CN110410615B - Robot is got to pipeline foreign matter clamp - Google Patents

Robot is got to pipeline foreign matter clamp Download PDF

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Publication number
CN110410615B
CN110410615B CN201910579140.1A CN201910579140A CN110410615B CN 110410615 B CN110410615 B CN 110410615B CN 201910579140 A CN201910579140 A CN 201910579140A CN 110410615 B CN110410615 B CN 110410615B
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China
Prior art keywords
motor
fixed
guide rail
plate
frame
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Expired - Fee Related
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CN201910579140.1A
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Chinese (zh)
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CN110410615A (en
Inventor
李清
杨海舰
刘浩
丁煜文
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Tianjin University
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Tianjin University
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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
    • 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
    • F16L55/40—Constructional aspects of the body
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a pipeline foreign matter clamping robot which comprises a clamping mechanism and a traveling mechanism, wherein the clamping mechanism comprises a clamping mechanism body and a traveling mechanism body; the frame I of the clamping mechanism is connected with a flange on the frame II of the travelling mechanism through a bolt. The combined type diameter-adjustable pipeline robot has the advantages that the working cost is reduced aiming at the problem of foreign matters existing in the pipeline, the combined type diameter-adjustable pipeline robot is symmetrical in structure, good in stress, large in driving force and good in sealing, and the problem of cleaning the foreign matters in the pipeline is solved.

