CN107448728A - A kind of diagonal lift pipe robot and its method of creeping - Google Patents
A kind of diagonal lift pipe robot and its method of creeping Download PDFInfo
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- CN107448728A CN107448728A CN201710656562.5A CN201710656562A CN107448728A CN 107448728 A CN107448728 A CN 107448728A CN 201710656562 A CN201710656562 A CN 201710656562A CN 107448728 A CN107448728 A CN 107448728A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses a kind of diagonal lift pipe robot and its method of creeping, belong to robotic technology field.The robot includes fuselage and four climbing devices, respectively upper left climbing device, upper right climbing device, lower-left climbing device and bottom right climbing device；Climbing device includes upper connecting rod, upper motor, lower motor, lower link, oscillating rod and oscillating motor；One end connection fuselage of oscillating rod, and driven by oscillating motor；Upper motor and lower motor are all arranged on the other end of oscillating rod, one end of upper motor connection upper connecting rod, one end of lower motor connection lower link；The other end of the upper connecting rod is connected with block of creeping, and the other end of lower link is connected with down block of creeping.Robot of the present invention can require according to extraneous varying environment, select different creep modes, greatly improve robot adaptability.Three kinds of differences that the present invention also provides the robot are creeped method, its three kinds of different working modes are realized, to adapt to no use environment.
Description
Technical field
The invention belongs to robotic technology field, is related to for tubular service, the robot safeguarded, more specifically, relates to
And a kind of diagonal lift pipe robot and its method of creeping.
Background technology
In the fields such as general industry, nuclear facilities, petroleum gas, military equipment, pipeline is as a kind of effective material
Transportation means and be widely used.Long-term application make it that situations such as corrosion and blocking of pipeline is increasingly severe, this pole
Easily cause transfer efficiency low and the various danger such as Pipeline damage, to improve the generation of the accidents such as the life-span of pipeline, prevent leakage,
Effective detection must just be carried out to pipeline to safeguard, pipe robot is meets that the needs produce.
Pipe robot is that one kind can be along automatically walk, the one or more sensors of carrying and operation inside or outside pipeline
Machinery, under the straighforward operation of staff or computer controlled automatic, it is integral to carry out a series of the mechanical, electrical of pipeline operations, instrument
Change system.It belongs to job that requires special skills robot, and the methods of its unique traveling and action carry for operation in current pipeline
Supply relatively advanced and had the innovative selection applied.With widening for modern Application field, also with Modern Manufacturing Technology water
Flat to improve, the application of every field is all increasing, due to the particularity of pipeline operations environment, there is what can not much be accomplished manually
Operation, therefore pipe robot will turn into important power tool.
At present there is problems with pipeline inner machine people：1st, load it is smaller, due to the limitation of working method, its load compared with
It is small, it is impossible to the operation in the case of heavy load；2nd, pattern is single, and robot can only set a kind of operational mode, it is impossible to according to the external world
Environment, loading condition, speed of service situation, to change operational mode so that robot with having limitation.
For example, Chinese Patent Application No. is：201610425656.7 publication date is：The patent text on October 12nd, 2016
Offer, disclose a kind of pneumatic type pipe robot, including flexible module and the supporting module that is connected with flexible module；Flexible module
Mainly it is made up of drive cylinder and the oscillating bearing being connected with drive cylinder, flexible using drive cylinder realizes robot
Creeping motion type is walked, and supporting module produces thrust by support air cylinder group, and the support block and tube wall for making robot are compressed, and supporting module is led to
The spherical pair crossed in oscillating bearing can be with one space angle θ of moving, and by controlling the logical of magnetic valve relative to flexible module
Power-off time realizes step speed regulation function." pin " of the robot is that support bar can be by adding " the lengthening pin " of different length
To change the length of " pin ", to adapt to the pipeline of different inner diameters, but its operational mode is more single, using cylinder driving
Pattern, itself needs source of the gas, increases robot weight itself, and its load capacity is weaker；If there is accidental gas leakage situation,
Chance is fallen, and security is relatively low.
For example, Chinese Patent Application No. is：201610812069.3 publication date is：The patent text on December 21st, 2016
Offer, disclose a kind of pipe robot, including robot body, be provided with the robot body for being worked in pipeline
Workbench, the pipe robot also include be arranged in pipe robot main body wheel, be connected with wheel right angle wheel shaft, set
The rotating mechanism between right angle wheel shaft and pipe robot main body is put, the right angle wheel shaft includes orthogonal first wheel shaft and the
Great wheel arbor, first wheel shaft link with rotating mechanism.The characteristics of pipe robot according to pipeline is hollow cylinder, set using flat
Wheel, press close to the farthest both ends of pipeline, realize stable movement, while turn in pipeline by rotating mechanism control pipeline robot
It is dynamic, it can also stablize in pipeline bending place and move, but its bearing capacity is weaker, operational mode is single.
Therefore, how existing pipe robot is improved, it is can adapt to caliber, the opposing party according to one aspect
Face can adjust operational mode, be those skilled in the art's problem urgently to be resolved hurrily according to different external environments.
The content of the invention
1st, to solve the problems, such as
The present invention provides a kind of multi-mode pipe robot, and its object is to solve existing pipe robot operational mode list
One, it is impossible to the problem of creep mode is effectively adjusted according to external environment.The robot of the present invention optimizes to the structure creeped
Design, it can select different creep modes according to the external world for load, the varying environment requirement of speed, greatly improve robot
Adaptability.It can not only increase load, and can reduce the slip between robot and pipeline, increase the fortune of robot
Row stability and security.Three kinds of differences that the present invention also provides the multi-mode pipe robot are creeped method, realize thirdly
Kind different working modes.
2nd, technical scheme
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of diagonal lift pipe robot, including fuselage and climbing device, the climbing device are described including four
Climbing device includes four, is climbed respectively by the upper left climbing device, upper right climbing device, lower-left that are arranged on four turnings of fuselage
Rise mechanism and bottom right climbing device composition；Described climbing device includes upper connecting rod, upper motor, lower motor, lower link, oscillating rod
And oscillating motor；One end connection fuselage of the oscillating rod, and driven by oscillating motor；The upper motor and lower motor are all pacified
Mounted in the other end of oscillating rod, one end of upper motor connection upper connecting rod, one end of lower motor connection lower link；The upper connecting rod
The other end is connected with block of creeping, and the other end of lower link is connected with down block of creeping.
