CN109945014A - A kind of pipe robot hoofing part mechanism - Google Patents
A kind of pipe robot hoofing part mechanism Download PDFInfo
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- CN109945014A CN109945014A CN201910233302.6A CN201910233302A CN109945014A CN 109945014 A CN109945014 A CN 109945014A CN 201910233302 A CN201910233302 A CN 201910233302A CN 109945014 A CN109945014 A CN 109945014A
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Abstract
The present invention relates to a kind of pipe robot hoofing part mechanisms, including bearing base, carry column, plummer, workbench, first level line rail, second horizontal line rail, third horizontal line rail, vertical line rail, working machine head, turntable mechanism, auxiliary drive column and control circuit, pedestal upper surface is mutually slidably connected by first level line rail with plummer, plummer upper surface is connected with each other by the second horizontal line rail and turntable mechanism, turntable mechanism upper surface and workbench lower end surface are connected with each other, the auxiliary drive band of column is evenly arranged on position between workbench and bearing base around turntable mechanism shaft line, control circuit is located at bearing base outer surface.One aspect of the present invention can effectively realize the needs that processing operation is carried out to different weight, different structure and different work face workpiece, on the other hand the structural strength that vertical machining centre entirety can be effectively improved effectively meets the needs that vertical machining centre carries out effectively carrying positioning operation to large volume, big self weight and irregular workpiece.
Description
Technical field
The present invention relates to a kind of walking mechanisms, belong to intelligent robot technology field.
Background technique
At present walking mechanism used in detecting robot of pipe be often traditional driving motor directly and traveling wheel
And the connection of pipe robot fuselage or driving motor pass through structures and traveling wheel and the pipeline machines such as gear-box, transmission shaft
Man-machine body connection type realizes the needs for meeting driving pipe robot operation, although this structure can meet to a certain degree to be made
Needs, but on the one hand this kind of walking mechanism current in operation lacks water conservancy diversion and shunts establishment, to easily make to walk
Dielectrically impeded by liquid, gas in pipeline etc. when wheel operation, running resistance is big and traffic direction control stability is poor, thus
The defects of causing the generally existing operation energy consumption of traveling wheel and service wear amount greatly and control accuracy difference, adaptive capacity to environment is relatively
Difference, in addition, the walking structure of current detecting robot of pipe lacks independent environment measuring and obstacle avoidance ability, be required to according to
Obstacle avoidance apparatus by being located at pipe robot fuselage carries out guiding manipulation, deposits so as to cause in walking process to walking path detection
At a large amount of dead angles, easily cause walking mechanism to be hit because detecting lack of identification, stumble etc. to cause walking mechanism failure or
Damage to seriously affect pipe robot equipment operation stability and reliability, therefore is directed to this status, there is an urgent need to
A kind of completely new pipe robot walking mechanism is developed, to meet the needs of actual use.
