CN109649610B - Adaptive parallel folding gripper and underwater pipeline robot - Google Patents

Abstract

The invention discloses a self-adaptive parallel folding gripper and an underwater pipeline robot, belonging to the field of underwater robots, wherein the self-adaptive parallel folding gripper comprises two claws and a parallel mechanism for connecting the two claws together, the parallel mechanism comprises two racks and at least three telescopic rods, two ends of each telescopic rod are respectively connected with the two racks through rotating shafts, the rotating shafts on the same rack are not all distributed on the same straight line, and the telescopic rods can rotate by taking the direction vertical to the telescopic rods as an axis at the rotating shafts; the two paws are respectively connected with the two racks through rotating motors; every hand claw includes two folding jack catchs of symmetric distribution and controls respectively two sets of die clamping cylinder that two folding jack catchs loosen and press from both sides tightly, folding jack catch is including the multistage snap ring that can fold and expand. The invention is suitable for cylinders which are distributed in a staggered way in space and have different diameters, and can crawl on the cylinders or similar cylinders which are distributed in the staggered way in space.

Description

Adaptive Parallel Folding Gripper and Underwater Pipeline Robot

technical field

The invention relates to the field of underwater robots, in particular to an adaptive parallel folding gripper and an underwater pipeline robot.

Background technique

There are a large number of cylindrical pipes and support columns at the bottom of the offshore platform. After a period of time, they are often attached by various marine organisms and their excrement, causing the weight of the pipes to change and thus affecting the safety performance of the entire platform. Pipe cleaning.

Underwater pipeline robot (underwater cleaning robot, climbing column robot) is a kind of automatic walking along the pipeline, carrying one or more sensors and operating machinery, and carries out a series of pipeline operations under the remote operation of the staff or the automatic control of the computer The integrated system of machine, electricity and instrument.

Most of the current underwater cleaning robots are only aimed at a single-direction cylinder or a fixed-diameter cylinder, but the cylindrical cylinders of the offshore platform are staggered in space and have different pipe diameters. Therefore, the cleaning machine needs to be able to adapt to the pipe. Changes in diameter and the ability to move on spatially staggered pipes.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides an adaptive parallel folding gripper and an underwater pipeline robot. The present invention is suitable for cylinders with staggered distribution in space and different diameters, and cylinders or cylinder-like cylinders that can be staggered in space. body crawling.

The present invention provides technical solutions as follows:

An adaptive parallel folding gripper includes two claws and a parallel mechanism connecting the two claws together, wherein:

The parallel mechanism includes two racks and at least three telescopic rods, the two ends of each telescopic rod are respectively connected to the two racks through rotating shafts, and the rotating shafts on the same rack are not all distributed on the same straight line, the said The telescopic rod can rotate at the axis of rotation in the direction perpendicular to the telescopic rod;

The two grippers are respectively connected with the two frames through a rotating motor;

Each gripper includes two symmetrically distributed folding jaws and two sets of clamping cylinders that respectively control the release and clamping of the two folding jaws, and the folding jaws comprise multi-stage snap rings that can be folded and unfolded .

Further, the multi-level snap ring includes a first-level snap ring and a second-level snap ring. The number of the first-level snap rings is 2, which are symmetrically distributed on the outside of the second-level snap ring. The first-level snap ring is connected with the clamping cylinder, the second-level snap ring is connected with the first-level snap ring through the second-level connecting rod and the second-level telescopic rod, and the first-level snap ring is provided with There is a second-stage rotary electric machine connected to the second-stage link.

Further, the multi-level snap ring also includes a third-level snap ring, the number of the second-level snap ring is 2, which are symmetrically distributed on the outside of the third-level snap ring, and the third-level snap ring passes through. The third-stage connecting rod and the third-stage telescopic rod are connected to the second-stage snap ring, and a third-stage rotary motor is provided on the second-stage snap ring, and the third-stage rotary motor is connected to the third-stage rotary motor. connecting rod connection.

Further, the second-stage telescopic rod includes a second-stage telescopic cylinder and a second-stage cylinder rod, and the third-stage telescopic rod includes a third-stage telescopic cylinder and a third-stage cylinder rod.

