CN110315561A - A kind of manipulator fixture and control system for line clogging robot - Google Patents
A kind of manipulator fixture and control system for line clogging robot Download PDFInfo
- Publication number
- CN110315561A CN110315561A CN201910685915.3A CN201910685915A CN110315561A CN 110315561 A CN110315561 A CN 110315561A CN 201910685915 A CN201910685915 A CN 201910685915A CN 110315561 A CN110315561 A CN 110315561A
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- CN
- China
- Prior art keywords
- gear
- fixed frame
- manipulator fixture
- pipe
- line clogging
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator fixtures and control system for line clogging robot, including pipe robot ontology, one end of pipe robot ontology is equipped with manipulator fixture, the two sides of pipe robot ontology are equipped with several driving wheels, the side of the separate pipe robot ontology of manipulator fixture is equipped with jacking apparatus, the upper end side of jacking apparatus is equipped with camera, the side of camera and be located at jacking apparatus the upper end other side be equipped with headlamp, wherein, jacking apparatus includes fixed frame, the inside of fixed frame is equipped with partition, intert between fixed frame and partition and is equipped with adjustable pipe, the inside of adjustable pipe is interspersed to be equipped with motion bar, one end of motion bar is equipped with gear one, the lower end of gear one is equipped with the gear two matched with gear one, the center of gear two and the output axis connection of motor one, the other end of motion bar is equipped with pressure Block in adjustable pipe and is located on the inside of fixed frame and offers threaded line, and the upper end of threaded line is equipped with the gear three matched with threaded line.
Description
Technical field
The present invention relates to robot fields, it particularly relates to a kind of manipulator fixture for line clogging robot
And control system.
Background technique
Currently, bypass duct is added on gas pipeline currently in use, in order to not influence the normal gas transmission of gas pipeline, it is necessary to
Often gas pipeline is dredged, prevents line clogging, influences gas transmission, blocking operation in the prior art is usually by technology
Personnel complete by means for placing plug, and combustion gas belongs to inflammable explosive article, and there are security risks by operator, especially in high temperature ring
It is more dangerous under border, when pipeline during dredging using to pipe robot when, can be with there are no a kind of manipulator fixture
It realizes the plugging operations for carrying out formula from inside to outside to pipeline, also manipulator fixture is controlled without corresponding control system.
Summary of the invention
Technical assignment of the invention is against the above deficiency, to provide a kind of manipulator fixture for line clogging robot
And control system, to solve the problems, such as that pipe-dredging is unsafe.
The technical scheme of the present invention is realized as follows:
A kind of manipulator fixture and control system for line clogging robot, including pipe robot ontology, the pipeline
One end of robot body is equipped with manipulator fixture, and the two sides of the pipe robot ontology are equipped with several driving wheels, described
The side far from the pipe robot ontology of manipulator fixture is equipped with jacking apparatus, and the upper end side of the jacking apparatus is set
There is a camera, the side of the camera and upper end other side for being located at the jacking apparatus is equipped with headlamp, wherein the top
Rising device includes fixed frame, and the inside of the fixed frame is equipped with partition, interts to be equipped between the fixed frame and the partition and live
Dynamic pipe, the inside of the adjustable pipe is interspersed to be equipped with motion bar, and one end of the motion bar is equipped with gear one, under the gear one
End is equipped with the gear two matched with the gear one, the center of the gear two and the output axis connection of motor one, institute
The other end for stating motion bar is equipped with briquetting, in the adjustable pipe and is located on the inside of the fixed frame and offers threaded line, described
The upper end of threaded line is equipped with the gear three matched with the threaded line, and the center of the gear three and the output shaft of motor two connect
It connects, also, the motor two is located on the inner wall of the fixed frame.
Preferably, the gear one and the gear two are angular wheel, also, the gear one and the gear two
Between be mutually perpendicular to.
Preferably, the junction between the adjustable pipe and the fixed frame and the partition is equipped with through-hole.
