CN110081272B - Running gear and robot - Google Patents
Running gear and robot Download PDFInfo
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- CN110081272B CN110081272B CN201910491435.3A CN201910491435A CN110081272B CN 110081272 B CN110081272 B CN 110081272B CN 201910491435 A CN201910491435 A CN 201910491435A CN 110081272 B CN110081272 B CN 110081272B
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- 230000007246 mechanism Effects 0.000 claims abstract description 148
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 239000003345 natural gas Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses a running device, which comprises a main body frame and a tensioning mechanism, wherein the main body frame is provided with a driving mechanism, the tensioning mechanism is arranged on the outer side of the main body frame and is movably connected with the driving mechanism, the tensioning mechanism is used for contacting with the inner wall of a pipeline working surface, the pipeline working surface extends along a first direction, and the driving mechanism is used for driving the tensioning mechanism to perform opening and closing movement on the inner wall of the working surface along a second direction so as to drive the running device to advance or retreat on the working surface along the first direction, and the second direction forms an oblique angle with the first direction. According to the embodiment of the invention, the tensioning mechanism is driven to perform opening and closing motions to push the traveling device to move forwards or backwards by utilizing the reaction force, so that the traveling device is simple in structure, convenient to produce, small in size and applicable to various scenes in life after the traveling device is carried, and the applicability of the traveling device is effectively improved.
Description
Technical Field
The invention relates to the technical field of machine movement, in particular to a walking device and a robot.
Background
With the development of science and technology and the increase of the complexity of work tasks, robots are becoming an indispensable device in the modern industrial field, fully playing its advantages and changing our lives.
In the occasion that many working conditions are severe and production requirements are severe, the industrial robot has been a necessary trend to replace manual labor. For example, pipeline operation, pipeline is one of the current important material transportation tools, and in the fields of general industry, nuclear facilities, petroleum and natural gas, military equipment and the like, pipeline is widely used as an effective material transportation means. In the use process of the pipeline, various pipeline damages and stains can be formed due to the influence of various factors, and if the pipeline is not detected and cleaned in time, accidents can be generated or unnecessary loss and waste can be caused, so that the detection, maintenance or cleaning of the inside of the pipeline is required to be realized through a pipeline travelling device or a pipeline robot.
However, most of the existing pipeline running devices have complex structures, are expensive and have large volumes, so that the applicability is not strong, and therefore, how to improve the applicability of the pipeline running device becomes a technical problem to be solved at present.
Disclosure of Invention
In order to effectively overcome the defects in the prior art, the embodiment of the invention creatively provides a walking device, which comprises a main body frame and a tensioning mechanism, wherein the main body frame is provided with a driving mechanism, the tensioning mechanism is arranged on the outer side of the main body frame and is movably connected with the driving mechanism, the tensioning mechanism is used for being in contact with the inner wall of a pipeline working surface, the pipeline working surface extends along a first direction, and the driving mechanism is used for driving the tensioning mechanism to perform opening and closing movement on the inner wall of the working surface along a second direction so as to drive the walking device to advance or retreat on the working surface along the first direction, and the second direction forms an oblique angle with the first direction.
In one embodiment, the tensioning mechanism comprises a tensioning piece and a limiting piece, wherein the limiting piece is movably connected to the main body frame and is provided with a limiting hole; one end of the tensioning piece is arranged in the limiting hole in a penetrating way, the other end of the tensioning piece is movably connected with the driving mechanism, and a first included angle is formed between the tensioning piece and the first direction; the driving mechanism is used for driving the tensioning piece to advance or retreat along the first direction on the main body frame, so that the tensioning mechanism is driven to perform opening and closing movement along the second direction.
In one embodiment, the number of the tensioning mechanisms is one or more, and when the number of the tensioning mechanisms is multiple, the tensioning mechanisms are symmetrically arranged outside the main body frame.
In an embodiment, the tensioning mechanism further comprises a tension spring, one end of the tension spring is connected to the tensioning piece, and the other end of the tension spring is connected to the driving mechanism.
