CN109000086A - A kind of pipe robot crawling structure - Google Patents

A kind of pipe robot crawling structure Download PDF

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Publication number
CN109000086A
CN109000086A CN201811146127.9A CN201811146127A CN109000086A CN 109000086 A CN109000086 A CN 109000086A CN 201811146127 A CN201811146127 A CN 201811146127A CN 109000086 A CN109000086 A CN 109000086A
Authority
CN
China
Prior art keywords
drive rod
sliding bar
block
rod
pedestal
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
Application number
CN201811146127.9A
Other languages
Chinese (zh)
Inventor
郭辰光
张李原
李强
李冬奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liaoning Technical University
Original Assignee
Liaoning Technical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liaoning Technical University filed Critical Liaoning Technical University
Priority to CN201811146127.9A priority Critical patent/CN109000086A/en
Publication of CN109000086A publication Critical patent/CN109000086A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F16L55/34Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/38Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • F16L2101/12Cleaning

Abstract

A kind of pipe robot crawling structure, including V tape handler, crank block self-locking mechanism, telescoping mechanism, cleaning mechanism, drive rod and pedestal, the drive rod both ends are provided with pedestal, described drive rod one end pedestal and V tape handler are fixedly mounted, and V tape handler output end is arranged on drive rod by shaft, the sliding block left end lifting lug of the crank block self-locking mechanism is connected with telescoping mechanism, the other end of the telescoping mechanism is connected with the drive rod other end, the drive rod other end is fixedly mounted by pedestal and cleaning mechanism, for in real work, pipeline is narrow, clean inconvenient difficult point, using slider-crank mechanism, its structure is simple to operation, robot can be made to realize in duct wall steady mobile, it is used cooperatively simultaneously by self-locking device and telescopic device, robot can be made to adapt to the variation of caliber, it is interior The protrusion of wall and the pipeline of certain slope, effectively prevent robot that stuck phenomenon occurs at work, guarantee its stability.