Preferably, the manipulator fixture includes fixed plate, also, the side of the fixed plate and the pipe robot
Ontology connects, and interts in the fixed plate and is equipped with movable axis, and one end of the movable axis is equipped with motor three, also, the motor
Three are located at the inside of the pipe robot ontology, and the other end of the movable axis is equipped with movable block, the side of the movable block
It is connect with the fixed frame, on the movable axis and is located at the side of the fixed plate equipped with fixed frame.
Preferably, the fixed frame is in cross-shaped structure, and the surrounding of the fixed frame offers limiting slot, the limit
The sliding block matched with the limiting slot is equipped on the inside of slot.
Preferably, the surrounding of the movable block is equipped with two groups of link blocks, and the upper end two sides of the link block are equipped with company
Extension bar, the upper end of the connecting rod are equipped with connecting plate, the both ends of the connecting rod respectively with the link block and the connecting plate
Between connected by shaft, the upper end of the connecting plate is equipped with top plate.
Preferably, the L-shaped structure of the top plate, also, the side of the top plate is connected with the slide block, the top plate
Upper end is equipped with sawtooth.
Preferably, one end of the movable axis and be located at the movable block inside offer external screw thread, the movable block
Inside be equipped with the internal screw thread that matches with the external screw thread.
Another kind is used as one embodiment of the present invention, a kind of control of the manipulator fixture for line clogging robot
System processed, including control module, power module, lighting module, photographing module, drive module and remote control terminal, also, institute
State control module respectively with the power module, the lighting module, the photographing module, the drive module and described long-range
One end of controlling terminal connects.
Preferably, the other end of the drive module respectively with the motor one, the motor two, the motor three and drive
The connection of motivation structure, also, the driving mechanism is connect with the driving wheel, the other end of the lighting module and the headlamp
Connection, the other end of the photographing module are connect with the camera.
Beneficial effects of the present invention:
1, briquetting of the invention is by so that briquetting can move forward and backward, may be implemented to line clogging under the action of jacking apparatus
Place is dredged, also, staff can be observed by remote control terminal inside pipeline, finds failure and original in time
Cause, stifled error rate under reduction；
2, manipulator fixture of the invention can be directly installed on the manipulator of industrial robot and use, versatile, the machine
Tool hand fixture can replace manually carrying out lower stifled work, and work efficiency is high and safe and reliable；
3, entirely dredging operation can be completed by a monitoring personnel, and monitoring personnel only needs to input corresponding instruction can be remote
Dredging work is completed in process control, so that human cost substantially reduces.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural representation of manipulator fixture for line clogging robot according to an embodiment of the present invention
Figure；
Fig. 2 is the structural schematic diagram of jacking apparatus according to an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of manipulator fixture according to an embodiment of the present invention；
Fig. 4 is according to an embodiment of the present invention a kind of for the manipulator fixture of line clogging robot and the structure of control system
Schematic diagram.
In figure:
1, pipe robot ontology；2, manipulator fixture；3, driving wheel；4, jacking apparatus；5, camera；6, headlamp；7, solid
Determine frame；8, partition；9, adjustable pipe；10, motion bar；11, gear one；12, gear two；13, motor one；14, briquetting；15, screw thread
Line；16, gear three；17, motor two；18, fixed plate；19, movable axis；20, motor three；21, movable block；22, fixed frame；23,
Limiting slot；24, sliding block；25, link block；26, connecting rod；27, connecting plate；28, top plate；29, sawtooth；30, shaft；31, it controls
Module；32, power module；33, lighting module；34, photographing module；35, drive module；36, remote control terminal；37, it drives
Mechanism.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment, as shown in Figure 1-3, a kind of manipulator for line clogging robot according to an embodiment of the present invention presss from both sides
One end of tool and control system, including pipe robot ontology 1, pipe robot ontology 1 is equipped with manipulator fixture 2, pipe machine
The two sides of device human body 1 are equipped with several driving wheels 3, and the side of the separate pipe robot ontology 1 of manipulator fixture 2 is equipped with top
Device 4 is risen, the upper end side of jacking apparatus 4 is equipped with camera 5, the side of camera 5 and another positioned at the upper end of jacking apparatus 4
Side is equipped with headlamp 6.