In an embodiment, the driving mechanism includes a motor and a sliding device, the sliding device is slidably mounted on the main body frame, the tensioning mechanism is movably connected to the sliding device, and the motor is connected to the sliding device and is used for driving the sliding device to advance or retract along the first direction, so as to drive the tensioning mechanism to advance or retract along the first direction.
In an implementation manner, the sliding device comprises a screw rod connected to the output end of the motor, and a sliding sleeve sleeved on the screw rod, the tensioning mechanism is movably connected to the sliding sleeve, the screw rod is arranged along the first direction, the motor is used for driving the screw rod to perform clockwise or anticlockwise rotary motion, so that the sliding sleeve is driven to advance or retreat along the first direction, and the tensioning mechanism is driven to advance or retreat along the first direction.
In an embodiment, the sliding sleeve comprises an inner sliding sleeve, an outer sliding sleeve and a sliding sleeve connecting rod, the inner sliding sleeve is sleeved and connected on the screw rod, and the screw rod is installed inside the main body frame; the outer sliding sleeve is sleeved on the surface of the main body frame and connected with the inner sliding sleeve through the sliding sleeve connecting rod; the main body frame is provided with a plurality of strip-shaped holes arranged along the first direction, one end of the sliding sleeve connecting rod is connected with the inner sliding sleeve, and the other end of the sliding sleeve connecting rod is arranged out of the strip-shaped Kong Dongchuan and connected with the outer sliding sleeve.
In an embodiment, the walking device further comprises a moving mechanism, and the moving mechanism is mounted on the surface of the main body frame and used for driving the walking device to advance or retreat on the working surface along the first direction.
In an embodiment, the moving mechanism includes a plurality of rollers, a plurality of roller supports are disposed on the surface of the main body frame, the plurality of roller supports are disposed along the first direction at regular intervals, and the plurality of rollers are disposed on the roller supports in a penetrating manner at regular intervals.
Another aspect of the present invention provides a robot, wherein the robot includes one or more running apparatuses according to any one of the foregoing, and when the robot includes a plurality of running apparatuses, the plurality of running apparatuses are sequentially connected end to end.
The embodiment of the invention provides a walking device and a robot, wherein the walking device comprises a tensioning mechanism, a driving mechanism is arranged on a main body frame of the walking device, the tensioning mechanism is arranged on the outer side of the main body frame and is tightly attached to a pipeline working surface, the driving mechanism drives the tensioning mechanism to perform opening and closing movement along a second direction, and when the tensioning mechanism performs opening or closing movement, the tensioning mechanism can apply pressures in different directions to the pipeline working surface, so that the pipeline working surface can apply a reaction force in the opposite direction to the tensioning mechanism, and the walking device is pushed to move forwards or backwards on the working surface along a first direction. According to the embodiment of the invention, the movable tensioning mechanism is arranged, and the tensioning mechanism is driven to perform opening and closing movements to enable the movable tensioning mechanism to generate pressure in different directions on the working surface, so that the running device is pushed to move forwards or backwards by the reaction force generated by the working surface, the running device is simple in structure and small in size, is convenient to produce, can be suitable for various scenes in life after being carried with the operation device, and effectively improves the applicability of the running device.
Drawings
Fig. 1 is a schematic diagram of a walking device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a walking device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a composition structure of a movable connecting piece according to an embodiment of the invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions according to the embodiments of the present invention will be clearly described in the following with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Fig. 1 is a schematic diagram of a walking device according to an embodiment of the invention, please refer to fig. 1.
In one aspect, the embodiment of the invention provides a walking device, the walking device comprises a main body frame 1 and a tensioning mechanism 2, the main body frame 1 is provided with a driving mechanism 3, the tensioning mechanism 2 is installed on the outer side of the main body frame 1 and is movably connected with the driving mechanism 3, the tensioning mechanism 2 is contacted with the inner wall of a pipeline working surface, the pipeline working surface extends along a first direction, the driving mechanism 3 is used for driving the tensioning mechanism 2 to perform opening and closing movement along a second direction on the inner wall of the working surface, so that the walking device is driven to advance or retreat along the first direction on the working surface, and the second direction forms an oblique angle with the first direction.