Further, the telescopic rod includes a cylinder and a cylinder rod.

Further, a torsion spring is installed on the rotating shaft.

Further, the number of the telescopic rods is three, and the three rotating shafts on the same frame are distributed in a triangle.

Further, the rotating motor can drive the gripper to rotate 360°.

Further, the gripper is provided with a mounting hole for mounting the actuator.

An underwater pipeline robot includes an actuator and the aforementioned adaptive parallel folding gripper, wherein the actuator is mounted on the gripper.

The present invention has the following beneficial effects:

The steering and traveling of the present invention adopts the structural form of the rotary motor and the two-degree-of-freedom parallel mechanism in series, and the steering mode is flexible and changeable, and can move on the cylinders staggered in space. Moreover, the gripper of the present invention adopts a foldable mechanism, which can adapt to the change of the diameter of the cylinder while reducing the volume of the gripper.

Description of drawings

1 is a schematic diagram of the overall structure of an adaptive parallel folding gripper of the present invention;

Fig. 2 is the schematic diagram of parallel mechanism;

Fig. 3 is the schematic diagram of the folded state of the claw;

Fig. 4 is the schematic diagram of the extended state of the hand;

Figure 5 shows the state of the adaptive parallel folding gripper when the pipes are on different planes;

Figure 6 is the state of the adaptive parallel folding gripper when the pipes are parallel;

Figure 7 shows the state of the adaptive parallel folding gripper when the pipeline is vertical.

Among them, the numbers of each part are: gripper 1, parallel mechanism 2, frame 3, telescopic rod 4, rotating shaft 5, rotary motor 6, folding jaw 7, clamping cylinder 8, first-level snap ring 9, second Stage snap ring 10, third stage snap ring 11, second stage connecting rod 12, second stage telescopic rod 13, second stage rotary motor 14, third stage connecting rod 15, third stage telescopic rod 16, third stage The rotary motor 17 , the second-stage telescopic cylinder 18 , the second-stage cylinder rod 19 , the third-stage telescopic cylinder 20 , the third-stage cylinder rod 21 , the cylinder 22 , the cylinder rod 23 , and the torsion spring 24 .

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

On the one hand, an embodiment of the present invention provides an adaptive parallel folding gripper, as shown in FIGS. 1-3 , comprising two grippers 1 and a parallel mechanism 2 connecting the two grippers 1 together, wherein:

The parallel mechanism 2 includes two racks 3 and at least three telescopic rods 4. The two ends of each telescopic rod 4 are respectively connected with the two racks 3 through the rotating shaft 5. The telescopic rod and the rack form a rotating pair, and the telescopic rod 4 is on the rotating shaft. The 5 places can rotate in the direction perpendicular to the telescopic rod 4 as the axis, and the rotating shafts 5 on the same frame 3 are not all distributed on the same straight line; the parallel mechanism has a degree of freedom to move forward and rotate around the vertical direction of the telescopic rod When the telescopic length of each rod is the same, the mechanism is a plane mechanism. When the telescopic extension lengths of multiple rods are different, the mechanism becomes a spatial parallel mechanism. One claw moves to a three-dimensional position relative to the other claw. in space.

The two claws 1 are respectively connected with the two frames 3 through a rotating motor 6, and the rotating motor controls the rotation of the claws;

Each gripper 1 includes two symmetrically distributed folding jaws 7 and two sets of clamping cylinders 8 that control the release and clamping of the two folding jaws 7 respectively. When the multi-level snap ring is unfolded, it is suitable for large-diameter cylinders, and when the multi-level snap ring is folded, it is suitable for small-diameter cylinders, and the unfolding or folding stages of the multi-level snap ring are selected according to the size of the cylinder.

The self-adaptive parallel folding gripper of the present invention is suitable for cylinders with staggered distribution and different diameters in space, and can crawl on cylinders or cylinder-like bodies which are staggered in space. The use process of the present invention is as follows:

First, the adaptive parallel folding gripper is clamped on the cylinder as a whole. If it needs to move forward, the clamping cylinder of the front gripper controls the two folding jaws to release, and the multiple telescopic rods of the parallel mechanism extend at the same time. Then the clamping cylinder of the front-end gripper controls the clamping of the two folding jaws, the clamping cylinder of the rear-end gripper controls the release of the two folding jaws, and the multiple telescopic rods of the parallel mechanism retract at the same time, completing the adaptive parallel folding The forward movement of the gripper.