Description

Robot is got to pipeline foreign matter clamp
Technical Field
The invention belongs to the field of pipeline machine application, and particularly relates to a pipeline foreign matter clamping robot.
Background
At present, along with the development of pipeline robot, also there is more and more high requirement to the function that pipeline robot can realize, but most pipeline robot can't realize the reducing, and the function of realizing is fairly simple moreover, and the most common dolly formula pipeline robot carries the camera and accomplishes the inside monitoring of pipeline, can find the problem but unable real-time solution, consequently inefficiency on engineering problem. If the pipeline can have foreign matters, the manual cleaning is difficult due to the small size of the pipeline, so that manpower and material resources are wasted, and the method is not a reasonable method for solving the problem for a long time.
In summary, the problems of the prior art are as follows: the pipeline robot is in the face of the robot that the inside foreign matter of pipeline can't be in time the efficient clear up, extravagant manpower and materials, consequently urgent need a pipeline foreign matter in the market clearance.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a robot which can realize large diameter change, has the characteristics of symmetrical structure, good stress, good sealing performance and high driving force, and can clamp foreign matters at any position of a pipeline.
The purpose of the invention is realized by the following technical scheme:
a pipeline foreign matter clamping robot comprises a clamping mechanism and a traveling mechanism;
the clamping mechanism comprises a gas claw, a guide rail slide block I, a belt, a synchronous clamping plate, a belt motor, a synchronous wheel, a camera, a rotating plate, a rack I, a belt motor driver, a rotating motor and a rotating motor driver;
the pneumatic claw is fixedly connected to the synchronous clamping plate, and the synchronous clamping plate is fixedly connected with the guide rail sliding block I and the belt; the guide rail sliding block I is fixed on the rotating plate; the belt is matched with the synchronous wheel, and a shaft hole of the synchronous wheel is matched with an output shaft of the belt motor; the belt motor is fixedly connected with the rotating plate and is connected with the belt motor driver through a lead; the rotating plate is fixed on an output flange of a rotating motor, and the rotating motor is fixedly connected to the rack I and is connected with a rotating motor driver through a lead; the camera is fixedly connected to the rotating plate;
the traveling mechanism comprises a driving wheel, a driving motor, a motor base, a follow-up wheel, a bearing seat, a supporting plate, a frame II, a sealing plate, a driving motor driver, a guide rail sliding block II, a synchronous connecting rod and an air cylinder;
the driving wheel is fixed on an output flange of the driving motor; the driving motor is fixedly connected to the motor base and is connected with the driving motor driver through a wire; the motor base and the bearing seat are fixed on a supporting plate, and the supporting plate is connected with the synchronous connecting rod and the top end of the cylinder; a follower wheel of the travelling mechanism is fixedly connected to an inner ring of the bearing; the outer ring of the bearing is fixedly connected with the bearing seat; the side surface of the cylinder is symmetrically provided with the guide rail sliding blocks II; the guide rail sliding block II is fixedly connected to the frame II, and a synchronous connecting rod is fixedly connected to the guide rail sliding block II; sealing plates are fixed at the upper end and the lower end of the frame II; the sealing plate is provided with an opening which can pass through an extending shaft of the cylinder and the synchronous connecting rod;
and the frame I of the clamping mechanism is connected with a flange on the frame II of the travelling mechanism through a bolt.
Further, the backup pad is provided with two, and motor cabinet and cylinder all are equipped with four.
Furthermore, the four motor bases are distributed in a staggered manner in space; the two supporting plates are fixedly connected with two synchronous connecting rods which are distributed in a staggered manner and the top ends of two cylinders with opposite extending directions; the four cylinders are located on two sides in pairs, the bottom surface of one of the two cylinders on the same side is overlapped with the top surface of the other cylinder, and the guide rail sliding blocks II are symmetrically arranged on the side surfaces of the four cylinders.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
aiming at the problem of foreign matters existing in the pipeline, the pipeline foreign matter clamping robot can clamp large foreign matters, and the problem that the traditional pipeline robot cannot pass through the pipeline foreign matter when facing the large foreign matters is solved. The structure symmetry of own guarantees that the atress is good, and adopts the flexible adaptation that realizes different pipe diameters of cylinder, consequently utilizes pneumatic mode to avoid the robot unusual and the rigidity card dies the condition at the pipeline, combines the cable of air feed to realize dragging out the pipeline under the unusual condition, has ensured the safe type of work. The problem of the clearance of foreign matter in the pipeline is solved.
Drawings
FIG. 1 is a schematic view of the overall appearance structure of a pipe foreign matter clamping robot provided by the invention;
FIG. 2 is a schematic structural diagram of a gripping mechanism of a robot for gripping foreign matters in a pipeline provided by the invention;
FIG. 3 is a schematic diagram of the external structure of a walking mechanism of a robot for clamping foreign matters in a pipeline provided by the invention;
FIG. 4 is a schematic diagram of the internal structure of a walking mechanism of a robot for clamping foreign matters in a pipeline provided by the invention;
FIG. 5 is a schematic diagram of the working state of the pipe foreign matter clamping robot provided by the invention;
in the figure: 1-a gripping mechanism; 2-a walking mechanism.
101-air claw; 102-a guide rail slide block I; 103-a belt; 104-synchronous splint; 105-a belt motor; 106-a synchronizing wheel; 107-camera; 108-rotating plate; 109-frame I; 110-belt motor drive; 111-a rotating electrical machine; 112-rotating motor drive.
201-driving wheels; 202-a drive motor; 203-a motor seat; 204-follower wheel; 205-a bearing; 206-a bearing seat; 207-a support plate; 208-frame II; 209-sealing plate; 210-a drive motor driver; 211-guide rail slider ii; 212-synchronous link; 213-cylinder.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present invention provides a robot for clamping foreign matters in a pipeline, comprising: the clamping mechanism 1 and the traveling mechanism 2.
The frame I109 of the gripping mechanism 1 is connected with a flange on the frame II 208 of the travelling mechanism 2 through bolts.
As shown in fig. 2, the gripping mechanism 1 includes: the device comprises an air claw 101, a guide rail slide block I102, a belt 103, a synchronous clamping plate 104, a belt motor 105, a synchronous wheel 106, a camera 107, a rotating plate 108, a frame I109, a belt motor driver 110, a rotating motor 111 and a rotating motor driver 112.
The air claw 101 of the clamping mechanism 1 is fixedly connected to a synchronous clamping plate 104, the synchronous clamping plate 104 is fixedly connected to a guide rail slider I102 and a belt 103 at the same time, the guide rail slider I102 is fixed to a rotating plate 108 through screws, the belt 103 is matched with a synchronous wheel 106, a shaft hole of the synchronous wheel 106 is matched and installed with an output shaft of a belt motor 105, the belt motor 105 is fixedly connected to the rotating plate 108 and connected with a belt motor driver 110 through a lead, the rotating plate 108 is fixed to an output flange of a rotating motor 111 through screws, and the rotating motor 111 is fixedly connected to a rack I109 and connected with a rotating motor driver 112 through a lead. The camera 107 is fixed to the rotating plate 108. The clamping mechanism forms a polar coordinate system, and can clamp any circumferential position of the pipeline.
As shown in fig. 3 and 4, the traveling mechanism 2 includes: the device comprises a driving wheel 201, a driving motor 202, a motor base 203, a follow-up wheel 204, a bearing 205, a bearing seat 206, a supporting plate 207, a frame II 208, a sealing plate 209, a driving motor driver 210, a guide rail sliding block II 211, a synchronous connecting rod 212 and an air cylinder 213.
The driving wheel 201 of the traveling mechanism 2 is fixed on the output flange of the driving motor 202 by screws, the driving motor 202 is fixedly connected to the motor base 203 and is connected with the driving motor driver 210 by a lead, the motor base 203 is fixed on the corresponding threaded hole of the supporting plate 207 by screws, and the four motor bases 203 are distributed in a staggered manner in space. The follower wheel 204 is fixedly connected to the inner ring of the bearing 205, the outer ring of the bearing 205 is fixedly connected to the bearing seat 206, and the bearing seat 206 is fixed to the corresponding threaded hole of the support plate 207 by a screw. The number of the supporting plates 207 is two, each supporting plate 207 is fixedly connected to two synchronous connecting rods 212 which are distributed in a staggered mode and threaded holes corresponding to the top ends of two cylinders 213 which extend in opposite directions, the bottom surfaces and the top surfaces of the two cylinders 213 which are on the same side are overlapped, guide rail sliders II 211 which are symmetrical in space are distributed on the side surfaces of the four cylinders 213, the guide rail sliders II 211 are fixedly connected to a frame II 208, the synchronous connecting rods 212 are fixedly connected to the sliders, sealing plates 209 are fixed to the upper end and the lower end of the frame II 208 through screws, and openings of the sealing plates 209 can pass through extending shafts of the cylinders 213 and.
Referring to fig. 5, the working principle of the present invention is as follows:
according to the pipeline needing to work, the motor seat 203 and the bearing seat 206 of the travelling mechanism 2 are adjusted to the threaded holes corresponding to the supporting plate 207 in advance, when the pipeline works, the cylinder 213 of the travelling mechanism 2 stretches and retracts to extrude the driving wheel 201 and the follow-up wheel 204 to the pipe wall, and due to the adjustment of the motor seat 203 and the bearing seat 206 in advance, the driving wheel 201 and the follow-up wheel 204 are uniformly distributed around the pipeline, and the stress is good. Running gear 2 drives under driving motor 202's effect and presss from both sides the walking that the mechanism 1 realized in the pipeline of getting, and the guide rail slider II 211 of cylinder 213 side has guaranteed that the rigidity of the pipeline foreign matter clamp robot is good, and the belt motor 105 of pressing from both sides the mechanism 1 of getting drives the belt 103 and rotates to the gas claw 101 realizes along the radial flexible of pipeline, and cooperation rotating electrical machines 111 drives the rotation of rotor plate 108 and accomplishes the motion of the polar coordinate of a pipeline circumference, finally realizes the clamp of pipeline inner wall optional position foreign matter and gets.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (1)