Description

A kind of pipe robot crawling structure
Technical field
The invention belongs to robotic technology field, in particular to a kind of pipe robot crawling structure.
Background technique
Pipeline transportation is one of the major way of China or even international freight transport, and pipeline transportation is big with freight volume, limits The features such as factor is few, low in cost.Time not short extension is used with pipeline, constantly by pumped (conveying) medium and outer inside pipeline The influence of the factors such as portion's impact, aging conditions are got worse, and in order to carry out effective detection maintenance to pipeline, while adapting to pipeline Interior complex environment, pipe robot arise., driving effect simple to the design requirement drive part structure of pipe robot Rate is high, while having adaptive ability to complex environment in pipe.Pipe robot is an important composition of robot research field Part, it has the characteristics that small in size, energy consumption, can enter the unapproachable narrow space of common mechanical system, and it is clear to carry out pipeline The work such as clean, acquisition information, detection and maintenance.A large amount of maintenance cost can be saved, conduit running maintenance cost is reduced, ensures people People's masses' security of the lives and property reduces toxic gas or liquid leakage pollution on the environment.So opening pipe robot Exhibition research has important scientific meaning and significant social benefit.Pipe robot achieves swift and violent development at present.Based on upper Designed pipeline climbing robot is stated, using slider-crank mechanism, structure is simple to operation, it can be achieved that steady in pipeline Mobile, self-locking mechanism can effectively prevent robot to retreat, the final cleaning realized to pipeline.
Summary of the invention
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of pipe robot crawling structure, including V tape handler, crank block self-locking mechanism, telescoping mechanism, cleaning Mechanism, drive rod and pedestal, the drive rod both ends are provided with pedestal, and described drive rod one end pedestal and V tape handler are solid Dingan County's dress, and V tape handler output end is arranged on drive rod by shaft, the sliding block of the crank block self-locking mechanism is left End lifting lug is connected with telescoping mechanism, and the other end of the telescoping mechanism is connected with the drive rod other end, and the drive rod other end passes through Pedestal and cleaning mechanism are fixedly mounted.
The V tape handler includes speed regulating motor, and driving wheel, the speed regulating motor are provided on speed regulating motor output shaft It is fixedly mounted by pedestal and drive rod one end pedestal, driven wheel and disk, driven wheel position is provided with by shaft on drive rod In drive rod front end, disk is located at transmission rod rear end, is provided with conveyer belt between the driven wheel and driving wheel.
The crank block self-locking mechanism includes disk, passes through pin shaft and first connecting rod one end phase at the disk border Even, the first connecting rod other end is connected by pin shaft with second connecting rod one end, and the second connecting rod other end is connected with sliding block right end lifting lug, Sliding block is slidably mounted on drive rod, and the slip front is provided with cylinder, and the first spring, institute are provided between cylinder and shaft It states upper end of slide block and lower end lifting lug to be connected by pin shaft with support rod one end, the support rod other end passes through pin shaft and trapezoidal slide block phase Even, it is provided with ladder-shaped frame in two trapezoidal slide block through-holes, and is provided with second spring on the waist of ladder-shaped frame, and second spring one end It is connected with trapezoidal slide block, the ladder-shaped frame, second spring, trapezoidal slide block and support bar group are at self-locking mechanism.
The telescoping mechanism includes the first sliding bar and the second sliding bar, and the telescoping mechanism passes through the first sliding bar and the Two sliding bar one end are connected with sliding block left end lifting lug, and the first sliding bar other end passes through friction block and third sliding bar one end It is connected, second sliding bar is connected by friction block with the 4th sliding bar one end, the third sliding bar and the 4th sliding bar Middle part is rotatablely installed by pin shaft, and pin slide is mounted in the slideway on drive rod, and the third sliding bar other end is logical It crosses friction block to be connected with the 5th sliding bar one end, the 4th sliding bar other end passes through friction block and the 6th sliding bar one end phase Even, the 5th sliding bar and the 6th sliding bar other end are rotatably installed on drive rod by pin shaft.
The cleaning mechanism includes hydraulic cylinder, and the hydraulic cylinder body and drive rod other end pedestal are fixedly mounted, described The piston rod extension end of hydraulic cylinder is fixedly mounted by pedestal and servo motor, and servo motor output shaft passes through general flat key and knife Have mounting portion to be fixedly mounted.
Beneficial effects of the present invention are,
1, by the mutual cooperation between motor, the wriggling for reaching robot moves ahead inventive pipeline climbing robot structure.
2, for the difficult point that in real work, pipeline is narrow, cleaning is inconvenient, using slider-crank mechanism, structure is simple It is easy to operate, robot can be made to realize in duct wall steady mobile, while being used cooperatively by self-locking device and telescopic device, it can So that robot is adapted to variation, the protrusion of inner wall and the pipeline of certain slope of caliber, robot is effectively prevent to occur at work Stuck phenomenon guarantees its stability.
3, inventive pipeline climbing robot compact overall structure has the advantages that driving is steady, positioning is reliable, is suitble to tubule The daily cleaning of diameter pipeline and maintenance work.
Detailed description of the invention
Fig. 1 is apparatus of the present invention overall structure diagram;
Fig. 2 is apparatus of the present invention overall structure main view;
Fig. 3 is apparatus of the present invention overall structure rearview;