The embodiment of the invention provides a walking device comprising a tensioning mechanism 2, wherein a driving mechanism 3 is arranged on a main body frame 1 of the walking device, the tensioning mechanism 2 is arranged on the outer side of the main body frame 1 and is tightly attached to a pipeline working surface, the driving mechanism 3 drives the tensioning mechanism to perform opening and closing movement along a second direction, and when the tensioning mechanism 2 performs opening or closing movement, pressure in different directions is applied to the pipeline working surface by the tensioning mechanism 2, so that the pipeline working surface can give a reaction force in a relative direction to the tensioning mechanism 2, and the walking device is pushed to advance or retreat along a first direction on the working surface. According to the embodiment of the invention, the movable tensioning mechanism 2 is arranged, and the tensioning mechanism 2 is driven to perform opening and closing movements to enable the working surface to generate pressure in different directions, so that the running device is pushed to move forwards or backwards by the reaction force generated by the working surface, the running device is simple in structure and small in size, the production is convenient, the running device is suitable for various scenes in life after being carried on the operation device, and the applicability of the running device is effectively improved.
Wherein, the main body frame 1 can be in a ring shape or a cuboid shape which is suitable for the working surface of the pipeline; the tensioning mechanism 2 may also be arc-shaped or fan-shaped, or even ring-shaped, etc., and the specific shape of the main body frame 1 and the tensioning mechanism 2 is not limited in this embodiment of the present invention.
Fig. 2 is a cross-sectional view of a walking device according to an embodiment of the invention, please refer to fig. 2.
In one embodiment, the tensioning mechanism 2 includes a tensioning member 201 and a limiting member 202, where the limiting member 202 is movably connected to the main frame 1 and has a limiting hole; one end of the tensioning piece 201 is arranged in the limiting hole in a penetrating way, the other end of the tensioning piece 201 is movably connected with the driving mechanism 3, and a first included angle is formed between the tensioning piece 201 and the first direction; the driving mechanism 3 is used for driving the tensioning member 201 to advance or retract on the main body frame 1 along a first direction, so as to drive the tensioning mechanism 2 to perform opening and closing movement along a second direction.
In the embodiment of the invention, one end of the tensioning member 201 in the tensioning mechanism 2 is movably connected with the driving mechanism 3, and the advancing or retreating in the first direction is realized by the driving force of the driving mechanism 3, and the other end of the tensioning member is arranged in the limiting hole of the limiting member 202 in a penetrating manner, wherein the limiting hole is positioned outside the main body frame 1, so that the limiting hole has a certain height relative to the main body frame 1, and the tensioning member 201 can form a first included angle with the main body frame 1, namely, the first direction. Since the main body frame 1 is parallel to the inner wall working surface of the pipe, when the tensioning member 201 forms a first included angle with the main body frame 1, the tensioning member 201 also forms a first included angle with the abutting inner wall working surface of the pipe. When the driving mechanism 3 drives the tensioning piece 201 to advance in the first direction, because the height of the limiting hole is unchanged, the included angle between the tensioning piece 201 and the main body frame 1, namely the first direction, is smaller, namely the included angle between the tensioning piece 201 and the working surface of the inner wall of the pipeline is correspondingly smaller when the driving mechanism 2 is driven to be closed, so that the reaction force of the working surface of the inner wall of the pipeline, given to the tensioning piece 201, in the first direction is correspondingly larger, and the tensioning piece 201 and the travelling device are pushed to move forwards in the first direction; when the driving mechanism 3 drives the tensioning member 201 to retract in the first direction, the height of the limiting hole is unchanged, so that the included angle between the tensioning member 201 and the first direction is increased, that is, when the driving mechanism 2 is driven to open, the included angle between the tensioning member 201 and the working surface of the inner wall of the pipeline is correspondingly increased, so that the reaction force of the working surface of the inner wall of the pipeline to the tensioning member 201 in the first direction is correspondingly reduced, and even the reaction force is applied in the opposite direction, so that the tensioning member 201 and the travelling device can move backwards along the first direction. According to the embodiment of the invention, the running gear is pushed to move in different directions by arranging the position structural relation between the inside of the tensioning mechanism 2 and the position structural relation between the inside of the tensioning mechanism and the driving mechanism 3, so that the structure is simple, and the robustness is high.