If the adaptive parallel folding gripper needs to crawl to another cylinder in the space, release one gripper first, and then the multiple telescopic rods of the parallel mechanism do not extend or retract at the same time (specifically which telescopic rod extends Or the retraction is determined according to the position of another cylinder), so that the claw is lifted, and the parallel mechanism is transformed into a space parallel mechanism. Two rotating motors control the rotation of the claw, and cooperate with the parallel mechanism to move the claw to a suitable position. The position is then clamped; at this time, the other claw is released, and moves to the same position as the previous claw through the cooperation of the parallel mechanism and the rotating motor to complete the crawling between the columns. As shown in Figure 5, it is the state of the adaptive parallel folding gripper when the pipes are on different planes; as shown in Figure 6, it is the state of the adaptive parallel folding gripper when the pipes are parallel; as shown in Figure 7, it is the automatic parallel folding gripper when the pipes are vertical. Adapt to the state of parallel folding gripper.

If the pipe diameter changes, the multi-stage snap ring is unfolded or folded, and the unfolded or folded state is selected according to the size of the pipe diameter.

To sum up, the steering and traveling of the present invention adopts the structural form of a rotating motor and a two-degree-of-freedom parallel mechanism in series, and the steering mode is flexible and changeable, and can move on cylinders staggered in space. Moreover, the gripper of the present invention adopts a foldable mechanism, which can adapt to the change of the diameter of the cylinder while reducing the volume of the gripper.

As an improvement of the present invention, as shown in FIG. 4 , the multi-level snap ring includes a first-level snap ring 9 and a second-level snap ring 10 . The number of the first-level snap rings 9 is 2, which are symmetrically distributed on the second level. On the outer side of the snap ring 10, the first level snap ring 9 is connected with the clamping cylinder 8. The clamping cylinder and the folding jaws form a four-bar mechanism. of loosening and clamping.

The second-level snap ring 10 is connected to the first-level snap ring 9 through the second-level connecting rod 12 and the second-level telescopic rod 13. The connecting rod and the telescopic rod are parallel to each other and share the same with the first-level snap ring and the second-level snap ring A five-bar mechanism is formed. The first-stage snap ring 9 is provided with a second-stage rotating motor 14. The second-stage rotating motor 14 is connected with the rotating shaft of the second-stage connecting rod 12, and the second-stage rotating motor drives the second-stage connecting rod. Together with the second-stage telescopic rod, it controls the unfolding and folding of the second-stage snap ring.

Further, as shown in FIG. 4 , the multi-level snap ring also includes a third level snap ring 11, the second level snap ring 10 is two in number, and is symmetrically distributed on the outside of the third level snap ring 11. The third level snap ring 11 is connected with the second-level snap ring 10 through the third-level connecting rod 15 and the third-level telescopic rod 16, the second-level snap ring 10 is provided with a third-level rotary motor 17, and the third-level rotary motor 17 is connected to the third-level snap ring 10. The connecting rod 15 is connected, and the control method of the third-level snap ring is the same as that of the second-level snap ring.

According to the size of the pipe diameter, choose the fully folded state, the second-level snap ring state or the third-level snap ring fully extended state. In FIG. 4 , the left folding claw (multi-level snap ring) is expanded to the second level snap ring, and the right folding claw (multi-level snap ring) is expanded to the third level snap ring.

Similarly, more levels of snap rings may also be included, and the structures and control methods are the same as those of the second level snap ring and the third level snap ring.

The second-stage telescopic rod and the third-stage telescopic rod are preferably realized in the form of cylinders. Specifically: the second-stage telescopic rod 13 includes a second-stage telescopic cylinder 18 and a second-stage cylinder rod 19, and the third-stage telescopic rod 16 includes a second-stage telescopic rod 16. A three-stage telescopic cylinder 20 and a third-stage cylinder rod 21 .