A kind of method of creeping of above-mentioned diagonal lift pipe robot, its operating procedure are：
1. the upper connecting rod of upper left climbing device rotates counterclockwise under the driving effect of upper motor, bottom right climbing device it is upper
Connecting rod rotates clockwise under the driving effect of upper motor；Meanwhile the oscillating rod of upper right climbing device drives in oscillating motor and made
Rotated clockwise under, upper connecting rod rotates counterclockwise under the driving effect of upper motor, and the oscillating rod of lower-left climbing device exists
Rotated counterclockwise under oscillating motor driving effect, upper connecting rod rotates clockwise under the driving effect of upper motor；Now, on fuselage
End is twisted to the right, and fuselage lower end twists to the left, and fuselage axis is in angle β with conduit axis, and the center of gravity of fuselage is offset to upper right side；
In this step, the lower link of upper left climbing device and bottom right climbing device is inverse respectively under the driving effect of lower motor
Hour hands and rotate clockwise, block of being creeped under making progressively disengages tube wall；The lower link of lower-left climbing device and upper right climbing device exists
Under the driving effect of lower motor respectively counterclockwise and rotate clockwise, block of being creeped under making progressively disengages tube wall；
2. when the upper connecting rod of upper left climbing device turns to it is vertical with conduit axis when, β angles reach maximum；Now, it is left
Upper climbing device and bottom right climbing device continue to act；And the oscillating rod of upper right climbing device is anti-under oscillating motor driving effect
To starting to rotate counterclockwise, upper connecting rod reversely starts to rotate clockwise under the driving effect of upper motor；Lower-left climbing device
Oscillating rod reversely starts to rotate clockwise under oscillating motor driving effect, and upper connecting rod is reversely opened under the driving effect of upper motor
Beginning rotates counterclockwise；β angles are gradually reduced, until fuselage axis overlaps with conduit axis, body nodal point is along conduit axis direction
Move up a segment distance H；Now, the upper connecting rod of upper left climbing device and bottom right climbing device turns to and its initial position pair
The position of title；
In this step, upper left climbing device, upper right climbing device, the lower link of lower-left climbing device and bottom right climbing device
It is rotated further, when fuselage axis overlaps with conduit axis, block of being creeped under climbing device contacts compression with tube wall again, and under
Connecting rod has been located in the top of upper connecting rod, and upper connecting rod and lower link realize the alternating of position；
3. after block of being creeped under upper right climbing device and lower-left climbing device compresses tube wall, the lower company of upper right climbing device
Bar continues to rotate clockwise, and the lower link of lower-left climbing device continues to rotate counterclockwise, and upper right climbing device and lower-left are climbed
The oscillating motor driving stopping action of mechanism, oscillating rod stop operating；Meanwhile under upper left climbing device and bottom right climbing device
After block of creeping compresses tube wall, the lower link of upper left climbing device continues to rotate clockwise, and the oscillating motor of upper left climbing device is opened
Initiating is made, and driving oscillating rod rotates counterclockwise, and the lower link of bottom right climbing device continues to rotate counterclockwise, bottom right climbing device
Oscillating motor start to act, driving oscillating rod rotate clockwise；Now, fuselage upper end is twisted to the left, and fuselage lower end is turned round to the right
Dynamic, the angle β of fuselage axis and conduit axis gradually increases, and the center of gravity of fuselage is offset to upper left side；
In this step, the upper connecting rod of upper left climbing device and lower-left climbing device continues inverse under the driving effect of upper motor
Hour hands rotate, and the block that makes to creep is gradually distance from tube wall；The upper connecting rod of upper right climbing device and bottom right climbing device is in upper motor
Continue to rotate clockwise under driving effect, the block that makes to creep progressively disengages tube wall；
4. when the lower link of upper right climbing device turns to it is vertical with fuselage when, β angles reach maximum again；Now, it is right
Upper climbing device and lower-left climbing device continue to act；And the oscillating rod of upper left climbing device is anti-under oscillating motor driving effect
To starting to rotate clockwise, lower link reversely starts to rotate counterclockwise under the driving effect of lower motor；Bottom right climbing device
Oscillating rod reversely starts to rotate counterclockwise under oscillating motor driving effect, and lower link is reversely opened under the driving effect of lower motor
Beginning rotates clockwise；β angles are gradually reduced, until fuselage axis overlaps with conduit axis, body nodal point is along conduit axis direction
Move up H distances；Now, the lower link of upper right climbing device and lower-left climbing device rotates initial position；
In this step, upper left climbing device, upper right climbing device, the upper connecting rod of lower-left climbing device and bottom right climbing device
It is rotated further, when fuselage axis overlaps again with conduit axis, block of being creeped on climbing device contacts compression with tube wall again,
And upper connecting rod is again positioned at the top of lower link；Now, robot has returned to step 1. preceding original state；
5. repeat the above steps 1. to 4., realizing robot persistently creeping in pipeline.
As a further improvement, described fuselage includes the upper fuselage connected by elevating mechanism and lower fuselage, lift
The relative motion of the controllable upper fuselage of structure and lower fuselage, make fuselage and lower fuselage mutually closer or far from；Climb machine for the upper left
Structure and upper right climbing device are located on upper fuselage, and lower-left climbing device and bottom right climbing device are located on lower fuselage；Described liter
Descending mechanism includes screw pair and lifting motor, is connected between upper fuselage and lower fuselage by screw pair, and pass through liter
Motor driving is dropped；
Before step is 1., upper fuselage and lower fuselage is set to fit to together by following steps：
First, the upper motor and lower motor action of upper left climbing device and upper right climbing device, upper connecting rod and lower link are driven
Rotate clockwise and anticlockwise respectively, make upper left climbing device and upper right climbing device on creep block and under creep block depart from
The contact of tube wall；
2nd, elevating mechanism works, and lifting motor drives upper fuselage to move by screw pair, makes fuselage and lower fuselage
Fit；
3rd, elevating mechanism is stopped, the upper motor and lower motor action of upper left climbing device and upper right climbing device, drives
Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, make upper left climbing device and upper right climbing device on creep block
Block of being creeped with compresses tube wall again.
As a further improvement, in step 3, before or while upper motor and lower motor action, upper left climbing device and
The oscillating motor action of upper right climbing device, driving oscillating rod rotate, to coordinate the rotation of upper connecting rod and lower link, make to creep
Block and under creep block compress tube wall.
As a further improvement, described fuselage includes the upper fuselage connected by elevating mechanism and lower fuselage, lift
The relative motion of the controllable upper fuselage of structure and lower fuselage, make fuselage and lower fuselage mutually closer or far from；Climb machine for the upper left
Structure and upper right climbing device are located on upper fuselage, and lower-left climbing device and bottom right climbing device are located on lower fuselage；Described liter
Descending mechanism includes screw pair and lifting motor, is connected between upper fuselage and lower fuselage by screw pair, and pass through liter
Motor driving is dropped；
Before step is 1., upper fuselage and lower fuselage is set to fit to together by following steps：
First, the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, upper connecting rod and lower link are driven
Rotate clockwise and anticlockwise respectively, make lower-left climbing device and bottom right climbing device on creep block and under creep block depart from
The contact of tube wall；
2nd, elevating mechanism works, and lifting motor drives lower fuselage to move by screw pair, makes lower fuselage and upper fuselage
Fitting；
3rd, elevating mechanism is stopped, the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, drives
Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, make lower-left climbing device and bottom right climbing device on creep block
Block of being creeped with compresses tube wall again.