Summary of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of pipe robot hoofing part mechanism, the hair
Bright structure is simple, flexible and convenient to use, and versatility is good, on the one hand has good walking ability and adaptive capacity to environment, thus
Effectively meet the needs that all kinds of varying environment pipeline experts walk operation, another aspect is intelligent, integration degree is high, can be effective
Complete detection is carried out to running environment, intelligent barrier avoiding avoids causing to walk caused by because of collision etc. while satisfaction operation needs
Mechanism damage happens, to greatly improve the safety and reliability of walking mechanism operation.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of pipe robot hoofing part mechanism, including bearing base, traveling wheel, driving guide rail, sliding block, driving motor,
Flow distribution plate, bolster stake, obstacle avoidance sensor, turntable mechanism and control system, bearing base are the airtight cavity that cross section is rectangle
Structure, control system are electrically connected in bearing base and with driving guide rail, driving motor, obstacle avoidance sensor, turntable mechanism,
Driving at least two, guide rail, is distributed in bearing base two sides with bearing base axisymmetrical, passes through turntable mechanism and bearing base
Side surface is hinged, and carries out 360 ° of revolution operations around turntable mechanism articulated shaft, and drive rail axis and bearing base axis
In 0 ° -90 ° angles, sliding block is several, and each sliding block rear end face is mutually slidably connected with driving guide rail respectively, and each driving is led
At least one sliding block is all provided on rail, slip front face is hinged by turntable mechanism and a driving motor, wherein slip front face
Turntable mechanism rotary shaft and bearing base axis vertical distribution and swing in 0 ° -120 ° angular ranges, drive motor shaft
Distribution is parallel to the horizontal plane in line and the turntable mechanism connected with it carries out swinging in 0 ° -120 ° angular ranges in the horizontal plane,
Driving motor is connected with each other by transmission shaft and a traveling wheel, and traveling wheel is coaxially distributed with driving motor, and flow distribution plate is cross
Section is in the plate structure of isosceles triangle, and flow distribution plate quantity is consistent with sliding block quantity, and each slip front face and rear end face are equal
It is connected with each other by bolster stake and a flow distribution plate, and flow distribution plate middle line and traveling wheel middle line are distributed in same and drive motor shaft
In the plane of line face vertical distribution, bolster stake both ends are hinged between sliding block and flow distribution plate by turntable mechanism respectively, bolster stake
Axis and sliding block axis are in 0 ° -90 ° angles, obstacle avoidance sensor at least four, embedded in bearing base side surface and around carrying base
Seat axis is uniformly distributed, and obstacle avoidance sensor axis is horizontal by 0 ° -45 ° angles.
Further, the bearing base upper surface sets at least one turntable mechanism, and turn of bearing base upper surface
Platform mechanism axis is with bearing base upper surface vertical distribution and intersection point is located at bearing base center position.
Further, the turntable mechanism is times in the dimensional turntable driven based on servomotor and three-dimensional turntable
It anticipates one kind, and sets at least one speed probe and at least one angular transducer on the turntable mechanism, the revolving speed passes
Sensor and angular transducer are electrically connected with control system.
Further, the drive part of the driving guide rail is linear motor, transmission chain, screw mechanism, hydraulic stretches
Any one in contracting bar, air pressure telescopic link and electric telescopic rod.
Further, the bolster stake is any one in hydraulic telescopic rod, air pressure telescopic link and electric telescopic rod.
Further, at least one stroke sensor is all provided on the driving guide rail and bolster stake.
Further, the traveling wheel wheel face be rectangular configuration, it is isosceles body structure, any one in arc structure
Kind.
Further, the flow distribution plate includes left half plate, right half plate, telescopic adjustment column, framework for support, the left side half
It is hinged between the adjacent incline of plate, right half plate, and passes through at least two telescopic adjustment column phases between left half plate, right half plate rear end face
It connecting, telescopic adjustment column both ends with left half plate, right half plate rear end face, are connected with each other respectively with framework for support front end face,
And telescopic adjustment mast axis is parallel to the horizontal plane and is distributed and is electrically connected to each other between control system, left half plate, right half plate
Horizontal by 30 °-60 ° angles, and between left half plate, right half plate, maximum spacing is 1.1-the 2.5 of traveling wheel width to axis
Times, the framework for support is located at position between left half plate, right half plate, and rear end face and carrying are column articulated.
Further, the control system includes data processing module based on industrial single-chip microcontroller, drive module, data
Communication bus module, crystal oscillator time circuit module, power adaptation module and serial communication module, the data communication bus module
Respectively with data processing module, drive module, crystal oscillator time circuit module, power adaptation module and string based on industrial single-chip microcontroller
Mouth communication module electrical connection, the drive module are electric with driving guide rail, driving motor, obstacle avoidance sensor, turntable mechanism respectively
Gas connection, the power adaptation module and serial communication module are all provided at least one connecting terminal.
