CN106043483A - Large-scale vertical pipe type inner wall creeping robot - Google Patents
Large-scale vertical pipe type inner wall creeping robot Download PDFInfo
- Publication number
- CN106043483A CN106043483A CN201610409212.4A CN201610409212A CN106043483A CN 106043483 A CN106043483 A CN 106043483A CN 201610409212 A CN201610409212 A CN 201610409212A CN 106043483 A CN106043483 A CN 106043483A
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- China
- Prior art keywords
- lower limb
- oil cylinder
- fixed
- robot
- base plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 210000003141 lower extremity Anatomy 0.000 claims description 68
- 230000009194 climbing Effects 0.000 claims description 9
- 239000002828 fuel tank Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 33
- 238000010276 construction Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000270322 Lepidosauria Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a large-scale vertical pipe type inner wall creeping robot, and belongs to the field of mechanical design. The large-scale vertical pipe type inner wall creeping robot mainly consists of mechanisms including a control box, an upper leg assembly, a lower leg assembly, a body oil cylinder, an oil tank and the like. The purpose that the robot creeps on the inner wall of a vertical pipe is realized through the stretching motion of the body oil cylinder, and through matching with the movement that the upper leg and the lower leg are alternately tensioned and released. Wall surface creeping requirements of the robot on different mechanism materials and different surface qualities can be met, and the robot can surmount obstacles easily, and has good adaptability to the inner wall of which the internal structure is relatively complicated; and the tensioning force of the legs of the robot can be adjusted, so that the creeping of the robot is more reliable.
Description
Technical field
The present invention relates to a kind of large-scale vertical tubular type inwall climbing robot, belong to mechanical design field.
Background technology
Vertically tube wall is a kind of version common in engineering, industry, and is in important in industry, engineering safety
Status.For middle-size and small-size structural pipe wall, the technology relative maturity such as its construction, detection, easily implement.And in engineering, industry spot
In, there is the large-scale VERTICAL TUBE wall construction of various structures form, such as the Vertical Well structure in industrial and mineral, the elevator in skyscraper
Well construction, carrier rocket shell structure, large-scale chimney structure, offshore platform spud leg mechanism etc..These structural pipe walls are being built
Or during using, it usually needs carry out detecting, spray, polish, weld, deashing, the operation such as security protection.At present, these operations are led to
Often needing artificial enforcement, it is relatively big that it implements difficulty, and has certain danger.Therefore, exploitation one can be touring in tube wall
The robot creeped, to carry the power tools such as detection, spraying, replaces manual work, can reduce the difficulty of operation, improve and make
Industry safety.
The reptile fashion of existing climbing robot mainly has crawler type, vacuum cup lower limb formula, magnetic force adsorption type etc..Crawler type
Structure crossing over blockage ability is poor, and vacuum cup lower limb formula requires that wall is smooth, and magnetic force adsorption type is only applicable to magnetic wall.This
Bright overcoming disadvantage mentioned above, a kind of body of design stretches, the tubular type inwall climbing robot of leg rotation tensioning and contraction, robot
It is suitable for various sizes of requirement, adapts to different interior wall construction and the requirement of material, and inner wall surface quality is not had special wanting
Ask.Robot applied widely, creeps more reliable.
Summary of the invention
It is an object of the invention to the shortcoming overcoming existing climbing robot.Proposing a kind of body to stretch, leg rotation is opened
The tight tubular type inwall climbing robot with contraction.
For realizing above-mentioned target, the present invention by the following technical solutions:
Robot is mainly by mechanism's groups such as control chamber (1), upper lower limb assembly (2), lower lower limb assembly (6), body oil cylinder (3), fuel tanks (4)
Become.Two body oil cylinders (3) are left and right symmetrically arranged between upper lower limb assembly (2) and lower lower limb assembly (6).Body oil cylinder (3) bottom
Flange is by installing the lower section that bolt (8) is fixed on the base plate (15) of lower limb assembly (2) on oil cylinder.Body oil cylinder (3) piston rod
End flange is fixed on the spacing guide plate (12) of lower lower limb assembly (6) by installing bolt (5) under oil cylinder.Fuel tank (4) passes through
The lower section that screw (7) is fixed on the base plate (15) of lower limb assembly (2) is installed.Control chamber (1) is fixed on upper lower limb assembly by screw
(2) top of base plate (15).
Upper lower limb assembly (2), lower lower limb assembly (6) structure and size are identical, mainly by fixed mechanism, leg mechanism with stretch
Contracting mechanism forms.
Fixed mechanism includes that base plate (15), slideway (14), cylinder bracket (20), spacing guide plate (12) form.Slideway
(14) being slot type structure, four sections of slideways (14) are divided into two groups, and symmetry is placed in the both sides of base plate (15), and passes through sunk screw
(27) fix with base plate (15).Two cylinder brackets (20) are symmetrically fixed on the two ends of base plate (15) by support bracket bolt (19).
