker than damping internal member, and the diameter of damping spring design guarantees to allow damping spring to be placed on damping lining the outer surface of, is but less than the diameter of damping external member, ensure that damping external member can block damping spring.
As the further improvement of this technology, above-mentioned driving headstock inside can drive for motor, also can drive for fuel engines.
As the further improvement of this technology, the above-mentioned creeper undercarriage supported based on lever combination can be used as travelling platform by two or more parallel combinations.Above creeper undercarriage is the single-crawler single of individual drive, and general vehicle coordinates support, as tank about needing to select two crawler belts.
As the further improvement of this technology, above-mentioned crawler belt supports revolute and comprises crawler belt support journal stirrup, journal stirrup connecting element, and wherein crawler belt support journal stirrup is arranged on journal stirrup connecting element, and journal stirrup connecting element is arranged on the 3rd track support.
Relative to traditional pipeline robot technique, in the present invention, three groups of creeper undercarriages are evenly arranged on ambient envelope, can location stable in the duct and walking, unique bending lever design of creeper undercarriage can in vehicle to run process, and when making the crawler belt on support wheel adapt to affecting of deposit in larger pipeline, vehicle body maintains a stable state; In addition, the design of grab bar can be caught the deposit in the pipeline of front and make deposit under the superpower locomotor activity of robot three crawler belts by hauling-out pipeline.The present invention, by the use of lever combination suspension, adjusting knurl and grab bar, adds the ability that robot adapts to larger deposit, and has very strong pipeline deposit and pull ability, has higher practicality.
Accompanying drawing explanation
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is integral structure lateral plan.
Fig. 3 is the integral structure schematic diagram not with crawler belt.
Fig. 4 is the integral structure lateral plan not with crawler belt.
Fig. 5 is adjusting knurl and guide rails assembling schematic diagram.
Fig. 6 is guide rail spring fitting schematic diagram.
Fig. 7 is drive wheel scheme of installation.
Fig. 8 is mounting of roof plate schematic diagram.
Fig. 9 is shock-damping structure and bending lever bracket scheme of installation.
Figure 10 is suspension support unit structural representation.
Figure 11 is damping spring scheme of installation.
Figure 12 is lever shaft scheme of installation.
Figure 13 is that bending lever bracket installs birds-eye view.
Figure 14 is that support wheel installs birds-eye view.
Figure 15 is strut member scheme of installation.
Figure 16 is supporting piece structure schematic diagram.
Figure 17 is three group of the 4th track support distribution schematic diagram.
Figure 18 is enclosure structure cutaway view.
Figure 19 is the 4th track support scheme of installation.
Figure 20 grabs post motor scheme of installation.
Figure 21 grabs post electric machine fixation structure scheme of installation.
Figure 22 is grab bar gland inner structure schematic diagram.
Figure 23 is grab bar structural representation.
Figure 24 is grab bar rotating shaft scheme of installation.
Figure 25 is grab bar block scheme of installation.
Number in the figure title: 1, drive wheel, 2, drive headstock, 3, crawler belt, 4, support-side baffle plate, 5, roof supporting, 6, bending lever bracket frame, 7, support wheel, 8, top board top tumbler, 9, regulate guide rail sleeve, 10, adjusting knurl, 11, drive wheel rotating shaft support plate, 12, regulate guide rail, 13, axle drive shaft, 14, guide wheel supports, and 15, adjusting knurl rotating shaft, 16, cone tooth group, 17, drive wheel rotating shaft, 18, support wheel rotating shaft, 19, guide rail spring, 20, guide rail spring jacking block, 21, headstock support plate, 22, drive wheel rotating shaft support plate supports, and 23, shock-damping structure, 24, lever shaft supports, and 25, lever shaft, 26, lever shock-absorbing support, 27, roof supporting shock-absorbing support, 28, damping spring, 29, damping external member, 30, damping internal member, 31, 3rd track support, 32, crawler belt supports journal stirrup, and 33, 4th track support, 34, journal stirrup connecting element, 35, crawler belt supports revolute, and 36, second track support, 37, first track support, 38, shell, 39, grab post, 40, grab bar, 41, grab bar gland, 42, wide gear, 43, strut member fixed cover, 44, strut member electric machine fixation structure, 45, strut member motor, 46, gear, 47, grab post fixed cover, 48, grab post electric machine fixation structure, 49, grab post motor, 50, grab bar rotating shaft, 51, grab bar block, 52, grab bar gland locating surface, 53, grab bar block face, 54, grab bar mounting groove, 55, creeper undercarriage.