Lower mask body introduces the structure and effect of jacking apparatus 4.
As shown in Fig. 2, jacking apparatus 4 includes fixed frame 7, the inside of fixed frame 7 is equipped with partition 8, fixed frame 7 and partition 8
Between intert and be equipped with adjustable pipe 9, the inside of adjustable pipe 9 is interspersed to be equipped with motion bar 10, and one end of motion bar 10 is equipped with gear 1,
The lower end of gear 1 is equipped with the gear 2 12 matched with gear 1, gear 1 and gear 2 12 are angular wheel,
Also, it is mutually perpendicular between gear 1 and gear 2 12, the center of gear 2 12 and the output axis connection of motor 1,
The other end of motion bar 10 is equipped with briquetting 14, in adjustable pipe 9 and is located at the inside of fixed frame 7 and offers threaded line 15, threaded line
15 upper end is equipped with the gear 3 16 matched with threaded line 15, the center of gear 3 16 and the output axis connection of motor 2 17,
Also, motor 2 17 is located on the inner wall of fixed frame 7, and the junction between adjustable pipe 9 and fixed frame 7 and partition 8 is equipped with logical
Hole.
Lower mask body introduces the structure and effect of manipulator fixture 2.
As shown in figure 3, manipulator fixture 2 includes fixed plate 18, also, the side of fixed plate 18 and pipe robot ontology
1 connects, and interts in fixed plate 18 and is equipped with movable axis 19, and one end of movable axis 19 is equipped with motor 3 20, also, motor 3 20 is located at
The inside of pipe robot ontology 1, the other end of movable axis 19 are equipped with movable block 21, and the side of movable block 21 and fixed frame 7 connect
It connects, the side on movable axis 19 and positioned at fixed plate 18 is equipped with fixed frame 22, and fixed frame 22 is in cross-shaped structure, fixed frame 22
Surrounding offers limiting slot 23, and the inside of limiting slot 23 is equipped with the sliding block 24 matched with limiting slot 23, movable block 21
Surrounding is equipped with two groups of link blocks 25, and the upper end two sides of link block 25 are equipped with connecting rod 26, and the upper end of connecting rod 26, which is equipped with, to be connected
Fishplate bar 27, the both ends of connecting rod 26 are connect by shaft 30 between link block 25 and connecting plate 27 respectively, connecting plate 27
Upper end is equipped with top plate 28, the L-shaped structure of top plate 28, also, the side of top plate 28 is connect with sliding block 24, and the upper end of top plate 28 is equipped with
Sawtooth 29, one end of movable axis 19 and the inside for being located at movable block 21 offer external screw thread, the inside of movable block 21 be equipped with it is outer
The internal screw thread that screw thread matches.
As shown in figure 4, according to embodiments of the present invention, additionally providing a kind of manipulator fixture for line clogging robot
Control system, including control module 31, power module 32, lighting module 33, photographing module 34, drive module 35 and long-range control
Terminal 36 processed, also, control module 31 respectively with power module 32, lighting module 33, photographing module 34, drive module 35 and remote
One end of process control terminal 36 connects, the other end of drive module 35 respectively with motor 1, motor 2 17, motor 3 20 and drive
Motivation structure 37 connects, also, driving mechanism 37 is connect with driving wheel 3, and the other end of lighting module 33 is connect with headlamp 6, is taken the photograph
As the other end of module 34 is connect with camera 5.
In order to facilitate above-mentioned technical proposal of the invention is understood, below just present invention working principle in the actual process or
Person's mode of operation is described in detail.