As a further improvement, in step 3, the upper motor and lower motor of climbing device and bottom right climbing device in lower-left
Before or while action, the oscillating motor action of lower-left climbing device and bottom right climbing device, driving oscillating rod rotates, to coordinate
The rotation of upper connecting rod and lower link, make to creep block and under block of creeping compress tube wall.
A kind of method of creeping of diagonal lift pipe robot, its operating procedure are：
First, upper fuselage and lower fuselage are fitted to together；
When not running into caliber or duct orientation changes, crawled using above-mentioned diagonal lift method；
When running into caliber or duct orientation changes, it is switched to following method and crawls：
1. the upper motor and lower motor action of upper left climbing device and upper right climbing device, drive upper connecting rod and lower link point
Do not rotate clockwise and anticlockwise, make upper left climbing device and upper right climbing device on creep block and under block of creeping depart from and pipe
The contact of wall；
2. elevating mechanism works, lifting motor drives upper fuselage to move by screw pair, away from or close to lower fuselage；
3. elevating mechanism is stopped, the upper motor and lower motor action of upper left climbing device and upper right climbing device, drive
Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, meanwhile, the swing of upper left climbing device and upper right climbing device
Motor action, driving oscillating rod rotates, and to coordinate the rotation of upper connecting rod and lower link, makes upper left climbing device and upper right is climbed machine
Creeped on structure block and under block of creeping compress tube wall again；
4. the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, drive upper connecting rod and lower link point
Do not rotate clockwise and anticlockwise, make lower-left climbing device and bottom right climbing device on creep block and under block of creeping depart from and pipe
The contact of wall；
5. elevating mechanism works, lifting motor drives lower fuselage to move by screw pair, closer or far from upper fuselage；
6. elevating mechanism is stopped, the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, drive
Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, meanwhile, the upper electricity of lower-left climbing device and bottom right climbing device
The oscillating motor action of machine and lower motor action, lower-left climbing device and bottom right climbing device, driving oscillating rod rotate, to coordinate
The rotation of upper connecting rod and lower link, make lower-left climbing device and bottom right climbing device on creep block and under block of creeping compress again
Tube wall；
When crossing at caliber or duct orientation change, then switch back into above-mentioned diagonal lift method and crawl.
3rd, beneficial effect
Compared to prior art, beneficial effects of the present invention are：
(1) inventive pipeline robot, during climbing or declining, using block of above creeping, under creep block and pipeline
Stiction between inwall realizes climbing for robot, and traditional robot mostly completes to climb using roller, due to
Rolling is produced between roller and pipeline, it completes climbing for robot using kinetic force of friction, because stiction is not only than dynamic
Frictional force is big, and does not allow to be also easy to produce slip, therefore the present invention can not only increase load, and can reduce robot and pipe
Slip between road, increase the security of robot.
(2) inventive pipeline robot, motion gait use bionics principle, imitate the rule that the animal kingdom climbs, and utilize
Different gaits realizes the creep mode under varying environment, not only to climb more reliable, and can be as the case may be
Motor pattern is selected, robot is increased for environment and the adaptability of task, increases its application, be under specific occasion
Use provide possibility.
(3) inventive pipeline robot, the fixation of itself and tube wall are designed using bionics principle, imitate gecko and metope
Fixed mode, to increase with the contact area of metope to increase the adhesive force in metope, using block of creeping on multiple, under creep come
The adhesive force of robot and metope is improved, not only increases the load of robot, and increases security.
Brief description of the drawings
Fig. 1 is the climb mode structural representation of multi-mode pipe robot of the present invention；
Fig. 2 is the climbing mechanism schematic diagram of multi-mode pipe robot of the present invention；
Fig. 3 is the schematic cross-sectional view of M-M in Fig. 2；
Fig. 4 is the schematic cross-sectional view of N-N in Fig. 2.
Label in accompanying drawing is expressed as：
1st, upper fuselage；2nd, lower fuselage；3rd, screw pair；4th, lifting motor；5th, climbing mechanism；5-1, upper left climb machine
Structure；5-2, upper right climbing device；5-3, lower-left climbing device；5-4, bottom right climbing device；501st, creeped on block；502nd, upper company
Bar；503rd, upper motor；504th, lower motor；505th, creeped under block；506th, lower link；507th, oscillating rod；508th, oscillating motor.
Embodiment
The present invention is further described below with reference to specific embodiments and the drawings.
Embodiment 1
As shown in figure 1, a kind of multi-mode pipe robot of the present embodiment, including fuselage and climbing device 5；Wherein, climb
Mechanism 5 is used to support fuselage, and driving machine body moves in the duct.It is different from traditional robot and mostly uses roller and tube wall
Between produce rolling friction and complete the structure climbed, the present embodiment is using static friction form, mainly by the machine of climbing
The optimization design of structure 5 obtains.Specifically, climbing device 5 includes four, respectively by being arranged on up and down on four turnings of fuselage
Upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right climbing device 5-4 composition, they tie
Structure is identical, by the mutual cooperation of four climbing devices 5, completes the climbing motion of robot in the duct.Below to the machine of climbing
The structure of structure 5 is described in detail.
With reference to shown in Fig. 2 to Fig. 4, climbing device 5 includes upper connecting rod 502, upper motor 503, lower motor 504, lower link
506th, oscillating rod 507 and oscillating motor 508；Wherein, one end connection fuselage of oscillating rod 507, and driven by oscillating motor 508
It is dynamic；Upper motor 503 and lower motor 504 are all arranged on the other end of oscillating rod 507, and upper motor 503 connects the one of upper connecting rod 502
End, lower motor 504 connect one end of lower link 506；The other end of upper connecting rod 502 is connected with block 501 of creeping, lower link 506
The other end be connected with down block 505 of creeping, above creep block 501 and under creep block 505 be used for robot in pipeline is creeped with pipe
Wall contact support.
The multi-mode pipe robot of the present embodiment, in crawling process, using block 501 of above creeping, under creep block 505 with
Stiction between inner-walls of duct realizes climbing for robot, mostly completes to climb using roller compared to traditional robot
Rise, due to producing rolling between roller and pipeline, it completes climbing for robot using kinetic force of friction, due to stiction not
It is only bigger than kinetic force of friction, and do not allow to be also easy to produce slip, therefore, the robot of the present embodiment can not only increase load, and
The slip between robot and pipeline can be reduced, increase the security of robot.