Detailed description of the invention
As Fig. 1, shown in 2, it comprises drive wheel, drive headstock, crawler belt, support-side baffle plate, roof supporting, bending lever bracket frame, support wheel, top board top tumbler, regulate guide rail sleeve, adjusting knurl, drive wheel rotating shaft support plate, regulate guide rail, axle drive shaft, guide wheel supports, adjusting knurl rotating shaft, cone tooth group, drive wheel rotating shaft, support wheel rotating shaft, guide rail spring, guide rail spring jacking block, headstock support plate, drive wheel rotating shaft support plate supports, shock-damping structure, lever shaft supports, lever shaft, 3rd track support, 4th track support, crawler belt supports revolute, second track support, first track support, shell, grab post, grab bar, grab bar gland, wide gear, strut member fixed cover, strut member electric machine fixation structure, strut member motor, gear, grab post fixed cover, grab post electric machine fixation structure, grab post motor, grab bar rotating shaft, grab bar block, grab bar gland locating surface, grab bar block face, grab bar mounting groove, creeper undercarriage, wherein as Figure 17, shown in 18, shell is a hollow cylinder, and three groups of creeper undercarriages are arranged on ambient envelope by six the 4th track supports, the installation of three groups of creeper undercarriages can the locomotor activity of reinforced pipe pipeline robot, prevents from skidding pulling crawler belt and pipeline in process.
Above-mentioned creeper undercarriage is organized for each, wherein as Fig. 9, shown in 12, lever shaft is supported for an elongated flattened plates, both sides are separately installed with the different lever shaft of three length, lever shaft is positioned at one end that lever shaft supports every side, for one end, every side, the lever shaft length of installing to mid point from outer end reduces successively, article six, the spacing of lever shaft position of installation on lever shaft supports is equal, as Figure 10, 13, shown in 14, article six, identical bending lever bracket is arranged on six lever shaft one end respectively in the same manner, the design goal that lever shaft length is different is to allow and is arranged on bending lever in rotating shaft in the space swung up and down not in a plane, define multilayer lever swing plane, can not mutually interfere and collide during such lever swing, the object alleviated road surface and rise and fall can be played again, article six, support wheel rotating shaft is arranged on the circular hole place on six bending lever bracket lower ends respectively, six pairs of support wheels are arranged on six support wheel rotating shaft two ends respectively, support wheel can around support wheel axis of rotation, crawler belt is used for support vehicle body, six shock-damping structure one end are arranged on six bending lever brackets and close lever shaft place respectively, and the shock-damping structure other end is installed in roof supporting bottom surface, two support side plate are arranged on roof supporting both sides respectively, when whole mechanism in the present invention uses, vehicle body is fixed on top board or side plate, the vibrations of top board and heave and set represent vibrations and the fluctuating of vehicle body, the characteristic that the stability of top board and anti-road surface rise and fall represents the traveling comfort of interior of body, top board is arranged on bending lever by six shock-damping structures, and then by the weight distribution of vehicle body on six levers, six shock-damping structures are installed on corresponding bending lever bracket and close lever shaft place, object is that lever is around axis of rotation, spot wobble amplitude the closer to rotating shaft in each point on lever is less, such design can reach following effect: when road surface rises and falls very large, one end that lever contacts with support wheel rises and falls inevitable very large, but the fluctuating of shock-damping structure installation site will be very little, add between upper plate and lever is shock-damping structure, the elastic deformation of shock-damping structure can reduce the vibrations of top board further, certain stabilization is played to vehicle body.
As shown in Fig. 3,7,8, above-mentioned headstock support plate is arranged on biside plate bottom surface, headstock is driven to be arranged on headstock support plate, two drive wheel rotating shaft support plates support the both sides being arranged on headstock support plate one end, two drive wheel rotating shaft support plates are arranged on two drive wheel rotating shaft support plates respectively and support, drive wheel rotating shaft is arranged on two drive wheel rotating shaft support plates, axle drive shaft one end is connected with driving headstock, the other end is connected with the cone tooth group on drive wheel spindle central, and pair of driving wheels is arranged on drive wheel rotating shaft both sides; Axle drive shaft is vertical with drive wheel rotating shaft, and axle drive shaft adopts the mode of tradition ripe cone tooth group or other maturations to drive drive shaft to rotate.