Further, the connecting terminal at least one, be embedded in bearing base outer surface.
The configuration of the present invention is simple, flexible and convenient to use, versatility is good, on the one hand has good walking ability and environment suitable
Should be able to power, to effectively meet the needs that all kinds of varying environment pipeline experts walk operation, on the other hand intelligent, integrated journey
Degree is high, effectively can carry out complete detection to running environment, intelligent barrier avoiding avoids while satisfaction operation needs because of collision
Etc. causing to cause walking mechanism damage to happen, to greatly improve the safety and reliability of walking mechanism operation.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control system electrical principle structural schematic diagram.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of pipe robot hoofing part mechanism as described in Fig. 1 and 2, including bearing base 1, traveling wheel 2, driving
Guide rail 3, sliding block 4, driving motor 6, flow distribution plate 7, bolster stake 8, obstacle avoidance sensor 9, turntable mechanism 10 and control system 11, carrying
Pedestal 1 is the airtight cavity structure that cross section is rectangle, control system 11 in bearing base 1 and with driving guide rail 3, driving
Motor 6, obstacle avoidance sensor 9, turntable mechanism 10 are electrically connected, and drive at least two, guide rail 3, with 1 axisymmetrical of bearing base point
Cloth is hinged by turntable mechanism 10 and 1 side surface of bearing base in 1 two sides of bearing base, and around 10 articulated shaft of turntable mechanism
360 ° of revolution operations are carried out, and driving 3 axis of guide rail and 1 axis of bearing base is in 0 ° -90 ° angles, sliding block 4 is several, each sliding block
4 rear end faces are mutually slidably connected with driving guide rail 3 respectively, and are all provided at least one sliding block 4, sliding block 4 on each driving guide rail 3
Front end face by turntable mechanism 10 with driving motor 6 hingedly, wherein 10 rotary shaft of turntable mechanism of 4 front end face of sliding block with hold
It carries 1 axis vertical distribution of pedestal and swung in 0 ° -120 ° angular ranges, distribution is parallel to the horizontal plane in 6 axis of driving motor
And the turntable mechanism 10 connected with it carries out swinging in 0 ° -120 ° angular ranges in the horizontal plane, driving motor 6 passes through biography
Moving axis and a traveling wheel 2 are connected with each other, and traveling wheel 2 and the coaxial distribution of driving motor 6, and flow distribution plate 7 is that cross section is in isosceles
The plate structure of triangle, 7 quantity of flow distribution plate is consistent with 4 quantity of sliding block, and each 4 front end face of sliding block and rear end face pass through carrying
Column 8 and a flow distribution plate 7 are connected with each other, and 7 middle line of flow distribution plate and 2 middle line of traveling wheel are distributed in same and 6 axis of driving motor
In the plane of face vertical distribution, 8 both ends of bolster stake are hinged between sliding block 4 and flow distribution plate 7 by turntable mechanism 10 respectively, are carried
8 axis of column and 4 axis of sliding block are in 0 ° -90 ° angles, and obstacle avoidance sensor 9 at least four embedded in 1 side surface of bearing base and is surround
1 axis of bearing base is uniformly distributed, and 9 axis of obstacle avoidance sensor is horizontal by 0 ° -45 ° angles.
Wherein, 1 upper surface of bearing base sets at least one turntable mechanism 10, and turn of 1 upper surface of bearing base
10 axis of platform mechanism is with 1 upper surface vertical distribution of bearing base and intersection point is located at 1 center position of bearing base, the turntable
Mechanism 10 is any one in the dimensional turntable driven based on servomotor and three-dimensional turntable, and on the turntable mechanism 10
If at least one speed probe 12 and at least one angular transducer 13, the speed probe 12 and angular transducer 13
It is electrically connected with control system 11.