In one embodiment, the number of the tensioning mechanisms 2 is one or more, and when the number of the tensioning mechanisms 2 is multiple, the tensioning mechanisms 2 are symmetrically arranged outside the main body frame 1.
In the embodiment of the invention, the number of the tensioning mechanisms 2 can be one or more, when the number of the tensioning mechanisms 2 is one, the tensioning mechanisms can be arranged in a ring shape, namely the tensioning piece 201 is arranged as an annular tensioning piece 201, the limiting piece 202 is also arranged as an annular limiting piece 202, and an annular limiting hole is arranged on the annular limiting piece 202; one end of the annular tensioning piece 201 is connected to the driving mechanism 3, the other end of the annular tensioning piece is arranged in the annular limiting hole in a penetrating mode and is abutted to the working face of the inner wall of the pipeline, the effect that the running gear is pushed to move by the working face of the inner wall of the pipeline can be achieved, and the annular structure is beneficial to increasing structural stability. When tensioning mechanism 2 is a plurality of, a plurality of tensioning mechanism 2 can set up for main body frame 1 axle center bilateral symmetry for when tensioning mechanism 2 and pipeline inner wall working face looks butt, the pipeline inner wall can exert comparatively symmetrical reaction force in each direction to running gear, thereby is favorable to increasing running gear's motion stability, can improve the rate of motion moreover. Of course, the tensioning mechanisms 2 can also be symmetrically arranged back and forth relative to the main body frame 1, namely, the multi-layer tensioning mechanisms 2 are formed to cooperate together to perform opening and closing movement, so that the movement speed of the running gear can be greatly increased.
In an embodiment, the tensioning mechanism 2 further includes a tension spring 203, one end of the tension spring 203 is connected to the tensioning member 201, the other end is connected to the driving mechanism 3, and the tension spring 203 is located at a front side of the tensioning member 201 in the first direction. In the embodiment of the invention, the tension spring 203 is connected to the tension member 201, and the tension spring 203 and the tension member 201 are jointly connected with the driving mechanism 3, so that the tension spring 203 can jointly move along with the tension member 201; also, since the tension spring 203 is located at the front side of the tension member 201 in the first direction, the tension spring 203 can apply a forward tension to the tension member 201, increasing the structural stability of the tension mechanism 2 and making its movement smoother.
In one embodiment, the driving mechanism 3 includes a motor 301 and a sliding device 302, the sliding device 302 is slidably mounted on the main body frame 1, the tensioning mechanism 2 is movably connected to the sliding device 302, and the motor 301 is connected to the sliding device 302 and is used for driving the sliding device 302 to advance or retract along a first direction, so as to drive the tensioning mechanism 2 to advance or retract along the first direction.
In the embodiment of the present invention, the driving mechanism 3 includes a motor 301 and a sliding device 302 driven by the motor 301, wherein the sliding device 302 is slidably mounted on the main body frame 1, so that when the motor 301 is driven, the sliding device 302 can drive the tensioning mechanism 2 to move on the main body frame 1 along the first direction. The sliding device 302 may be a sliding rail and a sliding member, the sliding rail is fixedly installed on the main body frame 1 along the first direction, the sliding member is slidably disposed on the sliding rail, and the tensioning mechanism 2 is movably connected with the sliding member, so that when the motor 301 directly drives the sliding member to move on the sliding rail, the tensioning mechanism 2 can also move on the main body frame 1 along the first direction; of course, the sliding device 302 may be in other specific forms, and the present invention is not limited to the specific structure of the sliding device 302 herein.