As shown in Figure 5,6, above-mentioned two adjustment guide rail sleeves are arranged on the downside outside two support side plate respectively, two adjustment guide rail one end are arranged on two respectively and regulate guide rail sleeve inner, and the other end is installed in the both sides in adjusting knurl rotating shaft, and a pair adjusting knurl is arranged on adjusting knurl rotating shaft two ends respectively, guide rail spring fitting is inner at adjustment guide rail sleeve, one end with regulate guide rail contact, the other end be arranged on the guide rail spring jacking block regulating guide rail sleeve top and contact, because the larger projection on road surface and depression, cause the crawler belt indent with earth surface, this will increase the length with earth surface crawler belt, because crawler belt overall length is certain, so devise the distance that adjusting knurl can reduce adjusting knurl and vehicle body, thus reduce not with the length of the crawler belt of earth surface, play regulate with earth surface crawler belt and not with the length ratio of earth surface crawler belt, adjusting knurl reaches regulating action by regulating guide rail at adjustment guide rail sleeve internal slide, guide rail spring plays and keeps regulating guide rail to have outside power, so not only can play the effect of tensioning to crawler belt but also after road surface flattens from fluctuating, restitution be played to crawler belt.
As shown in Figure 3, above-mentioned two pairs of top board top tumblers are arranged on two guide wheels respectively and support, and two guide wheel supports are arranged on the two ends on the upside of top board, and crawler belt is arranged on guide wheel, drive wheel, support wheel and adjusting knurl.
The concrete structure of the crawler belt in the present invention, drive wheel, support wheel, adjusting knurl, guide wheel uses traditional mature technology.The present invention does not do particular design.
As shown in Figure 15,16, above-mentioned two the first track supports are arranged in two support side plate respectively, two the second track supports are arranged on two the first track supports respectively, 3rd track support is arranged on two the second track supports, 4th track support supports revolute by crawler belt and is arranged on the 3rd crawler belt midway location, and the 4th track support one end is with flute profile; Two the first track supports, two the second track supports, the 3rd track support and a 4th track support composition crawler belt supporting mechanism, one group of support side plate installs two groups of crawler belt supporting mechanisms in support side plate two ends according to combinations thereof mode;
As shown in Figure 18,19, above-mentioned strut member motor is arranged on enclosure side by strut member electric machine fixation structure, two wide gears are arranged in the both sides rotating shaft of strut member motor respectively, each wide gear engages three the 4th track supports, and three the 4th track supports do not belong to same plane each other, each 4th track support is installed in corresponding strut member fixed cover, and allow to slide in strut member fixed cover, strut member fixed cover is arranged on shell; Six the 4th track supports that two wide gears engage form one group between two between wide gear, two the 4th track supports often in group are distributed on different wide gears, and in a plane, and be arranged in the support side plate of same creeper undercarriage; When strut member electric machine rotation certain angle, drive wide gear turns an angle, because wide gear engages with the 4th track support, so drive the 4th track support to slide in strut member fixed cover, change the length that the 4th track support stretches out shell, and then change the distance in the creeper undercarriage distance shell center of circle; In order to make robot three groups of creeper undercarriages all and tube contacts, different pipe diameters requires the distance in the strut member electric machine rotation corresponding angular adjustment creeper undercarriage distance shell center of circle.
In the present invention, the mounting means of the 4th track support causes the path of motion only shell circle of the 4th track support, so add strut member revolute, make creeper undercarriage can adapt to the curved surface of pipeline, prevent creeper undercarriage and tube contacts face has a certain degree, increase the skidding possibility of crawler belt and pipeline.