1.一种管道异物夹取机器人，其特征在于，包括夹取机构和行走机构；1. A pipeline foreign body gripping robot, characterized in that, comprising a gripping mechanism and a traveling mechanism; 所述夹取机构包括气爪、导轨滑块Ⅰ、皮带、同步夹板、皮带电机、同步轮、摄像头、旋转板、机架Ⅰ、皮带电机驱动器、旋转电机和旋转电机驱动器；The gripping mechanism includes an air gripper, a guide rail slider I, a belt, a synchronous splint, a belt motor, a synchronous wheel, a camera, a rotary plate, a frame I, a belt motor driver, a rotary motor and a rotary motor driver; 所述气爪固接在同步夹板上，所述同步夹板与导轨滑块Ⅰ连接；同步夹板与皮带固接；所述导轨滑块Ⅰ固定于旋转板上；所述皮带与同步轮相配合，所述同步轮的轴孔与皮带电机输出轴配合安装；所述皮带电机与旋转板固接且通过导线与皮带电机驱动器相连；所述旋转板固定于旋转电机的输出法兰上，所述旋转电机固接在机架Ⅰ上且通过导线与旋转电机驱动器相连；所述摄像头固接在旋转板上；The air claw is fixed on the synchronizing plate, and the synchronizing plate is connected with the guide rail slider I; the synchronizing plate is fixed with the belt; the guide rail slider I is fixed on the rotating plate; The shaft hole of the synchronizing wheel is installed in cooperation with the output shaft of the belt motor; the belt motor is fixedly connected to the rotating plate and is connected to the belt motor driver through a wire; the rotating plate is fixed on the output flange of the rotating motor, and the rotating The motor is fixed on the frame I and connected with the rotating motor driver through wires; the camera is fixed on the rotating plate; 所述行走机构包括驱动轮、驱动电机、电机座、随动轮、轴承、轴承座、支撑板、机架Ⅱ、密封板、驱动电机驱动器、导轨滑块Ⅱ、同步连杆和气缸；The traveling mechanism includes a driving wheel, a driving motor, a motor seat, a follower wheel, a bearing, a bearing seat, a support plate, a frame II, a sealing plate, a driving motor driver, a guide rail slider II, a synchronizing link and a cylinder; 所述驱动轮固定于驱动电机的输出法兰上；所述驱动电机固接于电机座且通过导线与驱动电机驱动器相连；所述电机座和轴承座均固定于支撑板上，所述支撑板与同步连杆和气缸顶端连接；所述行走机构的随动轮固接在轴承的内圈上；轴承的外圈与轴承座固接；所述气缸侧面对称设置有所述导轨滑块Ⅱ；导轨滑块Ⅱ固接在机架Ⅱ上，且在导轨滑块Ⅱ上连接同步连杆；所述机架Ⅱ的上下两端固定有密封板；密封板设有可通过气缸的伸出轴与同步连杆的开口；The drive wheel is fixed on the output flange of the drive motor; the drive motor is fixed on the motor base and connected with the drive motor driver through a wire; the motor base and the bearing base are fixed on the support plate, and the support plate It is connected with the synchronous connecting rod and the top of the cylinder; the follower wheel of the traveling mechanism is fixed on the inner ring of the bearing; the outer ring of the bearing is fixed with the bearing seat; the side of the cylinder is symmetrically provided with the guide rail slider II; the guide rail The slider II is fixed on the frame II, and the synchronizing link is connected to the guide rail slider II; the upper and lower ends of the frame II are fixed with sealing plates; the opening of the connecting rod; 所述夹取机构的机架Ⅰ通过螺栓与行走机构的机架Ⅱ上的法兰连接，所述支撑板设置有两个，电机座和气缸均设有四个；四个所述电机座在空间上呈交错分布；两个所述支撑板与交错分布的两个同步连杆和伸出方向相反的两个气缸顶端固接；四个所述气缸两两位于两侧，同侧的两个气缸中其中一个气缸的底面与另一个气缸的顶面重合，四个气缸侧面对称设有所述导轨滑块Ⅱ。The frame I of the clamping mechanism is connected with the flange on the frame II of the traveling mechanism through bolts, the support plate is provided with two, and the motor seat and the cylinder are provided with four; The space is staggered; the two support plates are fixedly connected with the staggered two synchronizing rods and the top ends of the two cylinders extending in opposite directions; the four cylinders are located on both sides, and the two cylinders on the same side are The bottom surface of one of the cylinders coincides with the top surface of the other cylinder, and the guide rail slider II is symmetrically arranged on the sides of the four cylinders.
CN201910579140.1A 2019-06-28 2019-06-28 Robot is got to pipeline foreign matter clamp Expired - Fee Related CN110410615B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113483193B (en) * 2021-06-17 2023-03-24 中广核研究院有限公司 Pipeline robot