Embodiment 2
By the multi-mode pipe robot of embodiment 1, climbing motion of the robot in pipeline can be achieved, and it can
Creep mode under varying environment is realized using different gaits.The present embodiment provides a kind of side of creeping of pipe robot
Method, action of creeping is completed using diagonal lifting pattern gait, this pattern is similar to animal, and diagonal such as lizard creeps, this process
In, upper left climbing device 5-1 and bottom right climbing device 5-4 synchronous workings, upper right climbing device 5-2 and lower-left climbing device 5-3
Synchronous working, diagonal interoperation, realize climbing.This pattern is mainly used in small load, the situation of harmonic motion.Below to the party
The step of method, is described in detail.
The method of creeping of the diagonal lift pipe robot, its operating procedure are：
1. upper left climbing device 5-1 upper connecting rod 502 rotates counterclockwise under the driving effect of upper motor 503, bottom right is climbed
The upper connecting rod 502 for rising mechanism 5-4 is rotated clockwise under the driving effect of upper motor 503, and upper left climbing device 5-1 and bottom right are climbed
The oscillating motor 508 for rising mechanism 5-4 is failure to actuate, and oscillating rod 507 does not rotate；Meanwhile upper right climbing device 5-2 oscillating rod 507
Being rotated clockwise under the driving effect of oscillating motor 508, upper connecting rod 502 rotates counterclockwise under the driving effect of upper motor 503,
And lower-left climbing device 5-3 oscillating rod 507 rotates counterclockwise under the driving effect of oscillating motor 508, upper connecting rod 502 is in upper electricity
Rotated clockwise under the driving effect of machine 503；Now, fuselage upper end twists to the right, and fuselage lower end twists to the left, fuselage axis with
Conduit axis is in angle β, and the center of gravity of fuselage is offset to upper right side；
In this step, the driving of upper left climbing device 5-1 and bottom right climbing device 5-4 lower link 506 in lower motor 504
Under effect respectively counterclockwise and rotate clockwise, block 505 of being creeped under making progressively disengages tube wall；Lower-left climbing device 5-3 and upper right
Climbing device 5-2 lower link 506 is counterclockwise respectively under the driving effect of lower motor 504 and rotates clockwise, and is creeped under making
Block 505 progressively disengages tube wall；
2. when upper left climbing device 5-1 upper connecting rod 502 turns to vertical with conduit axis, β angles reach maximum；This
When, upper left climbing device 5-1 and bottom right climbing device 5-4 continue to act；And upper right climbing device 5-2 oscillating rod 507 is being put
Reversely start to rotate counterclockwise under the dynamic driving effect of motor 508, upper connecting rod 502 is reversely opened under the driving effect of upper motor 503
Beginning rotates clockwise；Lower-left climbing device 5-3 oscillating rod 507 reversely starts clockwise under the driving effect of oscillating motor 508
Rotate, upper connecting rod 502 reversely starts to rotate counterclockwise under the driving effect of upper motor 503；β angles are gradually reduced, until machine
Body axis overlap with conduit axis, and body nodal point moves up a segment distance H along conduit axis direction, and H is equal to block of above creeping
501 and under creep the distance between block 505, that is, upper connecting rod 502 and lower link 506 isosceles triangle that is formed with tube wall
Base, if upper connecting rod 502 and the length of lower link 506 are L, between angle be α, thenNow, upper left is climbed
Mechanism 5-1 and bottom right climbing device 5-4 upper connecting rod 502 turn to and the symmetrical position of its initial position；
In this step, climb machine for upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right
Structure 5-4 lower link 506 is rotated further, when fuselage axis overlaps with conduit axis, the weight of block 505 of being creeped under climbing device 5
Compression is newly contacted with tube wall, and lower link 506 has been located in the top of upper connecting rod 502, upper connecting rod 502 and lower link 506 realize
The alternating of position；
3. after block 505 of being creeped under upper right climbing device 5-2 and lower-left climbing device 5-3 compresses tube wall, upper right is climbed
Mechanism 5-2 lower link 506 continues to rotate clockwise, and lower-left climbing device 5-3 lower link 506 continues to rotate counterclockwise, and
The driving stopping action of upper right climbing device 5-2 and lower-left climbing device 5-3 oscillating motor 508, oscillating rod 507 stop operating；
Meanwhile after block 505 of being creeped under upper left climbing device 5-1 and bottom right climbing device 5-4 compresses tube wall, upper left climbing device 5-1
Lower link 506 continue to rotate clockwise, upper left climbing device 5-1 oscillating motor 508 starts to act, drive oscillating rod 507
Rotate counterclockwise, and bottom right climbing device 5-4 lower link 506 continues to rotate counterclockwise, bottom right climbing device 5-4 swing electricity
Machine 508 starts to act, and driving oscillating rod 507 rotates clockwise；Now, fuselage upper end twists to the left, and fuselage lower end twists to the right,
The angle β of fuselage axis and conduit axis gradually increases, and the center of gravity of fuselage is offset to upper left side；
In this step, the driving of upper left climbing device 5-1 and lower-left climbing device 5-3 upper connecting rod 502 in upper motor 503
Continue to rotate counterclockwise under effect, the block 501 that makes to creep is gradually distance from tube wall；Upper right climbing device 5-2 and bottom right climbing device
5-4 upper connecting rod 502 continues to rotate clockwise under the driving effect of upper motor 503, and the block 501 that makes to creep progressively disengages pipe
Wall；
4. when upper right climbing device 5-2 lower link 506 turns to vertical with fuselage, β angles reach maximum again；This
When, upper right climbing device 5-2 and lower-left climbing device 5-3 continue to act；And upper left climbing device 5-1 oscillating rod 507 is being put
Reversely start to rotate clockwise under the dynamic driving effect of motor 508, lower link 506 is reversely opened under the driving effect of lower motor 504
Beginning rotates counterclockwise；Bottom right climbing device 5-4 oscillating rod 507 reversely starts counterclockwise under the driving effect of oscillating motor 508
Rotate, lower link 506 reversely starts to rotate clockwise under the driving effect of lower motor 504；β angles are gradually reduced, until machine
Body axis overlap with conduit axis, and body nodal point moves up H distances along conduit axis direction；Now, upper right climbing device 5-2
Initial position is rotated with lower-left climbing device 5-3 lower link 506；
In this step, climb machine for upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right
Structure 5-4 upper connecting rod 502 is rotated further, when fuselage axis overlaps again with conduit axis, block of being creeped on climbing device 5
501 contact compression with tube wall again, and upper connecting rod 502 is again positioned at the top of lower link 506；Now, robot has returned to
Step 1. preceding original state；
5. repeat the above steps 1. to 4., realizing robot persistently creeping in pipeline.