As shown in Figure 20,21, above-mentioned post one end of grabbing is with flute profile, grab post to be arranged on and to grab on post fixed cover, grab post fixed cover and be arranged on enclosure side, grab post motor to be arranged on to grab on post fixed cover by grabbing post electric machine fixation structure, gear is arranged on grabs on post motor, and gear engages with the flute profile of grabbing post one end; Grab post one end and grab bar gland is installed, as shown in Figure 22,23,24,25, grab bar gland evenly has four grab bar mounting grooves, article four, grab bar is arranged in four grab bar mounting grooves by grab bar rotating shaft respectively, each grab bar mounting groove is processed with respectively grab bar gland locating surface, locating surface is an inclined-plane, and grab bar block is arranged in the middle of four grab bar mounting grooves, grab bar one end is processed with grab bar block face, and grab bar block face coordinates with grab bar block.Grab bar is around grab bar axis of rotation, when the face on grab bar contacts with grab bar gland locating surface, now grab bar is in closure state, under the control of grabbing post motor, grab post protruding from grabbing post fixed cover, grab bar gland puts in after in deposit, under grabbing post electric machine control, grab post and regain, now grab bar is under the obstruction of deposit, the grab bar block face of grab bar contacts with grab bar block, grab bar is in deployed condition, and the grab bar of expansion has caught a large amount of deposits, afterwards under robot motion, deposit is pulled out pipeline, reaches the object of cleaning pipeline.
As shown in Fig. 4,14, above-mentioned support wheel shaft length is identical, and aligns before and after six pairs of every sides of support wheel.Support wheel needs crawler belt is installed, so need to ensure that support wheel shaft length is identical, align before and after support wheel, this is different by causing the bending lever position be arranged in support wheel rotating shaft, determines the installation site of bending lever and support wheel rotating shaft in design according to the position of the support wheel of alignment.
As shown in Fig. 9,10,11, above-mentioned shock-damping structure comprises lever shock-absorbing support, roof supporting shock-absorbing support, damping spring, damping external member, damping internal member, wherein lever shock-absorbing support one end is arranged on bending lever bracket, the other end is arranged on damping internal member one end by revolute, damping external member one end is arranged on damping internal member, the other end is arranged on roof supporting shock-absorbing support by revolute, and roof supporting shock-absorbing support is arranged on the downside of roof supporting; Damping spring is arranged on damping internal member, and one end contacts with damping external member lower surface, and the other end contacts with bending lever bracket.Damping external member is thicker than damping internal member, and the diameter of damping spring design guarantees to allow damping spring to be placed on damping lining the outer surface of, is but less than the diameter of damping external member, ensure that damping external member can block damping spring.
Above-mentioned driving headstock inside can drive for motor, also can drive for fuel engines.
The above-mentioned creeper undercarriage supported based on lever combination can be used as travelling platform by two or more parallel combinations.Above creeper undercarriage is the single-crawler single of individual drive, and general vehicle coordinates support, as tank about needing to select two crawler belts.
As shown in figure 16, above-mentioned crawler belt supports revolute and comprises crawler belt support journal stirrup, journal stirrup connecting element, and wherein crawler belt support journal stirrup is arranged on journal stirrup connecting element, and journal stirrup connecting element is arranged on the 3rd track support.
In sum, in the present invention, three groups of creeper undercarriages are evenly arranged on ambient envelope, can location stable in the duct and walking, unique bending lever design of creeper undercarriage can in vehicle to run process, and when making the crawler belt on support wheel adapt to affecting of deposit in larger pipeline, vehicle body maintains a stable state; In addition, the design of grab bar can be caught the deposit in the pipeline of front and make deposit under the superpower locomotor activity of robot three crawler belts by hauling-out pipeline.The present invention, by the use of lever combination suspension, adjusting knurl and grab bar, adds the ability that robot adapts to larger deposit, and has very strong pipeline deposit and pull ability, has higher practicality.