1-V tape handler, 101- speed regulating motor, 102- driving wheel, 103- shaft, 104- driven wheel, 105- conveyer belt, 2- crank block self-locking mechanism, 201- disk, 202- first connecting rod, 203- second connecting rod, 204- sliding block, 205- cylinder, 206- First spring, 207- support rod, 208- trapezoidal slide block, 209- ladder-shaped frame, 210- second spring, 3- telescoping mechanism, 301- first Sliding bar, the second sliding bar of 302-, 303- third sliding bar, the 4th sliding bar of 304-, the 5th sliding bar of 305-, 306- the 6th are sliding Lever, 307- friction block, 4- cleaning mechanism, 401- hydraulic cylinder, 402- piston rod, 403- servo motor, 404- general flat key, 405- cutter, 5- drive rod, 6- pedestal, 7- slideway.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1-Figure 3, a kind of pipe robot crawling structure, including V tape handler 1, crank block are from lock machine Structure 2, telescoping mechanism 3, cleaning mechanism 4, drive rod 5 and pedestal 6,5 both ends of drive rod are provided with pedestal 6, the drive rod 5 One end pedestal 6 and V tape handler 1 are fixedly mounted, and 1 output end of V tape handler is arranged by shaft 103 in drive rod 5 On, the 204 left end lifting lug of sliding block of the crank block self-locking mechanism 2 is connected with telescoping mechanism 3, the telescoping mechanism 3 it is another End is connected with 5 other end of drive rod, and 5 other end of drive rod is fixedly mounted by pedestal 6 and cleaning mechanism 4.
The V tape handler 1 includes speed regulating motor 101, is provided with driving wheel 102, institute on 101 output shaft of speed regulating motor Speed regulating motor 101 is stated to be fixedly mounted by pedestal and 5 one end pedestal 6 of drive rod, on drive rod 5 by shaft 103 be provided with from Driving wheel 104 and disk 203, driven wheel 104 are located at 5 front end of drive rod, and disk 201 is located at 5 rear end of drive rod, the driven wheel Conveyer belt 105 is provided between 104 and driving wheel 102.
The crank block self-locking mechanism 2 includes disk 201, and 201 edge of disk passes through pin shaft and first connecting rod 202 one end are connected, and 202 other end of first connecting rod is connected by pin shaft with 203 one end of second connecting rod, 203 other end of second connecting rod It is connected with 204 right end lifting lug of sliding block, sliding block 204 is slidably mounted on drive rod 5, and 204 front end of sliding block is provided with cylinder 205, be provided with the first spring 206 between cylinder 205 and shaft 103, the 204 top and bottom lifting lug of sliding block by pin shaft with 207 one end of support rod is connected, and 207 other end of support rod is connected by pin shaft with trapezoidal slide block 208, and two trapezoidal slide blocks 208 are logical It is provided with ladder-shaped frame 209 in hole, and is provided with second spring 210 on the waist of ladder-shaped frame 209, and 210 one end of second spring and ladder Shape sliding block 208 is connected, and the ladder-shaped frame 209, second spring 210, trapezoidal slide block 208 and support rod 207 form self-locking mechanism.
The telescoping mechanism 3 includes the first sliding bar 301 and the second sliding bar 302, and the telescoping mechanism 3 is sliding by first Lever 301 and 302 one end of the second sliding bar are connected with 204 left end lifting lug of sliding block, and 301 other end of the first sliding bar is by rubbing Cleaning block 307 is connected with 303 one end of third sliding bar, and second sliding bar 302 passes through friction block 307 and the 4th sliding bar 304 One end is connected, and is rotatablely installed in the middle part of the third sliding bar 303 and the 4th sliding bar 304 by pin shaft, and pin slide is installed In the slideway 7 on drive rod 5,303 other end of third sliding bar passes through 305 one end of friction block 307 and the 5th sliding bar It is connected, 304 other end of the 4th sliding bar is connected by friction block 307 with 306 one end of the 6th sliding bar, the 5th sliding Bar 305 and 306 other end of the 6th sliding bar are rotatably installed on drive rod 5 by pin shaft.
The cleaning mechanism 4 includes hydraulic cylinder 401, and 401 cylinder body of hydraulic cylinder and 5 other end pedestal 6 of drive rod are fixed 402 extension end of piston rod of installation, the hydraulic cylinder 401 is fixedly mounted by pedestal 6 and servo motor 403, servo motor 403 Output shaft is fixedly mounted by general flat key 404 and 405 mounting portion of cutter.
The course of work of the invention is the first step, and the speed regulating motor 101 in V tape handler 1 rotates forward, speed regulating motor 101 It drives driving wheel 102 to rotate, and then drives driven wheel 104 to rotate by conveyer belt 105, the rotation of driven wheel 104 drives same therewith The disk 201 in axle center rotates, and then forces the sliding block 204 on drive rod 5 to move forward, and then trapezoidal slide block 208 is in the second bullet Mobile toward 209 upper left of ladder-shaped frame under the action of spring 210, mechanism radius of the present invention becomes larger, so that trapezoidal slide block 208 is close in pipeline Wall prevents mechanism reverse slide, realizes self-locking.With the movement of sliding block 204, the stretching, extension of the first spring 206 makes at telescoping mechanism 3 In deflated state, the first sliding bar 301, the second sliding bar 302, third sliding bar 303, the 4th sliding bar 304, the 5th sliding bar 305, the 6th sliding bar 306 presses friction block 307, and friction block 307 is allow to be supported on inner wall of the pipe, the pressure in hydraulic cylinder 401 Power oil enters from rodless cavity, and piston rod 402 pushes forward at this time, and 403 electric motor operation of servo motor, cutter 405 starts to rotate The rubbish inside pipeline is cleared up, to realize spin-cleaning inner wall of the pipe, the first spring 206 is in tensional state, works as hydraulic cylinder When 401 piston rods 402 reach maximal tensility, cutter 405 is in maximum displacement state, the speed regulating motor in V belt drive structure 1 101 work, self-locking mechanism 2 are opened, and the first spring 206 pulls disk 201 by the elastic force of itself, push ahead disk 201, band Dynamic self-locking mechanism 2 moves forward, and telescoping mechanism 3 is opened, to realize a complete forward movement movement.