In an embodiment, the sliding device 302 includes a screw rod 3021 connected to an output end of the motor 301, and a sliding sleeve 3022 sleeved on the screw rod 3021, where the tensioning mechanism 2 is movably connected to the sliding sleeve 3022, the screw rod 3021 is disposed along a first direction, and the motor 301 is used to drive the screw rod 3021 to perform clockwise or counterclockwise rotation, so as to drive the sliding sleeve 3022 to advance or retract along the first direction, and further drive the tensioning mechanism 2 to advance or retract along the first direction. In the embodiment of the invention, the sliding sleeve 3022 is sleeved on the lead screw 3021, so that when the motor 301 drives the wire to rotate anticlockwise or clockwise, the sliding sleeve 3022 and the tensioning mechanism 2 connected to the sliding sleeve 3022 can be driven to advance or retreat along the first direction.
In one embodiment, the sliding sleeve 3022 includes an inner sliding sleeve, an outer sliding sleeve and a sliding sleeve connecting rod, the inner sliding sleeve is sleeved on the lead screw 3021, and the lead screw 3021 is installed inside the main body frame 1; the outer sliding sleeve is sleeved on the surface of the main body frame 1 and is connected with the inner sliding sleeve through a sliding sleeve connecting rod; the main body frame 1 is provided with a plurality of strip-shaped holes arranged along the first direction, one end of a connecting rod of the sliding sleeve 3022 is connected with the inner sliding sleeve, and the other end of the connecting rod is arranged out of the strip-shaped Kong Dongchuan and connected with the outer sliding sleeve.
According to the embodiment of the invention, the inner sliding sleeve is sleeved on the screw rod 3021 in the main body frame 1, and the outer sliding sleeve 3022 is sleeved on the surface of the main body frame 1, so that the volume of the travelling device can be effectively reduced. In addition, the embodiment of the invention is characterized in that the plurality of strip-shaped holes are formed in the main body frame 1, so that the connecting rod of the sliding sleeve 3022 can be connected with the inner sliding sleeve and the outer sliding sleeve through the strip-shaped holes, the structure is simple, the weight of the running gear is reduced, and the running gear is convenient to transport. Specifically, when the motor 301 drives the screw rod 3021 to rotate counterclockwise or clockwise, the inner sliding sleeve sleeved on the screw rod 3021 can advance or retract along the first direction, so that the inner sliding sleeve can drive the sliding sleeve connecting rod to move through the strip-shaped hole arranged along the first direction, and finally the outer sliding sleeve can also advance or retract along the first direction.
In an embodiment, the walking device further comprises a moving mechanism, and the moving mechanism is installed on the surface of the main body frame 1 and is used for driving the walking device to advance or retreat along the first direction on the working surface.
In the embodiment of the invention, the running device is further provided with the moving mechanism, and when the tensioning mechanism 2 pushes the running device to move forwards by utilizing the reaction force of the working surface of the inner wall of the pipeline through opening and closing movement, the running device can also assist the movement through the moving mechanism arranged on the surface of the main body frame 1, so that the running device can walk more flexibly. Wherein the moving mechanism may be mounted specifically on the peripheral surface of the main body frame 1; or the moving mechanism is movably arranged at the head and the tail of the main body frame 1 in a mode of arranging connecting pieces at the head and the tail of the main body frame 1; the moving mechanism may be a crawler belt, a universal wheel or the like, and the invention is not limited to the specific structure and the installation position of the moving mechanism. The moving mechanism in the embodiment of the invention can also play a certain supporting role, prevent the main body frame 1 from transmitting collision on the inner wall of the pipeline, not only assist movement, but also play a role in protecting the running gear.