Embodiment 3
A kind of multi-mode pipe robot of the present embodiment, is optimized on the basis of the robot architecture of embodiment 1 and changes
Enter, by the way that fuselage is designed using split, and add elevating mechanism, so as to increase the motion gait pattern of robot, strengthen machine
Adaptability of the device people to different use environments.
With reference to shown in Fig. 1, in the present embodiment, main 2 groups of the upper fuselage 1 and lower fuselage by being connected by elevating mechanism of fuselage
Into the relative motion of the controllable upper fuselage 1 of, elevating mechanism and lower fuselage 2, make fuselage 1 and the lower phase of fuselage 2 closer or far from, from
And fuselage is divided into mobilizable two parts.Wherein, upper left climbing device 5-1 and upper right climbing device 5-2 is located at upper fuselage 1
On, lower-left climbing device 5-3 and bottom right climbing device 5-4 are located on lower fuselage 2.
The structure of elevating mechanism has multiple choices, as long as the relative motion of fuselage 1 and lower fuselage 2 can be realized.
In the present embodiment, elevating mechanism includes screw pair 3 and lifting motor 4, passes through leading screw spiral shell between upper fuselage 1 and lower fuselage 2
Female pair 3 connects, and is driven by lifting motor 4.
The robot can not only realize that the diagonal lifting pattern of embodiment 2 is creeped, and can also realize alternately lifting and overall liter
Drop pattern creep mode, different loads, speed, caliber and duct orientation change are can adapt to, greatly enhances the suitable of robot
Should be able to power.Other gait patterns can be described in detail for latter embodiments.
Embodiment 4
By the multi-mode pipe robot of embodiment 2, climbing motion of the robot in pipeline can be achieved, have a variety of
Creep mode is available, the present embodiment provides a kind of alternately lifting creep mode, is mainly used in heavy load, low-speed motion
Situation.The step of this method, is described in detail below.
The present embodiment replaces the method for creeping of lift pipe robot, and its operating procedure is：
1. upper left climbing device 5-1 and upper right climbing device 5-2 upper motor 503 and lower motor 504 act, connect in driving
Bar 502 and lower link 506 rotate clockwise and anticlockwise respectively, make that upper left climbing device 5-1's and upper right climbing device 5-2 is upper
Creep block 501 and under block 505 of creeping depart from contact with tube wall；
2. elevating mechanism works, lifting motor 4 drives upper fuselage 1 to move by screw pair 3, away from or close to lower machine
Body 2；
3. elevating mechanism is stopped, upper left climbing device 5-1 and upper right climbing device 5-2 upper motor 503 and lower electricity
Machine 504 acts, and drives upper connecting rod 502 and lower link 506 counterclockwise and to rotate clockwise respectively, make upper left climbing device 5-1 and
Creeped on upper right climbing device 5-2 block 501 and under block 505 of creeping compress tube wall again；
4. lower-left climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower motor 504 act, connect in driving
Bar 502 and lower link 506 rotate clockwise and anticlockwise respectively, make that lower-left climbing device 5-3's and bottom right climbing device 5-4 is upper
Creep block 501 and under block 505 of creeping depart from contact with tube wall；
5. elevating mechanism works, lifting motor 4 drives lower fuselage 2 to move by screw pair 3, closer or far from upper machine
Body 1；
6. elevating mechanism is stopped, lower-left climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower electricity
Machine 504 acts, and drives upper connecting rod 502 and lower link 506 counterclockwise and to rotate clockwise respectively, make lower-left climbing device 5-3 and
Creeped on the climbing device 5-4 of bottom right block 501 and under block 505 of creeping compress tube wall again；
7. repeating the above steps 1. to 6., upper fuselage 1 and lower fuselage 2 alternately move, and realize robot climbing in pipeline
OK.
Embodiment 5
The present embodiment provides a kind of method of creeping of alternately lift pipe robot, enters one on the basis of embodiment 4
Step is improved, and it is applicable not only to heavy load, the situation of low-speed motion, and can adapt to creeping for caliber and crooked pipeline.Should
The method of method and embodiment 4 is essentially identical, and institute's difference mainly has at following 2 points：
First, step 3. in, upper motor 503 and lower motor 504 action before or while, upper left climbing device 5-1 and the right side
Upper climbing device 5-2 oscillating motor 508 acts, and driving oscillating rod 507 rotates, to coordinate upper connecting rod 502 and lower link 506
Rotate, make to creep block 501 and under block 505 of creeping compress tube wall.This step, enter caliber change in upper fuselage 1 or direction becomes
When in the pipeline of change, this change can be adapted to by the cooperation of oscillating rod 507, upper connecting rod 502 and lower link 506.
2nd, step 6. in, climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower motor 504 in lower-left
Before or while action, lower-left climbing device 5-3 and bottom right climbing device 5-4 oscillating motor 508 act, and drive oscillating rod
507 rotate, to coordinate the rotation of upper connecting rod 502 and lower link 506, make to creep block 501 and under block 505 of creeping compress tube wall.
This step is dynamic when lower fuselage 2 is again introduced into after upper fuselage 1 comes into the pipeline of diameter change or the pipeline of direction change
Make, and this change is adapted to by the cooperation of oscillating rod 507, upper connecting rod 502 and lower link 506.
It should be noted that the method for the present embodiment, it requires pipeline in direction change, and the radius of curvature that it bends is not
Can be too big, otherwise fuselage will be difficult to cross, this have certainly to the volume of robot it is required, it is true according to actual conditions when in use
It is fixed.
Embodiment 6
By the multi-mode pipe robot of embodiment 1, climbing motion of the robot in pipeline can be achieved, have a variety of
Creep mode is available, and the present embodiment provides a kind of integral elevating Crawl gait pattern, be mainly used in vibrations it is obvious, it is necessary to
The special circumstances such as quick movement.This gait is similar with diagonal lifting gait, in the gait unlike, four climbing devices 5
Work simultaneously.The step of this method, is described in detail below.
1. upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right climbing device 5-4
Oscillating motor 508 and upper motor 503 act simultaneously, drive upper left climbing device 5-1 and lower-left climbing device 5-3 oscillating rod
507 and upper connecting rod 502 rotate counterclockwise, upper right climbing device 5-2 and bottom right climbing device 5-4 oscillating rod 507 and upper company
Bar 502 rotates clockwise, and fuselage moves axially along pipeline；
In this step, the lower motor 504 of four climbing devices 5 acts, and driving lower link 506 rotates counterclockwise, and is climbed under making
Row block 505 progressively disengages tube wall；
2. when the upper connecting rod 502 of four climbing devices 5 rotates to the position vertical with conduit axis, 507 turns of oscillating rod
Extreme position is moved, now, the upper connecting rod 502 of four climbing devices 5 is rotated further, and oscillating rod 507 is in oscillating motor 508
Under driving effect, start to rotate backward；
3. when the upper connecting rod 502 of four climbing devices 5 is inverted to position symmetrical with its initial position, four machines that climb
The oscillating rod 507 of structure 5 is also inverted to initial position, and the lower link 506 of four climbing devices 5 is made in the driving of lower motor 504
Under, block 505 of being creeped under making compresses tube wall again；Now, the position of upper connecting rod 502 and lower link 506 alternates, under creep
Block 505 moves a segment distance positioned at the top of block 501 of above creeping, body nodal point along conduit axis, and the distance is equal to block 501 of above creeping
The spacing creeped under and between block 505；
4. repeat the above steps 1. to 3., creeped on four climbing devices 5 block 501 and under creep block 505 along pipeline axle
Line alternately compresses or departed from tube wall, realizes the movement of Robot pipeline.
Embodiment 7
By the multi-mode pipe robot of embodiment 2, robot creeping in pipeline is realized, there is provided one kind side of creeping
Method, it is the method and one of 2 method and embodiment 5 in conjunction with the embodiments, can adapt to the change of caliber or duct orientation.Under
Face is underdrawed.
3. or 6. step is 4. to making upper fuselage 1 and lower machine first, before creeping, by the step in embodiment 5 1. to
Body 2 fits to together；Because if upper fuselage 1 and lower fuselage 2 separate, the climbing device 5 of upside two climbs apart from following two
Farther out, when being creeped using diagonal lifting pattern, its attachment difficulty for tube wall is higher, has in crawling process for mechanism 5
The danger of landing, therefore, this action is completed before creeping；Then, when caliber or duct orientation do not change, using embodiment
2 diagonal creep mode crawls；When running into caliber or duct orientation changes, now, the friendship of embodiment 5 is switched to
For lifting creep mode；After crossing at caliber or duct orientation change, then the diagonal lifting pattern creep mode of switchback.
Embodiment 8
By the multi-mode pipe robot of embodiment 2, robot creeping in pipeline is realized, there is provided one kind side of creeping
Method, it is the method and one of 5 method and embodiment 6 in conjunction with the embodiments, can adapt to the change of caliber or duct orientation.Under
Face is underdrawed.
3. or 6. step is 4. to making upper fuselage 1 and lower machine first, before creeping, by the step in embodiment 5 1. to
Body 2 fits to together；Then, when caliber or duct orientation do not change, using the integral elevating creep mode of embodiment 6
Crawl；When running into caliber or duct orientation changes, now, the alternating lifting creep mode of embodiment 5 is switched to；
After crossing at caliber or duct orientation change, then switchback integral elevating creep mode.
Example of the present invention is only that the preferred embodiment of the present invention is described, not to present inventive concept and
Scope is defined, on the premise of design philosophy of the present invention is not departed from, technology of this area engineers and technicians to the present invention
The various modifications and improvement that scheme is made, all should fall into protection scope of the present invention.
Claims (7)
1. a kind of diagonal lift pipe robot, including fuselage and climbing device (5), the climbing device (5) include four,
The climbing device (5) includes four, is climbed respectively by the upper left climbing device (5-1) that is arranged on four turnings of fuselage, upper right
Rise mechanism (5-2), lower-left climbing device (5-3) and bottom right climbing device (5-4) composition, it is characterised in that：The described machine that climbs
Structure (5) includes upper connecting rod (502), upper motor (503), lower motor (504), lower link (506), oscillating rod (507) and swings electricity
Machine (508)；One end connection fuselage of the oscillating rod (507), and driven by oscillating motor (508)；The upper motor (503)
The other end of oscillating rod (507) is all arranged on lower motor (504), upper motor (503) connects one end of upper connecting rod (502), under
One end of motor (504) connection lower link (506)；The other end of the upper connecting rod (502) is connected with block of creeping (501), under
The other end of connecting rod (506) is connected with down block of creeping (505).
2. a kind of method of creeping of diagonal lift pipe robot described in claim 1, its operating procedure are：
1. the upper connecting rod (502) of upper left climbing device (5-1) rotates counterclockwise under the driving effect of upper motor (503), bottom right
The upper connecting rod (502) of climbing device (5-4) rotates clockwise under the driving effect of upper motor (503)；Meanwhile upper right is climbed machine
The oscillating rod (507) of structure (5-2) rotates clockwise under oscillating motor (508) driving effect, and upper connecting rod (502) is in upper motor
(503) rotated counterclockwise under driving effect, and the oscillating rod (507) of lower-left climbing device (5-3) drives in oscillating motor (508)
Action rotates counterclockwise under, and upper connecting rod (502) rotates clockwise under the driving effect of upper motor (503)；Now, on fuselage
End is twisted to the right, and fuselage lower end twists to the left, and fuselage axis is in angle β with conduit axis, and the center of gravity of fuselage is offset to upper right side；
In this step, the lower link (506) of upper left climbing device (5-1) and bottom right climbing device (5-4) is in lower motor (504)
Under driving effect respectively counterclockwise and rotate clockwise, block (505) of being creeped under making progressively disengages tube wall；Lower-left climbing device (5-
3) distinguish with the lower link (506) of upper right climbing device (5-2) under the driving effect of lower motor (504) counterclockwise and clockwise
Rotate, block (505) of being creeped under making progressively disengages tube wall；
2. when upper left climbing device (5-1) upper connecting rod (502) turns to vertical with conduit axis, β angles reach maximum；This
When, upper left climbing device (5-1) and bottom right climbing device (5-4) continue to act；And the oscillating rod of upper right climbing device (5-2)
(507) reversely start to rotate counterclockwise under oscillating motor (508) driving effect, drive of the upper connecting rod (502) in upper motor (503)
Action reversely starts to rotate clockwise with lower；The oscillating rod (507) of lower-left climbing device (5-3) drives in oscillating motor (508)
Reversely start to rotate clockwise under effect, upper connecting rod (502) reversely starts to turn counterclockwise under the driving effect of upper motor (503)
It is dynamic；β angles are gradually reduced, until fuselage axis overlaps with conduit axis, body nodal point moves up one along conduit axis direction
Segment distance H；Now, the upper connecting rod (502) of upper left climbing device (5-1) and bottom right climbing device (5-4) turns to initial with it
The position of positional symmetry；