Claims (5)

1. a kind of pipe robot crawling structure, which is characterized in that including V tape handler, crank block self-locking mechanism, stretch Mechanism, cleaning mechanism, drive rod and pedestal, the drive rod both ends are provided with pedestal, and described drive rod one end pedestal and V band pass Motivation structure is fixedly mounted, and V tape handler output end is arranged on drive rod by shaft, the crank block self-locking mechanism Sliding block left end lifting lug be connected with telescoping mechanism, the other end of the telescoping mechanism is connected with the drive rod other end, and drive rod is another One end is fixedly mounted by pedestal and cleaning mechanism.
2. a kind of pipe robot crawling structure according to claim 1, it is characterised in that: the V tape handler packet Speed regulating motor is included, driving wheel is provided on speed regulating motor output shaft, the speed regulating motor passes through pedestal and drive rod one end pedestal It is fixedly mounted, driven wheel and disk is provided with by shaft on drive rod, driven wheel is located at drive rod front end, and disk is located at transmission Rod rear end is provided with conveyer belt between the driven wheel and driving wheel.
3. a kind of pipe robot crawling structure according to claim 1, it is characterised in that: the crank block is from lock machine Structure includes disk, is connected with first connecting rod one end at the disk border by pin shaft, the first connecting rod other end pass through pin shaft and Second connecting rod one end is connected, and the second connecting rod other end is connected with sliding block right end lifting lug, and sliding block is slidably mounted on drive rod, described Slip front is provided with cylinder, and the first spring is provided between cylinder and shaft, and the upper end of slide block and lower end lifting lug pass through pin Axis is connected with support rod one end, and the support rod other end is connected by pin shaft with trapezoidal slide block, setting in two trapezoidal slide block through-holes There is ladder-shaped frame, and be provided with second spring on the waist of ladder-shaped frame, and second spring one end is connected with trapezoidal slide block, it is described trapezoidal Frame, second spring, trapezoidal slide block and support bar group are at self-locking mechanism.
4. a kind of pipe robot crawling structure according to claim 1, it is characterised in that: the telescoping mechanism includes the One sliding bar and the second sliding bar, the telescoping mechanism pass through the first sliding bar and second sliding bar one end and sliding block left end lifting lug It is connected, the first sliding bar other end is connected by friction block with third sliding bar one end, and second sliding bar is by rubbing Cleaning block is connected with the 4th sliding bar one end, is rotatablely installed in the middle part of the third sliding bar and the 4th sliding bar by pin shaft, and sells Axis is slidably mounted in the slideway on drive rod, and the third sliding bar other end passes through friction block and the 5th sliding bar one end phase Even, the 4th sliding bar other end is connected by friction block with the 6th sliding bar one end, and the 5th sliding bar and the 6th is slided The lever other end is rotatably installed on drive rod by pin shaft.
5. a kind of pipe robot crawling structure according to claim 1, it is characterised in that: the cleaning mechanism includes liquid Cylinder pressure, the hydraulic cylinder body and drive rod other end pedestal are fixedly mounted, and the piston rod extension end of the hydraulic cylinder passes through base Seat is fixedly mounted with servo motor, and servo motor output shaft is fixedly mounted by general flat key and tool mounting portion.
CN201811146127.9A 2018-09-29 2018-09-29 A kind of pipe robot crawling structure Pending CN109000086A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811146127.9A CN109000086A (en) 2018-09-29 2018-09-29 A kind of pipe robot crawling structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811146127.9A CN109000086A (en) 2018-09-29 2018-09-29 A kind of pipe robot crawling structure