In an embodiment, the moving mechanism includes a plurality of rollers 4, a plurality of roller supports 5 are disposed on the surface of the main body frame 1, the plurality of roller supports 5 are uniformly arranged at intervals along the first direction, and the plurality of rollers 4 are uniformly arranged on the roller supports 5 at intervals. According to the embodiment of the invention, the plurality of roller brackets 5 are uniformly arranged on the surface of the main body frame 1 at intervals, and the rollers 4 are uniformly arranged on the roller brackets 5 at intervals, so that the running gear can be uniformly supported and run by the plurality of rollers 4, the uniformly-spaced rollers 4 can protect all parts of the main body frame 1, the whole running gear can be kept in a stable running state, and the stability of the running gear is improved.
Fig. 3 is a schematic diagram of a composition structure of a robot according to an embodiment of the invention, please refer to fig. 3.
Another aspect of the invention provides a robot comprising one or more running gear of any one of the above.
The embodiment of the invention provides a robot comprising one or more running devices, wherein when the robot comprises the running devices, the running devices are sequentially connected end to end, and the running devices can be movably connected to each other so as to increase the flexibility of the robot in turning. With reference to fig. 4, the preferred movable connecting member 6 is a hinge or a flexible connecting member. The robot comprising a plurality of running devices has better load capacity and can carry more operation devices, so that the robot can be transported in a pipeline, and the pipeline can be detected, cleaned and even maintained.
The running device comprises a tensioning mechanism 2, a driving mechanism 3 is arranged on a main body frame 1 of the running device, the tensioning mechanism 2 is arranged on the outer side of the main body frame 1 and is tightly attached to a pipeline working surface, the driving mechanism 3 drives the tensioning device to perform opening and closing movement along a second direction, when the tensioning mechanism 2 performs shrinkage or expansion movement, pressure in different directions is applied to the pipeline working surface, and thus the pipeline working surface can give a reaction force in the opposite direction to the tensioning mechanism 2, so that the running device is pushed to advance or retreat along the first direction on the working surface. According to the embodiment of the invention, the movable tensioning mechanism 2 is arranged, the tensioning mechanism 2 is driven to perform opening and closing movements to enable the tensioning mechanism to generate pressures in different directions on the working surface, and the running gear is pushed to move forwards or backwards by utilizing the reaction force generated by the working surface. The robot in the embodiment of the invention has the advantages of simple structure, convenient production, small volume, suitability for various scenes in life after carrying the operation device, and effective improvement of the applicability of the robot.
Wherein the main body frame 1 can be in a ring shape or a cuboid shape which is suitable for the working surface of the pipeline; the tensioning mechanism 2 may also be arc-shaped or fan-shaped, or even ring-shaped, etc., and the specific shape of the main body frame 1 and the tensioning mechanism 2 is not limited in this embodiment of the present invention.
The foregoing is merely illustrative embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the invention should be covered. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. The running device is characterized by comprising a main body frame and a tensioning mechanism, wherein the main body frame is provided with a driving mechanism, the tensioning mechanism is arranged on the outer side of the main body frame and is movably connected with the driving mechanism, the tensioning mechanism is used for being in contact with the inner wall of a pipeline working surface, the pipeline working surface extends along a first direction, and the driving mechanism is used for driving the tensioning mechanism to perform opening and closing movement on the inner wall of the working surface along a second direction so as to drive the running device to advance or retreat on the working surface along the first direction, and the second direction forms an oblique angle with the first direction;
The tensioning mechanism comprises a tensioning piece and a limiting piece, and the limiting piece is movably connected to the main body frame and is provided with a limiting hole; one end of the tensioning piece is arranged in the limiting hole in a penetrating way, the other end of the tensioning piece is movably connected with the driving mechanism, and a first included angle is formed between the tensioning piece and the first direction; the driving mechanism is used for driving the tensioning piece to advance or retreat along the first direction on the main body frame so as to drive the tensioning mechanism to perform opening and closing movement along the second direction;