Two spacing guide plates (12) are symmetrically fixed on the two ends of base plate (15) respectively by spacing guide plate bolt (21).
Leg mechanism is made up of parts such as pushing up foot (9), lower limb bar (11), oil cylinder push rod support (18), lower limb shaft bar (10).Lower limb
Bar (11) is elongated plank frame, and two lower limb bars (11) are symmetrically installed, and is fixed on lower limb shaft bar by lower limb bar bolt (22)
(10) both sides.Oil cylinder push rod support (18) is fixed on the interior of lower limb shaft bar (10) by king-bolt (25) and big nut (26)
Side.Two tops foot (9) are fixed on the end of lower limb bar (11) respectively by top foot bolt (23).The fixing tool of each top foot (9) outer rim
There is certain thickness abrasive rubber set (24).Two groups of leg mechanisms are the most reversely placed in the slideway (14) on base plate (15) Nei,
Its lower limb bar (11) can longitudinal sliding motion in slideway (14) upper hopper chute.
Telescoping mechanism is two identical three grade telescopic oil cylinder (16).The bottom of telescopic oil cylinder (16) is respectively by oil cylinder pin
Axle (17) is connected with left and right cylinder bracket (20).The push rod of telescopic oil cylinder (16) passes the through hole (A) on lower limb shaft bar (10), and
It is connected with oil cylinder push rod support (18) by push rod bearing pin (13).
Compared with prior art, the invention have the advantages that
1, stretched by body, coordinate Tui Zu mechanism alternately tensioning and realize robot creep at vertical tubular type inwall with unclamping, can
Easily to cross over obstacle in tube wall.The place that tube wall internal structure is complex had stronger adaptability.
2, legs and feet realize tensioning and contraction by hydraulic mechanism, and it shrinks scope greatly, is suitable for the wall of different cross section size.
Tensile force is adjustable, material, the surface quality not requirement to wall.
3, leg telescopic hydraulic cylinder two ends are articulated form, implement to compensate to hydraulic cylinder radial force so that hydraulic cylinder bears
Radial force the least, hydraulic cylinder is long for service life.
Accompanying drawing explanation
Fig. 1 robot integral installation figure
Fig. 2 robot leg parts installation diagram
Fig. 3 fixed mechanism installation diagram
Fig. 4 leg mechanism installation diagram
Fig. 5 slideway top view
Fig. 6 slideway sectional view
Fig. 7 lower limb shaft bar sectional view
In figure: 1, control chamber, 2, upper lower limb assembly, 3, body oil cylinder, 4, fuel tank, 5, bolt is installed under oil cylinder, 6, lower lower limb assembly, 7,
Screw is installed, 8, bolt is installed on oil cylinder, 9, top foot, 10, lower limb shaft bar, 11, lower limb bar, 12, spacing guide plate, 13, crown bar pin
Axle, 14, slideway, 15, base plate, 16, telescopic oil cylinder, 17, oil cylinder bearing pin, 18, oil cylinder push rod support, 19, support bracket bolt, 20, oil
Jar support, 21, spacing guide plate bolt, 22, lower limb bar bolt, 23, top foot bolt, 24, abrasive rubber set, 25, king-bolt, 26,
Big nut, 27, sunk screw, A, through hole.
Detailed description of the invention
Large-scale vertical tubular type inwall climbing robot is mainly by control chamber (1), upper lower limb assembly (2), lower lower limb assembly (6), basis
Mechanism's compositions such as body oils cylinder (3), fuel tank (4).Two body oil cylinders (3) are left and right symmetrically arranged in upper lower limb assembly (2) and lower lower limb group
Between part (6).Body oil cylinder (3) flange in the bottom is fixed on the base plate (15) of lower limb assembly (2) by installing bolt (8) on oil cylinder
Lower section.Body oil cylinder (3) piston-rod end flange is fixed on the spacing of lower lower limb assembly (6) by installing bolt (5) under oil cylinder
On guide plate (12).Fuel tank (4) is by installing the lower section that screw (7) is fixed on the base plate (15) of upper lower limb assembly (2).Control chamber
(1) top of the base plate (15) of upper lower limb assembly (2) it is fixed on by screw.
Upper lower limb assembly (2), lower lower limb assembly (6) structure and size are identical, mainly by fixed mechanism, leg mechanism with stretch
Contracting mechanism forms.
Fixed mechanism includes that base plate (15), slideway (14), cylinder bracket (20), spacing guide plate (12) form.Slideway
(14) being slot type structure, four sections of slideways (14) are divided into two groups, and symmetry is placed in the both sides of base plate (15), and passes through sunk screw
(27) fix with base plate (15).Two cylinder brackets (20) are symmetrically fixed on the two ends of base plate (15) by support bracket bolt (19).