In practical application: by the way that pipe robot to be put into pipeline, at this point, staff is whole by remotely control
36 pairs of control modules 31 are held to assign instruction, so that control module 31 sends signal, and then 35 band of drive module to drive module 35
Dynamic driving mechanism 37 works, and driving mechanism 37 drives driving wheel 3 to move, so that pipe robot ontology 1 is walked in pipeline, work
Make personnel and pipeline inner case can be observed by headlamp 6 and camera 5, when the place for encountering blocking, by driving motor
3 20 work, so that motor 3 20 drives movable axis 19 to move, because one end of movable axis 19 is equipped with external screw thread, movable block 21
Inside is equipped with the internal screw thread matched with external screw thread, and then the rotation of movable axis 19 drives movable block 21 to move, movable block 21
Movement drives link block 25 to move, so that link block 25 drives the movement outside of connecting rod 26 and connecting plate 27 to movable block 21,
And then connecting plate 27 drives top plate 28 to move, so that top plate 28 moves on limiting slot 23 with movable slider 24, and then top plate 28 1
The sawtooth 29 and tube contacts of side so that pipe robot ontology 1 is mutually fixed with inner wall of the pipe, then drive motor 1 and electricity
Machine 2 17 works, and 2 17 band moving gear 3 16 of motor moves, also, gear 3 16 and threaded line 15 are intermeshed, and then gear
3 16 rotation drives adjustable pipe 9 to move, so that adjustable pipe 9 drives briquetting 14 to move forward and backward, the work belt movable tooth of motor 1
2 12 movements are taken turns, so that 2 12 band moving gear 1 of gear works, and then gear 1 drives motion bar 10 to rotate, therefore, pressure
Block 14 can not only move forward and backward, and also make rotating motion, the dredging of complete twin conduit.
In conclusion briquetting 14 of the invention passes through the effect of jacking apparatus 4 by means of above-mentioned technical proposal of the invention
Under, so that briquetting 14 can move forward and backward, it may be implemented to dredge at line clogging, also, staff is by remotely controlling
Terminal 36 processed can be observed inside pipeline, find failure and reason, stifled error rate under reduction in time；Manipulator folder of the invention
Tool 2, which can be directly installed on the manipulator of industrial robot, to be used, versatile, which can replace artificial
Lower stifled work is carried out, work efficiency is high and safe and reliable；Entire dredging operation can be completed by a monitoring personnel, be monitored
Personnel only need to input corresponding instruction just remote controlled completion dredging work, so that human cost substantially reduces.
The technical personnel in the technical field can readily realize the present invention with the above specific embodiments,.But it answers
Work as understanding, the present invention is not limited to above-mentioned specific embodiments.On the basis of the disclosed embodiments, the technical field
Technical staff can arbitrarily combine different technical features, to realize different technical solutions.
Claims (10)
1. a kind of manipulator fixture for line clogging robot, which is characterized in that including pipe robot ontology (1), institute
The one end for stating pipe robot ontology (1) is equipped with manipulator fixture (2), and the two sides of the pipe robot ontology (1) are equipped with
The side far from the pipe robot ontology (1) of several driving wheels (3), the manipulator fixture (2) is equipped with jacking apparatus
(4), the upper end side of the jacking apparatus (4) is equipped with camera (5), the side of the camera (5) and positioned at the jacking
The upper end other side of device (4) is equipped with headlamp (6), wherein the jacking apparatus (4) includes fixed frame (7), the fixed frame
(7) inside is equipped with partition (8), interts between the fixed frame (7) and the partition (8) and is equipped with adjustable pipe (9), the activity
The inside for managing (9) is interspersed equipped with motion bar (10), and one end of the motion bar (10) is equipped with gear one (11), the gear one
(11) lower end is equipped with the gear two (12) matched with the gear one (11), the center of the gear two (12) and electricity
The other end of the output axis connection of machine one (13), the motion bar (10) is equipped with briquetting (14), on the adjustable pipe (9) and is located at
It is offered threaded line (15) on the inside of the fixed frame (7), the upper end of the threaded line (15) is equipped with and the threaded line (15)
The gear three (16) matched, the center of the gear three (16) and the output axis connection of motor two (17), also, the motor
Two (17) are located on the inner wall of the fixed frame (7).
2. a kind of manipulator fixture for line clogging robot according to claim 1, which is characterized in that the tooth
It takes turns one (11) and the gear two (12) is angular wheel, also, between the gear one (11) and the gear two (12)
It is mutually perpendicular to.