The driving mechanism comprises a motor and a sliding device, the sliding device is slidably mounted on the main body frame, the tensioning mechanism is movably connected to the sliding device, the motor is connected with the sliding device and is used for driving the sliding device to advance or retract along the first direction, so that the tensioning mechanism is driven to advance or retract along the first direction;
The sliding device comprises a screw rod connected to the output end of the motor and a sliding sleeve sleeved on the screw rod, the tensioning mechanism is movably connected to the sliding sleeve, the screw rod is arranged along the first direction, the motor is used for driving the screw rod to perform clockwise or anticlockwise rotary motion, so that the sliding sleeve is driven to advance or retreat along the first direction, and the tensioning mechanism is driven to advance or retreat along the first direction;
the sliding sleeve comprises an inner sliding sleeve, an outer sliding sleeve and a sliding sleeve connecting rod, the inner sliding sleeve is sleeved and connected on the lead screw, and the lead screw is arranged in the main body frame; the outer sliding sleeve is sleeved on the surface of the main body frame and connected with the inner sliding sleeve through the sliding sleeve connecting rod; the main body frame is provided with a plurality of strip-shaped holes arranged along the first direction, one end of the sliding sleeve connecting rod is connected with the inner sliding sleeve, and the other end of the sliding sleeve connecting rod is arranged out of the strip-shaped Kong Dongchuan and connected with the outer sliding sleeve;
wherein the first direction refers to the self length direction of the main body frame;
the second direction is an arc direction taking the connecting end of the tensioning piece and the driving mechanism as a circle center and taking the tensioning piece as a radius;
the tensioning mechanisms are one or more, and when the tensioning mechanisms are multiple, the tensioning mechanisms are symmetrically arranged on the outer side of the main body frame.
2. The running gear of claim 1, wherein the tension mechanism further comprises a tension spring having one end connected to the tension member and the other end connected to the drive mechanism.
3. The running gear of claim 1 further comprising a movement mechanism mounted to the body frame surface for driving the running gear to advance or retract on the work surface in the first direction.
4. The running gear according to claim 3, wherein the moving mechanism comprises a plurality of rollers, a plurality of roller supports are arranged on the surface of the main body frame, the plurality of roller supports are arranged at regular intervals along the first direction, and the plurality of rollers are arranged on the roller supports in a penetrating manner at regular intervals.
5. A robot comprising one or more running gear according to any one of claims 1-4, wherein when the robot comprises a plurality of running gear, the running gear are connected end to end in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| GB0414672D0 (en) * | 2004-06-03 | 2004-08-04 | Pii Ltd | In-line pipe inspection tool |
| DE102008022003A1 (en) * | 2008-05-02 | 2009-11-05 | Prokasro Mechatronik Gmbh | Sewer rehabilitation device, has carrying device comprising carrier parts that are adjusted relative to each other by drive device, where control surfaces act on front and rear chassises that are radially pivoted in synchronized movement |
| CN101788093B (en) * | 2010-03-10 | 2011-08-10 | 大庆石油学院 | Drive running mechanism of pipeline robot |
| CN102734594B (en) * | 2011-04-07 | 2014-10-22 | 苏州大学 | Pipeline robot |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| KR101886572B1 (en) * | 2017-05-16 | 2018-08-07 | 천석현 | Pipe cleaning device |
| CN107191739A (en) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | A kind of reducing type pipeline detection robot that generates electricity of optimization |
| CN107084297B (en) * | 2017-06-23 | 2019-03-08 | 江苏科技大学 | It is a kind of flexible from driving helical pipe robot |
| CN108869947B (en) * | 2018-08-23 | 2023-08-11 | 国家电网有限公司 | Cable pre-buried pipeline expansion robot |
| CN208793905U (en) * | 2018-08-27 | 2019-04-26 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN109027512A (en) * | 2018-09-30 | 2018-12-18 | 宁波史河机器人科技有限公司 | A kind of pipeline climbing robot |
| CN109253342A (en) * | 2018-11-13 | 2019-01-22 | 安徽理工大学 | A kind of pipe walking robot |
| CN109572836A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
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