In this step, upper left climbing device (5-1), upper right climbing device (5-2), lower-left climbing device (5-3) and bottom right are climbed
The lower link (506) of mechanism (5-4) is rotated further, and when fuselage axis overlaps with conduit axis, climbing device is creeped under (5)
Block (505) contacts compression with tube wall again, and lower link (506) has been located in the top of upper connecting rod (502), upper connecting rod (502) and
Lower link (506) realizes the alternating of position；
3. after block (505) of being creeped under upper right climbing device (5-2) and lower-left climbing device (5-3) compresses tube wall, upper right is climbed
The lower link (506) for rising mechanism (5-2) continues to rotate clockwise, and the lower link (506) of lower-left climbing device (5-3) continues the inverse time
Pin rotates, and the driving stopping action of the oscillating motor (508) of upper right climbing device (5-2) and lower-left climbing device (5-3), swings
Bar (507) stops operating；Meanwhile block (505) compression of being creeped under upper left climbing device (5-1) and bottom right climbing device (5-4)
After tube wall, the lower link (506) of upper left climbing device (5-1) continues to rotate clockwise, the swing electricity of upper left climbing device (5-1)
Machine (508) starts to act, driving oscillating rod (507) rotate counterclockwise, and the lower link (506) of bottom right climbing device (5-4) after
Continuous to rotate counterclockwise, the oscillating motor (508) of bottom right climbing device (5-4) starts to act, and driving oscillating rod (507) turns clockwise
It is dynamic；Now, fuselage upper end twists to the left, and fuselage lower end twists to the right, and the angle β of fuselage axis and conduit axis gradually increases,
The center of gravity of fuselage is offset to upper left side；
In this step, the upper connecting rod (502) of upper left climbing device (5-1) and lower-left climbing device (5-3) is in upper motor (503)
Continue to rotate counterclockwise under driving effect, the block (501) that makes to creep is gradually distance from tube wall；Upper right climbing device (5-2) and bottom right
The upper connecting rod (502) of climbing device (5-4) continues to rotate clockwise under the driving effect of upper motor (503), makes block of creeping
(501) tube wall is progressively disengaged；
4. when upper right climbing device (5-2) lower link (506) turns to vertical with fuselage, β angles reach maximum again；This
When, upper right climbing device (5-2) and lower-left climbing device (5-3) continue to act；And the oscillating rod of upper left climbing device (5-1)
(507) reversely start to rotate clockwise under oscillating motor (508) driving effect, drive of the lower link (506) in lower motor (504)
Action reversely starts to rotate counterclockwise with lower；The oscillating rod (507) of bottom right climbing device (5-4) drives in oscillating motor (508)
Reversely start to rotate counterclockwise under effect, lower link (506) reversely starts to turn clockwise under the driving effect of lower motor (504)
It is dynamic；β angles are gradually reduced, until fuselage axis overlaps with conduit axis, body nodal point along conduit axis direction move up H away from
From；Now, the lower link (506) of upper right climbing device (5-2) and lower-left climbing device (5-3) rotates initial position；
In this step, upper left climbing device (5-1), upper right climbing device (5-2), lower-left climbing device (5-3) and bottom right are climbed
The upper connecting rod (502) of mechanism (5-4) is rotated further, when fuselage axis overlaps again with conduit axis, climbing device (5) it is upper
Block (501) of creeping contacts compression with tube wall again, and upper connecting rod (502) is again positioned at the top of lower link (506)；Now, machine
Device people has returned to step 1. preceding original state；
5. repeat the above steps 1. to 4., realizing robot persistently creeping in pipeline.
A kind of 3. method of creeping of diagonal lift pipe robot according to claim 2, it is characterised in that：
Described fuselage includes the upper fuselage (1) and lower fuselage (2) connected by elevating mechanism, the controllable upper fuselage of elevating mechanism
(1) and lower fuselage (2) relative motion, make fuselage (1) and lower fuselage (2) mutually closer or far from；The upper left climbing device
(5-1) and upper right climbing device (5-2) are located on upper fuselage (1), lower-left climbing device (5-3) and bottom right climbing device (5-4)
On lower fuselage (2)；Described elevating mechanism includes screw pair (3) and lifting motor (4), upper fuselage (1) and lower machine
Connected by screw pair (3) between body (2), and driven by lifting motor (4)；
Before step is 1., upper fuselage (1) and lower fuselage (2) is set to fit to together by following steps：
First, the upper motor (503) and lower motor (504) of upper left climbing device (5-1) and upper right climbing device (5-2) act, and drive
Dynamic upper connecting rod (502) and lower link (506) rotate clockwise and anticlockwise respectively, climb upper left climbing device (5-1) and upper right
Rise mechanism (5-2) on creep block (501) and under creep contact of block (505) disengaging with tube wall；
2nd, elevating mechanism works, and lifting motor (4) is mobile by fuselage (1) in screw pair (3) driving, makes fuselage (1)
Fitted with lower fuselage (2)；
3rd, elevating mechanism is stopped, the upper motor (503) of upper left climbing device (5-1) and upper right climbing device (5-2) and under
Motor (504) acts, driving upper connecting rod (502) and lower link (506) respectively counterclockwise with rotate clockwise, upper left is climbed machine
Creeped on structure (5-1) and upper right climbing device (5-2) block (501) and under block (505) of creeping compress tube wall again.
A kind of 4. method of creeping of diagonal lift pipe robot according to claim 3, it is characterised in that：Step 3
In, before or while upper motor (503) and lower motor (504) action, upper left climbing device (5-1) and upper right climbing device
Oscillating motor (508) action of (5-2), driving oscillating rod (507) rotate, to coordinate upper connecting rod (502) and lower link (506)
Rotate, make to creep block (501) and under creep block (505) compression tube wall.
A kind of 5. method of creeping of diagonal lift pipe robot according to claim 2, it is characterised in that：
Described fuselage includes the upper fuselage (1) and lower fuselage (2) connected by elevating mechanism, the controllable upper fuselage of elevating mechanism
(1) and lower fuselage (2) relative motion, make fuselage (1) and lower fuselage (2) mutually closer or far from；The upper left climbing device
(5-1) and upper right climbing device (5-2) are located on upper fuselage (1), lower-left climbing device (5-3) and bottom right climbing device (5-4)
On lower fuselage (2)；Described elevating mechanism includes screw pair (3) and lifting motor (4), upper fuselage (1) and lower machine
Connected by screw pair (3) between body (2), and driven by lifting motor (4)；
Before step is 1., upper fuselage (1) and lower fuselage (2) is set to fit to together by following steps：
First, the upper motor (503) and lower motor (504) of lower-left climbing device (5-3) and bottom right climbing device (5-4) act, and drive
Dynamic upper connecting rod (502) and lower link (506) rotate clockwise and anticlockwise respectively, climb lower-left climbing device (5-3) and bottom right
Rise mechanism (5-4) on creep block (501) and under creep contact of block (505) disengaging with tube wall；
2nd, elevating mechanism works, and lifting motor (4) drives lower fuselage (2) mobile by screw pair (3), makes lower fuselage (2)
It is bonded with upper fuselage (1)；
3rd, elevating mechanism is stopped, the upper motor (503) of lower-left climbing device (5-3) and bottom right climbing device (5-4) and under
Motor (504) acts, driving upper connecting rod (502) and lower link (506) respectively counterclockwise with rotate clockwise, lower-left is climbed machine
Creeped on structure (5-3) and bottom right climbing device (5-4) block (501) and under block (505) of creeping compress tube wall again.