Claims (6)
1. the robot platform for pulling in pipeline, is characterized in that: it comprises drive wheel, drive headstock, crawler belt, support-side baffle plate, roof supporting, bending lever bracket frame, support wheel, top board top tumbler, regulate guide rail sleeve, adjusting knurl, drive wheel rotating shaft support plate, regulate guide rail, axle drive shaft, guide wheel supports, adjusting knurl rotating shaft, cone tooth group, drive wheel rotating shaft, support wheel rotating shaft, guide rail spring, guide rail spring jacking block, headstock support plate, drive wheel rotating shaft support plate supports, shock-damping structure, lever shaft supports, lever shaft, 3rd track support, 4th track support, crawler belt supports revolute, second track support, first track support, shell, grab post, grab bar, grab bar gland, wide gear, strut member fixed cover, strut member electric machine fixation structure, strut member motor, gear, grab post fixed cover, grab post electric machine fixation structure, grab post motor, grab bar rotating shaft, grab bar block, grab bar gland locating surface, grab bar block face, grab bar mounting groove, creeper undercarriage, its housing is a hollow cylinder, and three groups of creeper undercarriages are arranged on ambient envelope by six the 4th track supports,
Above-mentioned creeper undercarriage is organized for each, lever shaft is supported for an elongated flattened plates, both sides are separately installed with the different lever shaft of three length, lever shaft is positioned at one end that lever shaft supports every side, for one end, every side, the lever shaft length of installing to mid point from outer end reduces successively, and the spacing of six lever shaft positions of installation on lever shaft supports is equal; Article six, identical bending lever bracket is arranged on six lever shaft one end respectively in the same manner, article six, support wheel rotating shaft is arranged on the circular hole place on six bending lever bracket lower ends respectively, six pairs of support wheels are arranged on six support wheel rotating shaft two ends respectively, six shock-damping structure one end are arranged on six bending lever brackets and close lever shaft place respectively, and the shock-damping structure other end is installed in roof supporting bottom surface; Two support side plate are arranged on roof supporting both sides respectively; Above-mentioned headstock support plate is arranged on biside plate bottom surface, headstock is driven to be arranged on headstock support plate, two drive wheel rotating shaft support plates support the both sides being arranged on headstock support plate one end, two drive wheel rotating shaft support plates are arranged on two drive wheel rotating shaft support plates respectively and support, drive wheel rotating shaft is arranged on two drive wheel rotating shaft support plates, axle drive shaft one end is connected with driving headstock, and the other end is connected with the cone tooth group on drive wheel spindle central, and pair of driving wheels is arranged on drive wheel rotating shaft both sides; Above-mentioned two adjustment guide rail sleeves are arranged on the downside outside two support side plate respectively, two adjustment guide rail one end are arranged on two respectively and regulate guide rail sleeve inner, the other end is installed in the both sides in adjusting knurl rotating shaft, and a pair adjusting knurl is arranged on adjusting knurl rotating shaft two ends respectively; Guide rail spring fitting is inner at adjustment guide rail sleeve, one end with regulate guide rail contact, the other end be arranged on the guide rail spring jacking block regulating guide rail sleeve top and contact; Above-mentioned two pairs of top board top tumblers are arranged on two guide wheels respectively and support, and two guide wheel supports are arranged on the two ends on the upside of top board, and crawler belt is arranged on guide wheel, drive wheel, support wheel and adjusting knurl;
Above-mentioned two the first track supports are arranged in two support side plate respectively, two the second track supports are arranged on two the first track supports respectively, 3rd track support is arranged on two the second track supports, 4th track support supports revolute by crawler belt and is arranged on the 3rd crawler belt midway location, and the 4th track support one end is with flute profile; Two the first track supports, two the second track supports, the 3rd track support and a 4th track support composition crawler belt supporting mechanism, one group of support side plate installs two groups of crawler belt supporting mechanisms in support side plate two ends according to combinations thereof mode;
Above-mentioned strut member motor is arranged on enclosure side by strut member electric machine fixation structure, two wide gears are arranged in the both sides rotating shaft of strut member motor respectively, each wide gear engages three the 4th track supports, and three the 4th track supports do not belong to same plane each other, each 4th track support is installed in corresponding strut member fixed cover, allow to slide in strut member fixed cover, strut member fixed cover is arranged on shell; Six the 4th track supports that two wide gears engage form one group between two between wide gear, two the 4th track supports often in group are distributed on different wide gears, and in a plane, and be arranged in the support side plate of same creeper undercarriage;
Above-mentioned post one end of grabbing is with flute profile, grab post to be arranged on and to grab on post fixed cover, grab post fixed cover and be arranged on enclosure side, grab post motor and be arranged on grab on post fixed cover by grabbing post electric machine fixation structure, gear is arranged on grabs on post motor, and gear engages with the flute profile of grabbing post one end; Grab post one end and grab bar gland is installed, grab bar gland evenly has four grab bar mounting grooves, article four, grab bar is arranged in four grab bar mounting grooves by grab bar rotating shaft respectively, each grab bar mounting groove is processed with respectively grab bar gland locating surface, locating surface is an inclined-plane, grab bar block is arranged in the middle of four grab bar mounting grooves, and grab bar one end is processed with grab bar block face, and grab bar block face coordinates with grab bar block.