It advanced optimizes, the drive part of the driving guide rail 3 is linear motor, transmission chain, screw mechanism, liquid
Any one in telescopic rod, air pressure telescopic link and electric telescopic rod is pressed, the bolster stake 8 is hydraulic telescopic rod, air pressure is flexible
Any one in bar and electric telescopic rod.
Meanwhile at least one stroke sensor 14 is all provided on the driving guide rail 3 and bolster stake 8.
It advanced optimizes, 2 wheel face of traveling wheel is rectangular configuration, isosceles body structure, appointing in arc structure
It anticipates one kind.
It needs to illustrate, the flow distribution plate 7 includes left half plate 71, right half plate 72, telescopic adjustment column 73, carrying machine
Frame 74 is hinged between the adjacent incline of left half plate 71, right half plate 72, and leads between left half plate 71,72 rear end face of right half plate
It crosses at least two telescopic adjustment columns 73 to be connected with each other, 73 both ends of telescopic adjustment column are respectively and after left half plate 71, right half plate 72
End face is connected with each other with 74 front end face of framework for support, and 73 axis of telescopic adjustment column is parallel to the horizontal plane distribution and is with control
It is electrically connected to each other between system 11, left half plate 71, right half plate, 72 axis are horizontal by 30 ° -60 ° angles, and left half plate
71, maximum spacing is 1.1-2.5 times of 75 width of traveling wheel between right half plate 72, the framework for support 74 be located at left half plate 71,
Position between right half plate 72, rear end face and bolster stake 8 are hinged.
In the present embodiment, the control system 11 include data processing module based on industrial single-chip microcontroller, drive module,
Data communication bus module, crystal oscillator time circuit module, power adaptation module and serial communication module, the data communication bus
Module respectively with the data processing module based on industrial single-chip microcontroller, drive module, crystal oscillator time circuit module, power adaptation module
And serial communication module electrical connection, the drive module respectively with driving guide rail 3, driving motor 6, obstacle avoidance sensor 9, turntable
Mechanism 10 is electrically connected, and the power adaptation module and serial communication module are all provided at least one connecting terminal 5, in addition, described
Connecting terminal 5 at least one, be embedded in 1 outer surface of bearing base.
The present invention is in specific implementation, electric to bearing base, traveling wheel, driving guide rail, sliding block, traveling wheel, driving first
Machine, flow distribution plate, bolster stake, obstacle avoidance sensor, turntable mechanism and control system are assembled, and then lead to the present invention after assembling
The turntable mechanism for crossing bearing base upper surface is connect with pipe robot fuselage, and each pipe robot is all provided at least two
Invention walking structure, the circuit system electrical connection of control system and pipe robot of the invention between last, to complete this
The assembly of invention.
In actual operation, the present invention passes through the turntable mechanism of bearing base upper surface to walking mechanism overall operation first
Direction adjustment meets the needs that steering etc. adjusts substantially, then the turntable by driving guide rail to connect with bearing base side surface
Mechanism adjusts driving rail axis and bearing base axis angle, and adjusts each sliding block connected to it by driving guide rail
Distributing position on driving guide rail, adjusts spacing between bearing base lower end surface and inner surface of pipeline to reach, is meeting
While different tube diameters variation operation needs, walking mechanism is separately effectively raised to the passability of barrier；Finally by cunning
Block and the turntable mechanism of driving motor connection are to driving motor and the traveling wheel connecting with driving motor in 0 ° -120 ° angles
Range adjustment, so that the turntable mechanism of bearing base upper surface be assisted to meet the needs that steering etc. adjusts substantially jointly.
In addition, at runtime, it can be by being adjusted to flow distribution plate distributing position and flow distribution plate self structure, effectively to walking
Liquid and other medium in wheel front and back pipeline carries out shunting guiding, caused by reducing when pipeline internal medium runs traveling wheel
It influences, reduces operation energy consumption and frictional dissipation, while also contributing to improving operation control precision.