Two spacing guide plates (12) are symmetrically fixed on the two ends of base plate (15) respectively by spacing guide plate bolt (21).
Leg mechanism is made up of parts such as pushing up foot (9), lower limb bar (11), oil cylinder push rod support (18), lower limb shaft bar (10).Lower limb
Bar (11) is elongated plank frame, and two lower limb bars (11) are symmetrically installed, and is fixed on lower limb shaft bar by lower limb bar bolt (22)
(10) both sides.Oil cylinder push rod support (18) is fixed on the interior of lower limb shaft bar (10) by king-bolt (25) and big nut (26)
Side.Two tops foot (9) are fixed on the end of lower limb bar (11) respectively by top foot bolt (23).The fixing tool of each top foot (9) outer rim
There is certain thickness abrasive rubber set (24).Two groups of leg mechanisms are the most reversely placed in the slideway (14) on base plate (15) Nei,
Its lower limb bar (11) can longitudinal sliding motion in slideway (14) upper hopper chute.
Telescoping mechanism is two identical three grade telescopic oil cylinder (16).The bottom of telescopic oil cylinder (16) is respectively by oil cylinder pin
Axle (17) is connected with left and right cylinder bracket (20).The push rod of telescopic oil cylinder (16) passes the through hole (A) on lower limb shaft bar (10), and
It is connected with oil cylinder push rod support (18) by push rod bearing pin (13).
The above is an example of the present invention, and we can carry out some conversion or subsidiary corresponding to its frame for movement
Detection or implement, be applied to various engineering, industry spot.If the same present invention of Design of Mechanical Structure thought of its robot
Described is consistent, is regarded as the scope included by the present invention.
Claims (1)
- The most large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism, it is characterised in that: Retractive leg mechanism by fixed mechanism, Leg mechanism and telescoping mechanism composition；Large-scale vertical tubular type inwall climbing robot, it is characterised in that: robot mainly by control chamber (1), upper lower limb assembly (2), Mechanism's compositions such as lower lower limb assembly (6), body oil cylinder (3), fuel tank (4)；Two body oil cylinders (3) are left and right symmetrically arranged in upper lower limb group Between part (2) and lower lower limb assembly (6)；Body oil cylinder (3) flange in the bottom is fixed on lower limb assembly by installing bolt (8) on oil cylinder (2) lower section of base plate (15)；Body oil cylinder (3) piston-rod end flange is fixed on lower lower limb by installing bolt (5) under oil cylinder On the spacing guide plate (12) of assembly (6)；Fuel tank (4) is fixed on the base plate (15) of upper lower limb assembly (2) by installation screw (7) Lower section；Control chamber (1) is fixed on the top of the base plate (15) of upper lower limb assembly (2) by screw；Upper lower limb assembly (2), lower lower limb assembly (6) structure and size are identical, mainly by fixed mechanism, leg mechanism and telescopic machine Structure forms；Fixed mechanism includes that base plate (15), slideway (14), cylinder bracket (20), spacing guide plate (12) form；Slideway (14) is Slot type structure, four sections of slideways (14) are divided into two groups, and symmetry is placed in the both sides of base plate (15), and by sunk screw (27) and the end Plate (15) is fixed；Two cylinder brackets (20) are symmetrically fixed on the two ends of base plate (15) by support bracket bolt (19)；Two spacing Guide plate (12) is symmetrically fixed on the two ends of base plate (15) respectively by spacing guide plate bolt (21)；Leg mechanism is made up of parts such as pushing up foot (9), lower limb bar (11), oil cylinder push rod support (18), lower limb shaft bar (10)；Lower limb bar (11) being elongated plank frame, two lower limb bars (11) are symmetrically installed, and are fixed on lower limb shaft bar (10) by lower limb bar bolt (22) Both sides；Oil cylinder push rod support (18) is fixed on the inner side of lower limb shaft bar (10) by king-bolt (25) and big nut (26)；Two The end of lower limb bar (11) is fixed on individual top foot (9) respectively by top foot bolt (23)；Each top foot (9) outer rim is fixing to be had necessarily The abrasive rubber set (24) of thickness；Two groups of leg mechanisms are the most reversely placed in the slideway (14) on base plate (15) Nei, its lower limb bar (11) can longitudinal sliding motion in slideway (14) upper hopper chute；Telescoping mechanism is two identical three grade telescopic oil cylinder (16)；The bottom of telescopic oil cylinder (16) is respectively by oil cylinder bearing pin (17) it is connected with left and right cylinder bracket (20)；The push rod of telescopic oil cylinder (16) is through the through hole (A) on lower limb shaft bar (10), and leads to Cross push rod bearing pin (13) to be connected with oil cylinder push rod support (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409212.4A CN106043483B (en) | 2016-06-13 | 2016-06-13 | Large-scale vertical tubular type inner wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409212.4A CN106043483B (en) | 2016-06-13 | 2016-06-13 | Large-scale vertical tubular type inner wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106043483A true CN106043483A (en) | 2016-10-26 |