2. the robot platform for pulling in a kind of pipeline according to claim 1, is characterized in that: above-mentioned support wheel shaft length is identical, and aligns before and after six pairs of every sides of support wheel.
3. the robot platform for pulling in a kind of pipeline according to claim 1, it is characterized in that: above-mentioned shock-damping structure comprises lever shock-absorbing support, roof supporting shock-absorbing support, damping spring, damping external member, damping internal member, wherein lever shock-absorbing support one end is arranged on bending lever bracket, the other end is arranged on damping internal member one end by revolute, damping external member one end is arranged on damping internal member, the other end is arranged on roof supporting shock-absorbing support by revolute, and roof supporting shock-absorbing support is arranged on the downside of roof supporting; Damping spring is arranged on damping internal member, and one end contacts with damping external member lower surface, and the other end contacts with bending lever bracket.
4. the robot platform for pulling in a kind of pipeline according to claim 1, is characterized in that: above-mentioned driving headstock inside can drive for motor, also can drive for fuel engines.
5. the robot platform for pulling in a kind of pipeline according to claim 1, is characterized in that: the above-mentioned creeper undercarriage supported based on lever combination can be used as travelling platform by two or more parallel combinations.
6. the robot platform for pulling in a kind of pipeline according to claim 1, it is characterized in that: above-mentioned crawler belt supports revolute and comprises crawler belt support journal stirrup, journal stirrup connecting element, wherein crawler belt support journal stirrup is arranged on journal stirrup connecting element, and journal stirrup connecting element is arranged on the 3rd track support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510820873.1A CN105292285A (en) | 2015-11-24 | 2015-11-24 | Robot platform in pipeline for dragging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510820873.1A CN105292285A (en) | 2015-11-24 | 2015-11-24 | Robot platform in pipeline for dragging |
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| Publication Number | Publication Date |
|---|---|
| CN105292285A true CN105292285A (en) | 2016-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510820873.1A Pending CN105292285A (en) | 2015-11-24 | 2015-11-24 | Robot platform in pipeline for dragging |
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| Country | Link |
|---|---|
| CN (1) | CN105292285A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6133322A (en) * | 1984-05-14 | 1986-02-17 | スタンダド、マニユフアクチユアリング、カムパニ | Chassis |
| CN101102930A (en) * | 2005-01-14 | 2008-01-09 | 稳科公司 | Tracked ATV |
| US20090044352A1 (en) * | 2007-08-16 | 2009-02-19 | Sangyoung Seo | Machine for pipe maintenance |
| WO2012135369A2 (en) * | 2011-03-28 | 2012-10-04 | Diversey, Inc. | Cleaning device |
| CN202914966U (en) * | 2012-11-30 | 2013-05-01 | 电子科技大学 | Folding type wheeled leg pipeline robot |
| JP2015147552A (en) * | 2014-02-07 | 2015-08-20 | ヤンマー株式会社 | Crawler type irregular ground work vehicle |
-
2015
- 2015-11-24 CN CN201510820873.1A patent/CN105292285A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6133322A (en) * | 1984-05-14 | 1986-02-17 | スタンダド、マニユフアクチユアリング、カムパニ | Chassis |
| CN101102930A (en) * | 2005-01-14 | 2008-01-09 | 稳科公司 | Tracked ATV |
| US20090044352A1 (en) * | 2007-08-16 | 2009-02-19 | Sangyoung Seo | Machine for pipe maintenance |
| WO2012135369A2 (en) * | 2011-03-28 | 2012-10-04 | Diversey, Inc. | Cleaning device |
| CN202914966U (en) * | 2012-11-30 | 2013-05-01 | 电子科技大学 | Folding type wheeled leg pipeline robot |
| JP2015147552A (en) * | 2014-02-07 | 2015-08-20 | ヤンマー株式会社 | Crawler type irregular ground work vehicle |
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Effective date of registration: 20171213 Address after: Mawei District 350000 Fujian city of Fuzhou province fast road 8 Building No. 204 room innovation (FTA test area) Applicant after: FUJIAN MAILIAO AUTOMATION EQUIPMENT CO., LTD. Address before: 518000 Guangdong city of Shenzhen province Futian District Binjiang Binhe Village East 8 Building 502 Applicant before: Feng Lin |
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