Meanwhile the present invention is in the process of running, it can be by being located at multiple obstacle avoidance sensors of bearing base side surface to this
360 ° of periphery is invented without dead angle detection of obstacles, consequently facilitating obtaining traffic information promptly and accurately, is prevented because of detection identification not
Foot and cause walking mechanism to be hit, stumble etc. to cause walking mechanism failure or damage.
The configuration of the present invention is simple, flexible and convenient to use, versatility is good, on the one hand has good walking ability and environment suitable
Should be able to power, to effectively meet the needs that all kinds of varying environment pipeline experts walk operation, on the other hand intelligent, integrated journey
Degree is high, effectively can carry out complete detection to running environment, intelligent barrier avoiding avoids while satisfaction operation needs because of collision
Etc. causing to cause walking mechanism damage to happen, to greatly improve the safety and reliability of walking mechanism operation.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of pipe robot hoofing part mechanism, it is characterised in that: the pipe robot hoofing part mechanism
Including bearing base, traveling wheel, driving guide rail, sliding block, driving motor, flow distribution plate, bolster stake, obstacle avoidance sensor, turntable mechanism
And control system, the bearing base are the airtight cavity structure that cross section is rectangle, the control system is embedded in bearing base
It is interior and with driving guide rail, driving motor, obstacle avoidance sensor, turntable mechanism be electrically connected, at least two, the driving guide rail, to hold
It carries base axis and is symmetrically distributed in bearing base two sides, it is hinged by turntable mechanism and bearing base side surface, and around turntable
Mechanism articulated shaft carries out 360 ° of revolution operations, and the driving rail axis and bearing base axis are in 0 ° -90 ° angles, described
Sliding block is several, and each sliding block rear end face is mutually slidably connected with driving guide rail respectively, and is all provided at least one on each driving guide rail
A sliding block, the slip front face is hinged by turntable mechanism and a driving motor, wherein the turntable machine of described piece of front end face
Structure rotary shaft simultaneously carries out swinging in 0 ° -120 ° angular ranges with bearing base axis vertical distribution, driving motor axis and level
Face parallelly distribute on and the turntable mechanism connected with it carry out swinging in 0 ° -120 ° angular ranges in the horizontal plane, the driving
Motor is connected with each other by transmission shaft and a traveling wheel, and the traveling wheel is coaxially distributed with driving motor, the flow distribution plate
Be cross section be in isosceles triangle plate structure, the flow distribution plate quantity is consistent with sliding block quantity, each slip front face with
Rear end face passes through bolster stake and a flow distribution plate is connected with each other, and flow distribution plate middle line and traveling wheel middle line are distributed in same and drive
It is mutual by turntable mechanism between the bolster stake both ends difference sliding block and flow distribution plate in the plane of dynamic electrical axis face vertical distribution
Hingedly, the carrying mast axis and sliding block axis are in 0 ° -90 ° angles, the obstacle avoidance sensor at least four, embedded in carrying base
Seat side surface is simultaneously uniformly distributed around bearing base axis, and the obstacle avoidance sensor axis is horizontal by 0 ° -45 ° angles.
2. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the carrying
Pedestal upper surface sets at least one turntable mechanism, and the turntable mechanism axis of bearing base upper surface and bearing base upper surface are hung down
It is directly distributed and intersection point is located at bearing base center position.
3. a kind of pipe robot hoofing part mechanism according to claim 1 or 2, it is characterised in that: described turns
Platform mechanism is any one in the dimensional turntable driven based on servomotor and three-dimensional turntable, and is set on the turntable mechanism
At least one speed probe and at least one angular transducer, the speed probe and angular transducer are with control
System electrical connection.
4. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the driving
The drive part of guide rail is linear motor, transmission chain, screw mechanism, hydraulic telescopic rod, air pressure telescopic link and electric telescopic rod
In any one.
5. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the carrying
Column is any one in hydraulic telescopic rod, air pressure telescopic link and electric telescopic rod.
6. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the driving
At least one stroke sensor is all provided on guide rail and bolster stake.
7. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the walking
Wheel wheel face is rectangular configuration, isosceles body structure, any one in arc structure.
8. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the shunting
Plate includes left half plate, right half plate, telescopic adjustment column, framework for support, is mutually cut with scissors between the adjacent incline of left half plate, right half plate
It connects, and is connected with each other between left half plate, right half plate rear end face by least two telescopic adjustment columns, telescopic adjustment column both ends point
Not with left half plate, right half plate rear end face, it is connected with each other with framework for support front end face, and telescopic adjustment mast axis is parallel to the horizontal plane
Be distributed and be simultaneously electrically connected to each other between control system, left half plate, right half plate axis horizontal by 30 ° -60 ° angles, and
Maximum spacing is 1.1-2.5 times of traveling wheel width between left half plate, right half plate, and the framework for support is located at left half plate, right half
Position between plate, rear end face and carrying are column articulated.
9. a kind of pipe robot hoofing part mechanism according to claim 1, it is characterised in that: the control
System includes data processing module, drive module, data communication bus module, crystal oscillator time circuit mould based on industrial single-chip microcontroller
Block, power adaptation module and serial communication module, the data communication bus module respectively with the data based on industrial single-chip microcontroller
Processing module, drive module, crystal oscillator time circuit module, power adaptation module and serial communication module electrical connection, the drive
Dynamic model block respectively with driving guide rail, driving motor, obstacle avoidance sensor, turntable mechanism be electrically connected, the power adaptation module and
Serial communication module is all provided at least one connecting terminal.
10. a kind of pipe robot hoofing part mechanism according to claim 9, it is characterised in that: the wiring
Terminal at least one, be embedded in bearing base outer surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233302.6A CN109945014B (en) | 2019-03-26 | 2019-03-26 | Walking driving mechanism for pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233302.6A CN109945014B (en) | 2019-03-26 | 2019-03-26 | Walking driving mechanism for pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109945014A true CN109945014A (en) | 2019-06-28 |
| CN109945014B CN109945014B (en) | 2020-07-31 |
Family
ID=67010923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910233302.6A Active CN109945014B (en) | 2019-03-26 | 2019-03-26 | Walking driving mechanism for pipeline robot |
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| Country | Link |
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| CN (1) | CN109945014B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110375151A (en) * | 2019-08-22 | 2019-10-25 | 台州市岩土工程有限公司 | A kind of autonomous type pipe-dredging machine people and dredging method |
| CN110805786A (en) * | 2019-11-18 | 2020-02-18 | 西安建筑科技大学 | Active spiral drive pipeline device |
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| CN204692902U (en) * | 2015-05-18 | 2015-10-07 | 卢怡青 | A kind of support guide mechanism of pipeline cleaner of reducing |
| CN206280664U (en) * | 2016-08-12 | 2017-06-27 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN208107441U (en) * | 2018-03-08 | 2018-11-16 | 武汉轻工大学 | A kind of travelling device in pipe and pipeline cleaning robot |
| CN109268618A (en) * | 2018-09-19 | 2019-01-25 | 陈东 | Inner condition of pipeline detects robot |
| CN109488837A (en) * | 2019-01-11 | 2019-03-19 | 河南理工大学 | A kind of more mesh wireless pipe sniffing robots of retractable support formula |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204692902U (en) * | 2015-05-18 | 2015-10-07 | 卢怡青 | A kind of support guide mechanism of pipeline cleaner of reducing |
| CN206280664U (en) * | 2016-08-12 | 2017-06-27 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN208107441U (en) * | 2018-03-08 | 2018-11-16 | 武汉轻工大学 | A kind of travelling device in pipe and pipeline cleaning robot |
| CN109268618A (en) * | 2018-09-19 | 2019-01-25 | 陈东 | Inner condition of pipeline detects robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN109945014B (en) | 2020-07-31 |
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