CN107972000A - A kind of pipeline pickup robot suitable for various ground-burying type pipes - Google Patents
A kind of pipeline pickup robot suitable for various ground-burying type pipes Download PDFInfo
- Publication number
- CN107972000A CN107972000A CN201610939674.7A CN201610939674A CN107972000A CN 107972000 A CN107972000 A CN 107972000A CN 201610939674 A CN201610939674 A CN 201610939674A CN 107972000 A CN107972000 A CN 107972000A
- Authority
- CN
- China
- Prior art keywords
- main body
- connecting rod
- pipeline
- box body
- rectangular housing
- Prior art date
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline pickup robot suitable for various ground-burying type pipes, including main body, the main body is ellipse, the side of main body is connected with storing bin, the side of main body is connected with the pipeline detector positioned at storing bin side, the belly of main body has been equidistantly positioned three groups of driving wheels, driving wheel is connected with the driving motor built in main body, and the back of main body is connected with mechanical arm, mechanical arm is connected with the cylinder built in main body, the both sides of main body are symmetrically arranged with six groups of connecting rods, and the one end of connecting rod away from main body is connected with curved rod.The present invention is coordinated by connecting rod and fixing device; reach the effect of flexible, adjusting and fixed connecting rod; pass through fixing device; the length of connecting rod can be adjusted; so as to adjust the air line distance of two side auxiliary wheels; the different ground-burying type pipe of diameter is applicable to, and the security for further protecting pipe robot to work in ground-burying type pipe.
Description
Technical field
The present invention relates to pipeline robot technique field, is specially that a kind of pipeline suitable for various ground-burying type pipes takes thing
Robot.
Background technology
Pipe robot is that one kind can be along automatically walk inside or outside small sized pipeline and the one or more sensors of carrying
And operation machinery, under the straighforward operation of staff or computer controlled automatic, carry out a series of pipeline operations it is mechanical, electrical with
And instrument integral system.For wheeled pipe robot, accurate kinematics model is the basis for realizing precise motion control.It is right
Analyzed seldom in terms of the kinematics characteristic and control theory of single wheel and wheeled mobile robot in canal surface, it is necessary to build
It is vertical a set of on the kinematic theory of wheeled pipe robot.Since wheeled cleaning robot operates in three in pipe during operation
In the space of dimension, the kinematics model of wheeled mobile robot is entirely different, it is necessary to consider on its kinematics model and plane
On the premise of geometrical constraint and constraint of velocity, analyze the control input of wheeled mobile robot and robot pose changes in coordinates it
Between relation, establish its kinematics model.A few days ago, the research hotspot of domestic and international wheeled pipe robot mainly improves wheeled pipe
The controllability and passability of pipeline robot, the direction of robot towards autonomous traveling operation are developed.Although many scholars are from structure
Aspect improves the performance of robot, but to motion control opinion of the wheeled mobile robot in pipe in terms of also lack deep system
The analysis of system.
Such as in ground-burying type pipe, pipe robot straight-line travelling, the route of traveling is the minimum point of pipeline, but due to pipe
Road inner wall is arc, and pipe robot lacks a kind of auxiliary device, and pipe robot can be caused in different buried pipes
Angular deflection easily occurs when driving for road cathetus, and the pipe robot that can make collides with inner-walls of duct, can damage pipeline
Robot.
The content of the invention
(1) technical problem solved
In view of the deficiencies of the prior art, the present invention provides a kind of pipeline suitable for various ground-burying type pipes to take thing machine
People, solves the problems, such as that existing pipe robot easily collides in ground-burying type pipe.
(2) technical solution
To achieve the above object, the present invention provides following technical solution：A kind of pipeline suitable for various ground-burying type pipes
Pickup robot, including main body, the main body are ellipse, and the side of main body is connected with storing bin, and the side of main body is connected with
Pipeline detector positioned at storing bin side, the belly of main body have been equidistantly positioned three groups of driving wheels, built in driving wheel and main body
The connection of driving motor, and the back of main body is connected with mechanical arm, and mechanical arm is connected with the cylinder built in main body, main body
Both sides be symmetrically arranged with six groups of connecting rods, the one end of connecting rod away from main body is connected with curved rod, and the other end of curved rod connects
Auxiliary wheel is connected to, and connecting rod is equipped with fixing device.
The fixing device includes the box body being connected in main body, is connected with connecting rod in the through hole opened up on box body, even
In one end insertion main body of extension bar, the other end of connecting rod is pierced by box body and exposed connects in the outside of box body, the both sides of box body
Screw rod is connected to, the inside of one end insertion box body of screw rod is simultaneously connected with half fixture by bearing, rotary column is connected with the top of box body,
The inside of the shaft insertion box body of rotary column bottom connection is simultaneously connected with rectangular housing, and rectangular housing passes through strut and the inner wall of box body
Connection, and turn the inside of the tip of the axis insertion rectangular housing and be connected with gear, the bottom of rectangular housing is connected with plastic teeth
Bar, the other end of plastics rack run through rectangular housing, and the plastics rack and pinion engagement inside rectangular housing.