| CN106043483B CN106043483B (en) | 2018-05-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409212.4A Active CN106043483B (en) | 2016-06-13 | 2016-06-13 | Large-scale vertical tubular type inner wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106043483B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600216A (en) * | 2017-11-13 | 2018-01-19 | 天津职业技术师范大学 | Obstacle crossing type pneumatic wall-climbing robot |
| US20190219035A1 (en) * | 2016-09-23 | 2019-07-18 | Leunamme Engineering S.L.U. | Method and equipment for replacing wind turbine components |
| CN112681684A (en) * | 2020-12-28 | 2021-04-20 | 武汉二航路桥特种工程有限责任公司 | Automatic crawling spraying machine and spraying method thereof |
| CN113482369A (en) * | 2021-07-14 | 2021-10-08 | 涡阳县新源泡沫夹心板有限公司 | Auxiliary device for steel structure installation |
| CN117105068A (en) * | 2023-10-18 | 2023-11-24 | 国网山东省电力公司东营供电公司 | Hoisting device for transformer substation engineering and use method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533073B (en) * | 2018-12-26 | 2020-08-04 | 兰州理工大学 | Double-layer track creeping type wall-climbing robot |
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| JPH07291126A (en) * | 1994-04-22 | 1995-11-07 | Nitto Seiko Co Ltd | In-pipe traveling body |
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| CN205244735U (en) * | 2015-12-16 | 2016-05-18 | 山东科技大学 | Spiral pipeline cleaning robot |
| CN205668603U (en) * | 2016-06-13 | 2016-11-02 | 天津职业技术师范大学 | Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism |
-
2016
- 2016-06-13 CN CN201610409212.4A patent/CN106043483B/en active Active
Patent Citations (7)
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|---|---|---|---|---|
| JPH02121773A (en) * | 1988-10-28 | 1990-05-09 | Osaka Gas Co Ltd | Pipe inside welding equipment |
| JPH07291126A (en) * | 1994-04-22 | 1995-11-07 | Nitto Seiko Co Ltd | In-pipe traveling body |
| JPH08267286A (en) * | 1995-03-30 | 1996-10-15 | Japan Steel & Tube Constr Co Ltd | Welding working truck for traveling in pipe |
| US20100147047A1 (en) * | 2007-04-12 | 2010-06-17 | Saipem S.A. | Method of Making an Udersea Pipe, the Method Including Peening Assembly Welds Inside the Pipe |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190219035A1 (en) * | 2016-09-23 | 2019-07-18 | Leunamme Engineering S.L.U. | Method and equipment for replacing wind turbine components |
| CN107600216A (en) * | 2017-11-13 | 2018-01-19 | 天津职业技术师范大学 | Obstacle crossing type pneumatic wall-climbing robot |
| CN112681684A (en) * | 2020-12-28 | 2021-04-20 | 武汉二航路桥特种工程有限责任公司 | Automatic crawling spraying machine and spraying method thereof |
| CN113482369A (en) * | 2021-07-14 | 2021-10-08 | 涡阳县新源泡沫夹心板有限公司 | Auxiliary device for steel structure installation |
| CN117105068A (en) * | 2023-10-18 | 2023-11-24 | 国网山东省电力公司东营供电公司 | Hoisting device for transformer substation engineering and use method |
| CN117105068B (en) * | 2023-10-18 | 2023-12-26 | 国网山东省电力公司东营供电公司 | Hoisting device for transformer substation engineering and use method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106043483B (en) | 2018-05-04 |
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Effective date of registration: 20231027 Address after: No. 4-202, Yujia Shanxi Third District, Hongshan District, Wuhan City, Hubei Province, 430000 Patentee after: Zhou Jingjing Address before: No. 1310 Dagu South Road, Jinnan District, Tianjin Patentee before: TIANJIN University OF TECHNOLOGY AND EDUCATION |
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Effective date of registration: 20231220 Address after: 430000 office 2, floor 14, building 1 / unit, Aoshan creative block project, No. 778, Gaoxin Avenue, East Lake New Technology Development Zone, Wuhan, Hubei Province (Wuhan area of free trade zone) Patentee after: WUHAN HAIYI HIGH-END EQUIPMENT STRUCTURAL DESIGN CO.,LTD. Address before: No. 4-202, Yujia Shanxi Third District, Hongshan District, Wuhan City, Hubei Province, 430000 Patentee before: Zhou Jingjing |
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