A kind of 6. method of creeping of diagonal lift pipe robot according to claim 5, it is characterised in that：Step 3
In, the upper motor (503) and lower motor (504) of lower-left climbing device (5-3) and bottom right climbing device (5-4) action before or
Meanwhile the oscillating motor (508) of lower-left climbing device (5-3) and bottom right climbing device (5-4) acts, driving oscillating rod (507)
Rotate, to coordinate the rotation of upper connecting rod (502) and lower link (506), make to creep block (501) and under block (505) of creeping compress
Tube wall.
7. a kind of method of creeping of diagonal lift pipe robot, its operating procedure are：
First, upper fuselage (1) and lower fuselage (2) is made to fit to together using the method for claim 3 or 5；
When not running into caliber or duct orientation changes, crawled using the diagonal lift method of claim 2；
When running into caliber or duct orientation changes, it is switched to following method and crawls：
1. the upper motor (503) and lower motor (504) of upper left climbing device (5-1) and upper right climbing device (5-2) act, driving
Upper connecting rod (502) and lower link (506) rotate clockwise and anticlockwise respectively, upper left climbing device (5-1) and upper right is climbed
Creeped in mechanism (5-2) block (501) and under block (505) of creeping depart from contact with tube wall；
2. elevating mechanism works, lifting motor (4) is mobile by fuselage (1) in screw pair (3) driving, under remote or close
Fuselage (2)；
3. elevating mechanism is stopped, the upper motor (503) of upper left climbing device (5-1) and upper right climbing device (5-2) and under
Motor (504) acts, and driving upper connecting rod (502) and lower link (506) counterclockwise and rotate clockwise respectively, meanwhile, upper left is climbed
Oscillating motor (508) action of mechanism (5-1) and upper right climbing device (5-2) is risen, driving oscillating rod (507) rotates, to coordinate
The rotation of upper connecting rod (502) and lower link (506), make upper left climbing device (5-1) and upper right climbing device (5-2) on creep
Block (501) and under block (505) of creeping compress tube wall again；
4. the upper motor (503) and lower motor (504) of lower-left climbing device (5-3) and bottom right climbing device (5-4) act, driving
Upper connecting rod (502) and lower link (506) rotate clockwise and anticlockwise respectively, lower-left climbing device (5-3) and bottom right is climbed
Creeped in mechanism (5-4) block (501) and under block (505) of creeping depart from contact with tube wall；
5. elevating mechanism works, lifting motor (4) drives lower fuselage (2) mobile by screw pair (3), closer or far from upper
Fuselage (1)；
6. elevating mechanism is stopped, the upper motor (503) of lower-left climbing device (5-3) and bottom right climbing device (5-4) and under
Motor (504) acts, and driving upper connecting rod (502) and lower link (506) counterclockwise and rotate clockwise respectively, meanwhile, lower-left is climbed
Rise upper motor (503) and lower motor (504) action of mechanism (5-3) and bottom right climbing device (5-4), lower-left climbing device (5-
3) oscillating motor (508) with bottom right climbing device (5-4) acts, and driving oscillating rod (507) rotates, to coordinate upper connecting rod
(502) and lower link (506) rotation, make lower-left climbing device (5-3) and bottom right climbing device (5-4) on creep block
(501) and under block (505) of creeping compress tube wall again；
When crossing at caliber or duct orientation change, then switch back into the diagonal lift method of claim 2 and crawl.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811426648.XA CN109578745B (en) | 2017-08-03 | 2017-08-03 | Crawling method of diagonal lifting type pipeline robot |
| CN201710656562.5A CN107448728B (en) | 2017-08-03 | 2017-08-03 | A kind of diagonal lift pipe robot and its method of creeping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656562.5A CN107448728B (en) | 2017-08-03 | 2017-08-03 | A kind of diagonal lift pipe robot and its method of creeping |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811426648.XA Division CN109578745B (en) | 2017-08-03 | 2017-08-03 | Crawling method of diagonal lifting type pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107448728A true CN107448728A (en) | 2017-12-08 |
| CN107448728B CN107448728B (en) | 2019-03-22 |
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|---|---|---|---|
| CN201710656562.5A Expired - Fee Related CN107448728B (en) | 2017-08-03 | 2017-08-03 | A kind of diagonal lift pipe robot and its method of creeping |
| CN201811426648.XA Expired - Fee Related CN109578745B (en) | 2017-08-03 | 2017-08-03 | Crawling method of diagonal lifting type pipeline robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811426648.XA Expired - Fee Related CN109578745B (en) | 2017-08-03 | 2017-08-03 | Crawling method of diagonal lifting type pipeline robot |
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| CN (2) | CN107448728B (en) |
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| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN203023741U (en) * | 2013-01-08 | 2013-06-26 | 长江大学 | Adjustable pipeline-climbing robot |
| CN103615630A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
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| US7182025B2 (en) * | 2001-10-17 | 2007-02-27 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN201615316U (en) * | 2010-02-24 | 2010-10-27 | 罗勇 | Pipeline inner wall crawling device |
| CN102979989B (en) * | 2012-11-09 | 2016-01-06 | 西安电子科技大学 | High-precision peristaltic pipeline crawl device |
| CN203743734U (en) * | 2014-03-10 | 2014-07-30 | 上海大学 | In-pipe working robot suitable for different pipe diameters |
| CN105840951B (en) * | 2016-05-05 | 2018-05-25 | 湖北三江航天红阳机电有限公司 | A kind of interior rising trend pipe crawling device |
| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
| CN106313073B (en) * | 2016-10-12 | 2019-04-02 | 上海大学 | A kind of pipeline climbing robot |
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2017
- 2017-08-03 CN CN201710656562.5A patent/CN107448728B/en not_active Expired - Fee Related
- 2017-08-03 CN CN201811426648.XA patent/CN109578745B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN203023741U (en) * | 2013-01-08 | 2013-06-26 | 长江大学 | Adjustable pipeline-climbing robot |
| CN103615630A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109578745B (en) | 2020-08-28 |
| CN107448728B (en) | 2019-03-22 |
| CN109578745A (en) | 2019-04-05 |
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