The telescopic rod of the parallel mechanism is preferably realized in the form of a cylinder. Specifically, the telescopic rod 4 includes a cylinder 22 and a cylinder rod 23 .

In order to overcome the dead point of the parallel mechanism, a torsion spring 24 is installed at the rotating shaft 5 .

The number of telescopic rods is at least three, as long as two degrees of freedom of the parallel mechanism can be achieved. When the number of telescopic rods 4 is three, the three rotating shafts 5 on the same frame 1 are distributed in a triangle. When the telescopic lengths of the three rods are the same, the parallel mechanism is a plane mechanism. When the extension length of the telescopic rod in the middle and the telescopic rods on both sides are different, the parallel mechanism becomes a spatial parallel mechanism.

The rotary motor 6 is preferably capable of driving the gripper 1 to rotate 360°.

The gripper 1 may be provided with a mounting hole for mounting an actuator, and the actuator is a cleaning mechanism or the like.

On the other hand, the present invention provides an underwater pipeline robot, including an actuator and the aforementioned adaptive parallel folding gripper, the actuator is mounted on the gripper 1, and the actuator is a cleaning mechanism and the like.

The steering and traveling of the underwater pipeline robot of the present invention adopts the structural form of a rotating motor and a two-degree-of-freedom parallel mechanism in series, and the steering mode is flexible and changeable, and can move on cylinders staggered in space. In addition, the gripper of the present invention adopts a foldable mechanism, which can adapt to the change of the diameter of the cylinder and also reduces the volume of the gripper.

The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (9)

1. The utility model provides a parallelly connected folding tongs of self-adaptation which characterized in that includes two paws and the parallel mechanism who links together two paws, wherein:

the parallel mechanism comprises two racks and at least three telescopic rods, two ends of each telescopic rod are respectively connected with the two racks through rotating shafts, the rotating shafts on the same rack are not all distributed on the same straight line, and the telescopic rods can rotate at the rotating shafts by taking the direction vertical to the telescopic rods as an axis;

the two paws are respectively connected with the two racks through rotating motors;

each gripper comprises two folding jaws which are symmetrically distributed and two groups of clamping cylinders which respectively control the two folding jaws to loosen and clamp, and each folding jaw comprises a multistage clamping ring which can be folded and unfolded;

the multistage snap ring includes first order snap ring and second level snap ring, first order snap ring quantity is 2, and the symmetric distribution is in the outside of second level snap ring, first order snap ring with die clamping cylinder connects, the second level snap ring pass through second level connecting rod and second level telescopic link with the first order snap ring is connected, be provided with second level rotating electrical machines on the first order snap ring, second level rotating electrical machines with the second level connecting rod is connected.

2. The adaptive parallel folding gripper according to claim 1, wherein the multistage snap rings further comprise 2 third-stage snap rings, the number of the second-stage snap rings is symmetrically distributed on the outer sides of the third-stage snap rings, the third-stage snap rings are connected with the second-stage snap rings through third-stage connecting rods and third-stage telescopic rods, third-stage rotating motors are arranged on the second-stage snap rings, and the third-stage rotating motors are connected with the third-stage connecting rods.

3. The adaptive parallel folding gripper of claim 2, wherein the second stage telescoping rods comprise second stage telescoping cylinders and second stage cylinder rods and the third stage telescoping rods comprise third stage telescoping cylinders and third stage cylinder rods.

4. The adaptive parallel folding gripper of claim 1 wherein said telescoping rod comprises a cylinder and a cylinder rod.

5. The adaptive parallel folding gripper as in any one of claims 1 to 4, wherein a torsion spring is mounted at the pivot.

6. The adaptive parallel folding gripper according to claim 5, characterized in that the number of said telescopic rods is 3, and three shafts on the same frame are distributed in a triangular shape.

7. The adaptive parallel folding gripper of claim 5, wherein said rotating motor is capable of driving said gripper to rotate 360 °.

8. The adaptive parallel folding gripper of claim 5 wherein said gripper is provided with mounting holes for mounting an actuator.

9. An underwater pipeline robot comprising an actuator and the adaptive parallel folding gripper of any one of claims 1-8, wherein the actuator is mounted on the gripper.

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