Preferably, the plastics rack through rectangular housing and forms circle, plastics rack-shaped into circle entangle connection
Bar.
Preferably, the radian of the curved rod is 15 °.
Preferably, the width of the plastics rack is two centimetres, and the gap formed between the machine tooth on plastics rack
Depth is 0. 5 centimetres.
(3) beneficial effect
The present invention provides a kind of pipeline pickup robot suitable for various ground-burying type pipes.Possess following beneficial to effect
Fruit：
(1), the present invention is coordinated by connecting rod, curved rod, auxiliary wheel and fixing device, reaches auxiliary tube logos and utensils people on ground
The effect that will not be collided when walking in burying type pipe, by the effect of auxiliary wheel, increase pipe robot and buried pipe
The sliding of road inner wall, reduces the probability of collision, protects the safety of pipe robot, it is ensured that the normal work of pipe robot
Make.
(2), the present invention is coordinated by connecting rod and fixing device, is reached the effect of flexible, adjusting and fixed connecting rod, is led to
Fixing device is crossed, the length of connecting rod can be adjusted, so as to adjust the air line distance of two side auxiliary wheels, is applicable to diameter
Different ground-burying type pipes, and the security for further protecting pipe robot to work in ground-burying type pipe.
Brief description of the drawings
Fig. 1 is the structure diagram of bottom view of the present invention；
Fig. 2 is the structure diagram of fixing device of the present invention.
In figure：Dress is fixed in 1 main body, 2 storing bins, 3 driving wheels, 4 mechanical arms, 5 connecting rods, 6 curved rods, 7 auxiliary wheels, 8
Put, 81 box bodys, 82 through holes, 83 screw rods, 84 bearings, 85 half fixtures, 86 rotary columns, 87 shafts, 88 rectangular housings, 89 gears, 810 modeling
Expect rack, 9 pipeline detectors.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
As shown in Figure 1, the present invention provides a kind of technical solution：A kind of pipeline suitable for various ground-burying type pipes takes thing machine
Device people, including main body 1, main body 1 are ellipse, and the side of main body 1 is connected with storing bin 2, and the side of main body 1 is connected with positioned at storage
The pipeline detector 9 of 2 side of thing storehouse, the belly of main body 1 have been equidistantly positioned three groups of driving wheels 3, built in driving wheel 3 and main body 1
The connection of driving motor, and the back of main body 1 is connected with mechanical arm 4, and mechanical arm 4 is connected with the cylinder built in main body 1,
Wherein pipeline detector 9, driving motor and cylinder are directly connected with the power supply in pipe robot main body 1, and have pipe machine
The intelligence control system of device people is controlled, and pipeline detector 9 is used to detect the situation in ground-burying type pipe, if there is blocking,
Mechanical arm 4 can carry out cleaning tamper, and put into storing bin 2, and the both sides of main body 1 are symmetrically arranged with six groups of connecting rods 5, even
The one end of extension bar 5 away from main body 1 is connected with curved rod 6, and the other end of curved rod 6 is connected with auxiliary wheel 7, and in connecting rod 5
Equipped with fixing device 8.
As shown in Fig. 2, fixing device 8 includes the box body 81 of connection on the body 1, connect in the through hole 82 opened up on box body 81
It is connected to connecting rod 5, in one end insertion main body 1 of connecting rod 5, the other end of connecting rod 5 is pierced by box body 81 and exposed in box body 81
Outside, the both sides of box body 81 are respectively connected with screw rod 83, and the inside of one end insertion box body 81 of screw rod 83 is simultaneously connected by bearing 84
Half fixture 85 is connected to, the top of box body 81 is connected with rotary column 86, and the shaft 87 of 86 bottom of rotary column connection is inserted into the inside of box body 81
And rectangular housing 88 is connected with, rectangular housing 88 is connected by strut with the inner wall of box body 81, and the end insertion of shaft 87
The inside of rectangular housing 88 is simultaneously connected with gear 89, and the bottom of rectangular housing 88 is connected with plastics rack 810, plastics rack 810
The other end run through rectangular housing 88, and the plastics rack 810 inside rectangular housing 88 is engaged with gear 89.
Plastics rack 810 is through rectangular housing 88 and forms circle, and the circle that plastics rack 810 is formed entangles connecting rod 5,
After entangling connecting rod 5, rotary column 86 is rotated clockwise or counterclockwise, the circle that plastics rack 810 is formed can be adjusted with moving gear 89
The elasticity of shape, can fix and unclamp connecting rod 5, convenient operation, easy to adjust.
Also, the width of plastics rack 810 is two centimetres, increases the contact surface between plastics rack 810 and connecting rod 5
And frictional force so that fixed effect is more excellent, and more firm after fixed, connecting rod 5 will not rock, and plastics rack 810
On machine tooth between the gap depth that is formed be 0. 5 centimetres, the length of 89 machine tooth of corresponding gear so that gear 89 and plastics
That is engaged between rack 810 is more firm, will not come off easily, and causes being engaged between gear 89 and plastics rack 810
Power increases so that fixed effect strengthens, and fixed rear connecting rod 5 is more firm.