Publications (1)

Publication Number Publication Date
CN109000086A true CN109000086A (en) 2018-12-14

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CN201811146127.9A Pending CN109000086A (en) 2018-09-29 2018-09-29 A kind of pipe robot crawling structure

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109469790A (en) * 2018-12-25 2019-03-15 华南理工大学 A kind of telescopic driving non-destructive detecting device
CN111895220A (en) * 2019-05-06 2020-11-06 中国石油天然气股份有限公司 A robot of crawling in pipe for pipeline is detected a flaw

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101818842A (en) * 2010-04-02 2010-09-01 浙江师范大学 Pipeline robot walking mechanism realizing walking by using self-locking
CN202746846U (en) * 2012-08-18 2013-02-20 中国石化集团胜利石油管理局海上石油工程技术检验中心 Device for detecting magnetic flux leakage in oil pipeline
CN102979989A (en) * 2012-11-09 2013-03-20 西安电子科技大学 High-precision peristaltic pipeline crawl device and control method thereof
CN104989914A (en) * 2015-07-07 2015-10-21 北京工业大学 High-adaptability multifunctional pipeline robot
CN105485471A (en) * 2015-12-29 2016-04-13 燕山大学 Worm-type pipeline crawling robot
CN107588283A (en) * 2017-10-13 2018-01-16 安徽工程大学 Pipe robot suitable for straight pipeline

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101818842A (en) * 2010-04-02 2010-09-01 浙江师范大学 Pipeline robot walking mechanism realizing walking by using self-locking
CN202746846U (en) * 2012-08-18 2013-02-20 中国石化集团胜利石油管理局海上石油工程技术检验中心 Device for detecting magnetic flux leakage in oil pipeline
CN102979989A (en) * 2012-11-09 2013-03-20 西安电子科技大学 High-precision peristaltic pipeline crawl device and control method thereof
CN104989914A (en) * 2015-07-07 2015-10-21 北京工业大学 High-adaptability multifunctional pipeline robot
CN105485471A (en) * 2015-12-29 2016-04-13 燕山大学 Worm-type pipeline crawling robot
CN107588283A (en) * 2017-10-13 2018-01-16 安徽工程大学 Pipe robot suitable for straight pipeline

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109469790A (en) * 2018-12-25 2019-03-15 华南理工大学 A kind of telescopic driving non-destructive detecting device
CN111895220A (en) * 2019-05-06 2020-11-06 中国石油天然气股份有限公司 A robot of crawling in pipe for pipeline is detected a flaw

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Application publication date: 20181214

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