3. a kind of manipulator fixture for line clogging robot according to claim 2, which is characterized in that the work
Junction between dynamic pipe (9) and the fixed frame (7) and the partition (8) is equipped with through-hole.
4. a kind of manipulator fixture for line clogging robot according to claim 3, which is characterized in that the machine
Tool hand fixture (2) includes fixed plate (18), also, the side of the fixed plate (18) and the pipe robot ontology (1) are even
It connecing, interts on the fixed plate (18) and be equipped with movable axis (19), one end of the movable axis (19) is equipped with motor three (20), and
And the motor three (20) is located at the inside of the pipe robot ontology (1), the other end of the movable axis (19), which is equipped with, lives
The side of motion block (21), the movable block (21) is connect with the fixed frame (7), on the movable axis (19) and is located at described solid
The side of fixed board (18) is equipped with fixed frame (22).
5. a kind of manipulator fixture for line clogging robot according to claim 4, which is characterized in that described solid
Frame (22) are determined in cross-shaped structure, and the surrounding of the fixed frame (22) offers limiting slot (23), the limiting slot (23)
Inside is equipped with the sliding block (24) matched with the limiting slot (23).
6. a kind of manipulator fixture for line clogging robot according to claim 5, which is characterized in that the work
The surrounding of motion block (21) is equipped with two groups of link blocks (25), and the upper end two sides of the link block (25) are equipped with connecting rod (26),
The upper end of the connecting rod (26) be equipped with connecting plate (27), the both ends of the connecting rod (26) respectively with the link block (25) and
It is connected by shaft (30) between the connecting plate (27), the upper end of the connecting plate (27) is equipped with top plate (28).
7. a kind of manipulator fixture for line clogging robot according to claim 6, which is characterized in that the top
Plate (28) L-shaped structure, also, the side of the top plate (28) is connect with the sliding block (24), the upper end of the top plate (28)
Equipped with sawtooth (29).
8. a kind of manipulator fixture and control system for line clogging robot according to claim 7, feature
Be, one end of the movable axis (19) and be located at the movable block (21) inside offer external screw thread, the movable block
(21) inside is equipped with the internal screw thread matched with the external screw thread.
9. a kind of control system of manipulator fixture for line clogging robot according to claim 8, feature
It is, including control module (31), power module (32), lighting module (33), photographing module (34), drive module (35) and remote
Process control terminal (36), also, the control module (31) respectively with the power module (32), the lighting module (33),
One end of the photographing module (34), the drive module (35) and the remote control terminal (36) connects.
10. a kind of control system of manipulator fixture for line clogging robot according to claim 9, feature
Be, the other end of the drive module (35) respectively with the motor one (13), the motor two (17), the motor three
(20) and driving mechanism (37) connects, also, the driving mechanism (37) is connect with the driving wheel (3), the lighting module
(33) the other end is connect with the headlamp (6), and the other end of the photographing module (34) is connect with the camera (5).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685915.3A CN110315561B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
| CN202010130604.3A CN111251328B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
| PCT/CN2020/085194 WO2021017529A1 (en) | 2019-07-28 | 2020-04-16 | Manipulator clamp for robot for pipeline blockage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685915.3A CN110315561B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010130604.3A Division CN111251328B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110315561A true CN110315561A (en) | 2019-10-11 |
| CN110315561B CN110315561B (en) | 2020-02-21 |
Family
ID=68124590
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010130604.3A Active CN111251328B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
| CN201910685915.3A Active CN110315561B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010130604.3A Active CN111251328B (en) | 2019-07-28 | 2019-07-28 | Manipulator clamp for pipeline plugging robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN111251328B (en) |
| WO (1) | WO2021017529A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112282037A (en) * | 2020-09-16 | 2021-01-29 | 南京驭逡通信科技有限公司 | Municipal pipeline silt cleaning machines people |
| WO2021017529A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Manipulator clamp for robot for pipeline blockage |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111251328A (en) | 2020-06-09 |
| CN111251328B (en) | 2021-07-30 |
| CN110315561B (en) | 2020-02-21 |
| WO2021017529A1 (en) | 2021-02-04 |
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