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CN101424863A (en) * 2008-12-04 2009-05-06 上海大学 Stereoscopic camera and parallax self-adapting regulating method thereof
CN104831032A (en) * 2015-03-23 2015-08-12 宁波霍科电器有限公司 A rotary elevating mechanism for quenching of two ends of shaft type workpieces
CA2894354A1 (en) * 2014-06-16 2015-12-16 Jmp Engineering Inc. Thread protector drive mechanism
CN206088331U (en) * 2016-10-20 2017-04-12 苏州市全力自动化科技有限公司 Mechanism is got to four -axis robot multi -functional clamp of multistation
CN206973160U (en) * 2017-06-14 2018-02-06 广东鹏华电子有限公司 Detecting robot of pipe
CN108194763A (en) * 2018-01-24 2018-06-22 天津大学 The wheeled T-shaped pipe robot of big reducing
CN108413177A (en) * 2018-03-09 2018-08-17 武汉理工大学 A kind of self-adapting pipe dredging robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101424863A (en) * 2008-12-04 2009-05-06 上海大学 Stereoscopic camera and parallax self-adapting regulating method thereof
CA2894354A1 (en) * 2014-06-16 2015-12-16 Jmp Engineering Inc. Thread protector drive mechanism
CN104831032A (en) * 2015-03-23 2015-08-12 宁波霍科电器有限公司 A rotary elevating mechanism for quenching of two ends of shaft type workpieces
CN206088331U (en) * 2016-10-20 2017-04-12 苏州市全力自动化科技有限公司 Mechanism is got to four -axis robot multi -functional clamp of multistation
CN206973160U (en) * 2017-06-14 2018-02-06 广东鹏华电子有限公司 Detecting robot of pipe
CN108194763A (en) * 2018-01-24 2018-06-22 天津大学 The wheeled T-shaped pipe robot of big reducing
CN108413177A (en) * 2018-03-09 2018-08-17 武汉理工大学 A kind of self-adapting pipe dredging robot

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