The radian of curved rod 6 is 15 °, conveniently adapts to the different ground-burying type pipe of diameter so that auxiliary wheel 7 and buried pipe
What is be connected between the inner wall in road is more harmonious, strengthens the effect of auxiliary, the safety of further protection pipe robot.
In use, first according to the size of ground-burying type pipe diameter, then the length of connecting rod 5, rotary screw is adjusted
83, the fixation of half fixture 85 is unclamped, and plastics rack 810 is unclamped, after stretching or telescopic connecting rod, screw rod 83 is turned first,
And drive two and half fixtures 85 to clamp connecting rod 5, tentatively fix, be rotated further by rotary column 86, and by shaft 87 with moving gear
89 rotate, so as to tighten plastics rack 810, carry out second step and fix, then pipe robot is put into ground-burying type pipe.
It can to sum up obtain, the present invention is coordinated by connecting rod 5, curved rod 6, auxiliary wheel 7 and fixing device 8, reaches auxiliary tube
The effect that logos and utensils people will not collide when walking in ground-burying type pipe, by the effect of auxiliary wheel 7, increases pipe robot
With the sliding of ground-burying type pipe inner wall, the probability of collision is reduced, protects the safety of pipe robot, it is ensured that pipe robot
Normal work.
Further, the present invention is coordinated by connecting rod 5 and fixing device 8, reaches flexible, adjusting and fixed connecting rod 5
Effect, by fixing device 8, the length of connecting rod 5 can be adjusted, so as to adjust the air line distance of two side auxiliary wheels 7,
The different ground-burying type pipe of diameter is applicable to, and the peace for further protecting pipe robot to work in ground-burying type pipe
Quan Xing.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of pipeline pickup robot suitable for various ground-burying type pipes, including main body (1), it is characterised in that：The master
Body (1) is ellipse, and the side of main body (1) is connected with storing bin (2), and the side of main body (1) is connected with positioned at storing bin (2) one
The pipeline detector (9) of side, the belly of main body (1) have been equidistantly positioned three groups of driving wheels (3), and driving wheel (3) is interior with main body (1)
The driving motor connection put, and the back of main body (1) is connected with mechanical arm (4), and mechanical arm (4) is built-in with main body (1)
Cylinder connection, the both sides of main body (1) are symmetrically arranged with six groups of connecting rods (5), and the one end of connecting rod (5) away from main body (1) connects
Curved rod (6) is connected to, the other end of curved rod (6) is connected with auxiliary wheel (7), and connecting rod (5) is equipped with fixing device
(8)；
The fixing device (8) includes the box body (81) being connected in main body (1), connects in the through hole (82) opened up on box body (81)
It is connected to connecting rod (5), in one end insertion main body (1) of connecting rod (5), the other end of connecting rod (5) is pierced by box body (81) and naked
The outside of box body (81) is exposed at, the both sides of box body (81) are respectively connected with screw rod (83), one end insertion box body (81) of screw rod (83)
Inside and half fixture (85) is connected with by bearing (84), rotary column (86), rotary column (86) bottom are connected with the top of box body (81)
Portion connection shaft (87) insertion box body (81) inside simultaneously be connected with rectangular housing (88), rectangular housing (88) by strut with
The inner wall connection of box body (81), and the end of shaft (87) is inserted into the inside of rectangular housing (88) and is connected with gear (89),
The bottom of rectangular housing (88) is connected with plastics rack (810), and the other end of plastics rack (810) runs through rectangular housing (88),
And the plastics rack (810) internal positioned at rectangular housing (88) is engaged with gear (89).
A kind of 2. pipeline pickup robot suitable for various ground-burying type pipes according to claim 1, it is characterised in that：
The plastics rack (810) is through rectangular housing (88) and forms circle, and the circle that plastics rack (810) is formed entangles connecting rod
(5)。
A kind of 3. pipeline pickup robot suitable for various ground-burying type pipes according to claim 1, it is characterised in that：
The radian of the curved rod (6) is 15 °.
A kind of 4. pipeline pickup robot suitable for various ground-burying type pipes according to claim 1, it is characterised in that：
The width of the plastics rack (810) is two centimetres, and the gap depth formed between the machine tooth on plastics rack (810) is
0. 5 centimetres.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939674.7A CN107972000A (en) | 2016-10-25 | 2016-10-25 | A kind of pipeline pickup robot suitable for various ground-burying type pipes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939674.7A CN107972000A (en) | 2016-10-25 | 2016-10-25 | A kind of pipeline pickup robot suitable for various ground-burying type pipes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972000A true CN107972000A (en) | 2018-05-01 |
Family
ID=62004907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610939674.7A Pending CN107972000A (en) | 2016-10-25 | 2016-10-25 | A kind of pipeline pickup robot suitable for various ground-burying type pipes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972000A (en) |
-
2016
- 2016-10-25 CN CN201610939674.7A patent/CN107972000A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |