CN110529693B - A explosion-proof walking robot for natural gas line - Google Patents
A explosion-proof walking robot for natural gas line Download PDFInfo
- Publication number
- CN110529693B CN110529693B CN201910819571.0A CN201910819571A CN110529693B CN 110529693 B CN110529693 B CN 110529693B CN 201910819571 A CN201910819571 A CN 201910819571A CN 110529693 B CN110529693 B CN 110529693B
- Authority
- CN
- China
- Prior art keywords
- ratchet
- ratchet wheel
- transmission gear
- shell
- pawl
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- F16L55/30—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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
-
- 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
- F16L2101/30—Inspecting, measuring or testing
Abstract
An explosion-proof walking robot for a natural gas pipeline belongs to the technical field of robots. The explosion-proof walking robot comprises a chassis, a swing cylinder, a transmission system, a transmission control system, a wheel system and a supporting system. The four wheel systems are arranged on the swing cylinder through a transmission system and a transmission control system; the invention realizes the advancing and retreating of the robot by controlling the meshing position of the transmission gear A through the transmission control system. The invention can realize the reliable and continuous operation of the explosion-proof walking robot of the natural gas pipeline by designing the double-swing cylinder and the bidirectional ratchet mechanism to work cooperatively, and has the advantages of stability and reliability in the working process, simple control and easy operation.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an explosion-proof walking robot for a natural gas pipeline.
Background
The main components of natural gas are alkanes, most of which are methane, and small amounts of ethane, propane and butane, and in addition, hydrogen sulfide, carbon dioxide, nitrogen, moisture, carbon monoxide and trace amounts of rare gases such as helium, argon and the like are generally present.
The natural gas is generally conveyed to thousands of households by adopting a pipeline conveying mode, dirt can adhere to the inner wall of the pipeline when the pipeline is used for a long time, if the dirt is not cleaned regularly, the service life of the pipeline can be shortened, and the conveying efficiency of the natural gas can be influenced. On one hand, most of the existing pipeline cleaning devices can only clean the outer wall of the pipeline and cannot effectively clean dirt on the inner wall of the pipeline; on the other hand, more importantly, the existing pipeline inner wall cleaning robot mostly utilizes motor components such as a motor and a steering engine, and if a line fault occurs, the natural gas pipeline may explode.
Natural gas pipelines are not installed completely underground, for example, with the development of marine oil and gas fields, more and more marine gas pipelines appear, and the natural gas pipelines are in seawater; in addition, in the inland gas transmission pipeline, if special conditions such as rivers occur, the natural gas pipeline is installed in water. If water enters the natural gas pipeline, the electric components of the pipeline robot may break down, and dangerous natural gas accidents such as the occurrence of the faults may occur.
Disclosure of Invention
Aiming at the problem that a special robot for natural gas pipeline health detection does not exist in the prior art, the invention provides an explosion-proof walking robot for a natural gas pipeline, which is driven by double oscillating cylinders and does not have any electric part. Compared with a robot driven by a motor, the robot has the advantages that on one hand, the structure is simpler, the stability is higher under water, and line faults caused by water inflow are avoided; on the other hand, because no electric component is adopted, the natural gas pipeline accident caused by the line fault can not be caused. In addition, a bidirectional ratchet mechanism is designed to be matched with the driving of a double-swing air cylinder. On one hand, the double cylinders can continuously and alternately move, and the walking device can continuously walk; on the other hand, because the standard stroke of the cylinder is certain, the accurate control of the displacement to a certain extent can be realized.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an explosion-proof walking robot for a natural gas pipeline comprises a chassis 1, a swing cylinder 2, a transmission system, a transmission control system, a wheel system and a supporting system.
The chassis 1 is of a square plate structure, and four square through holes are formed in four corners of the chassis.
The two swing cylinders 2 are arranged in parallel on the upper surface of the chassis 1 from front to back (the definition of the front-back direction is taken as the reference of the advancing direction of the robot), each swing cylinder 2 is provided with two output shafts 3, and the axial directions of the output shafts 3 are vertical to the advancing direction of the robot and parallel to the chassis 1.
The transmission systems are four groups in total, and each rotating system is arranged on an output shaft 3 of the swing cylinder 2; the transmission system comprises a ratchet casing A4, a ratchet casing B5, a cylindrical shaft A6, a cylindrical shaft B7, a ratchet pawl A8, a ratchet pawl B9, a ratchet spring A10, a ratchet spring B11, a transmission gear A12 and a transmission gear B13. The ratchet casing A4 is of a diameter-variable cylinder structure, the inner diameter of a small-diameter section of the ratchet casing A4 is the same as the diameter of the output shaft 3, a boss is arranged at the tail of a large-diameter section of the ratchet casing A4, the thickness of the boss is one half of the width of a groove of the control sleeve 14, the ratchet casing A4 is sleeved on the output shaft 3, the ratchet casing A4 and the output shaft 3 are in clearance fit, and the ratchet casing A4 can freely move on the output shaft 3; the ratchet wheel shell B5 is of a diameter-variable cylinder structure, the inner diameter of the small-diameter section of the ratchet wheel shell B5 is the same as that of the output shaft 3, a boss is arranged at the tail of the large-diameter section of the ratchet wheel shell B5, and the thickness of the boss is one half of the width of the groove of the control sleeve 14; the ratchet wheel shell A4 and the ratchet wheel shell B5 are fixedly installed, the ratchet wheel shell A4 and the ratchet wheel shell B5 are coaxial, the tail end of the output shaft 3 is located in the middle of the large-diameter section of the ratchet wheel shell B5, the ratchet wheel shell B5 is in clearance fit with the output shaft 3, the ratchet wheel shell B5 can freely move on the output shaft 3, the two bosses are installed in a groove of the control sleeve 14 and are in clearance fit with the control sleeve 14, and the ratchet wheel shell A4 and the ratchet wheel shell B5 can freely rotate in the groove; the transmission gear A12 is fixedly arranged on the output shaft 13, and the transmission gear A12 is positioned in a space formed by two large-diameter sections of a ratchet casing A4 and a ratchet casing B5; the ratchet pawl A8 is arranged on the inner surface of the variable diameter part of the ratchet casing A4 through a cylindrical shaft A6, and the ratchet pawl A8 can rotate freely by taking the cylindrical shaft A6 as a shaft; two ends of the ratchet spring A10 are respectively arranged on the inner surface of the ratchet casing A4 and the ratchet pawl A8 and are used for limiting the spatial position of the ratchet pawl A8; the installation position of the ratchet wheel pawl A8 corresponds to the tooth space position of the transmission gear A12, namely when the transmission gear A12 moves to one side of the ratchet wheel shell A4, the ratchet wheel pawl A8 is positioned in the tooth space of the transmission gear A12, and at the moment, the transmission gear A12, the ratchet wheel pawl A8 and the ratchet wheel shell A4 form a one-way ratchet wheel structure which is used for transmitting the anticlockwise rotation of the output shaft 3 to the transmission gear A12; the ratchet pawl B9 is arranged on the inner surface of the variable diameter part of the ratchet housing B5 through a cylindrical shaft B7, and the ratchet pawl B9 can rotate freely by taking the cylindrical shaft B7 as a shaft; two ends of the ratchet spring B11 are respectively arranged on the inner surface of the ratchet shell B5 and the ratchet pawl B9 and are used for limiting the space position of the ratchet pawl B9; the installation position of the ratchet wheel pawl B8 corresponds to the tooth space position of the transmission gear A12, the installation control sleeve direction of the ratchet wheel pawl B9 is opposite to the installation direction of the ratchet wheel pawl A8, namely when the transmission gear A12 moves to one side of the ratchet wheel shell B5, the ratchet wheel pawl B9 is positioned in the tooth space of the transmission gear A12, and at the moment, the transmission gear A12, the ratchet wheel pawl A8 and the ratchet wheel shell A4 form a one-way ratchet wheel structure which is used for transmitting the clockwise rotation of the output shaft 3 to the transmission gear A12; the transmission system is designed to realize the function of a bidirectional ratchet wheel; the transmission gear B13 is fixedly arranged on the outer side of the small-diameter section of the ratchet casing B5.
The transmission control system comprises a control sleeve 14, a connecting mechanism 15, a sliding block 16 and a bidirectional guide rail pneumatic claw 17. The bidirectional guide rail pneumatic claw 17 is arranged in the middle of the upper surface of the chassis 1 and positioned between the two swing cylinders 2, the bidirectional guide rail pneumatic claw 17 is provided with two sliding blocks 16 capable of freely sliding, and the sliding direction of each sliding block 16 is perpendicular to the advancing direction of the robot and parallel to the chassis 1; the connecting mechanisms 15 are rectangular structures, and one ends of the two connecting mechanisms 15 are respectively arranged on the sliding block 16 and can slide along with the sliding block 16; the control sleeve 14 consists of a circular ring and a rectangular mounting plate arranged on the outer surface of the circular ring, the inner surface of the circular ring is provided with a groove, bosses of the ratchet wheel shell A (4) and the ratchet wheel shell B (5) are arranged in the groove, the number of the control sleeve 14 is four, every two of the control sleeve 14 are arranged at the tail end of the connecting mechanism 15 in a group, and the axis of the circular ring of the control sleeve 14 is superposed with the axis of the output shaft 3; when the slide 16 is moved, the drive train can be moved via the connecting means 15 and the control sleeve 14.
The wheel system has four groups, and each group comprises a wheel 18, a transmission gear C19, a bearing 20 and a bearing seat 21. The thickness of the transmission gear C19 is 2-2.5 times of that of the transmission gear B13, and the transmission gear C19 is fixedly arranged on a rotating shaft of the wheel 18; the wheel 18 is arranged on the chassis 1 through two bearings 20 and a bearing seat 21, and the wheel 18 passes through a square through hole on the chassis 1; the transmission gear C19 is meshed with the transmission gear B13 to realize transmission.
The support system comprises a support wheel 22, a support rod A23, a support rod B24, a support spring 25, a support connecting rod 26 and a support rod seat 27. The number of the support rod seats 27 is four, and the four support rod seats are respectively and fixedly arranged at four corners of the chassis 1; the number of the support rods A23 is two, the two support rods A23 are respectively arranged on two support rod seats 27 positioned at the front side (or the rear side), the support rod A23 can freely rotate in the vertical plane of the chassis 1, and the tail end of each support rod A23 is provided with a support wheel 22; a supporting connecting rod 26 is arranged between the two supporting rods A23; the two support rods B24 are respectively arranged on two support rod seats 27 positioned at the rear side (or the front side), the support rod B24 can freely rotate in the vertical plane of the chassis 1, the tail end of each support rod B24 is provided with a support wheel 22, a slot is arranged in the middle of the support rod B24, the support connecting rod 26 penetrates through the slot of the support rod B24, and the support connecting rod 26 can freely move in the slot of the support rod B24; a supporting spring 25 is arranged between the supporting rod a23 and the supporting rod B24 which are positioned in the same rotating plane, and is used for tightening the supporting system to enable the supporting wheel 22 to be supported on the inner wall of the pipeline.
An explosion-proof walking robot for a natural gas pipeline comprises a walking method:
1. walk forward
Two sliders 16 arranged on a bidirectional guide rail pneumatic claw 17 slide outwards to drive four transmission systems to move, a ratchet casing A4 is close to a transmission gear A12, and the transmission gear A12 is meshed with a ratchet pawl A8; the output shaft 3 of the swing cylinder 2 rotates in a reciprocating mode, when the output shaft 3 rotates clockwise, the transmission gear A12 idles, when the output shaft 3 rotates anticlockwise, the transmission gear A12 drives the transmission to rotate, the wheels 18 are further driven to rotate, and the robot moves forwards; the output shafts 3 of the front and the back swing cylinders 2 work alternately to realize the continuous forward movement of the robot.
2. Walk backward
The two sliders 16 arranged on the bidirectional guide rail pneumatic claw 17 slide inwards to drive the four transmission systems to move, the shell B5 is close to the transmission gear A12 ratchet wheel, and the transmission gear A12 is meshed with the ratchet wheel pawl B9; the output shaft 3 of the swing cylinder 2 rotates in a reciprocating mode, when the output shaft 3 rotates anticlockwise, the transmission gear A12 idles, when the output shaft 3 rotates clockwise, the transmission gear A12 drives the transmission to rotate, the wheels 18 are further driven to rotate, and the robot moves backwards; the output shafts 3 of the front and the back swing cylinders 2 work alternately to realize the continuous backward movement of the robot.
The invention has the beneficial effects that:
(1) a support system is provided. On the one hand, the underwater pipeline robot adopts a wheel type structure and moves mainly by friction force. When the supporting frame props against the top of the inner wall of the pipeline, a reverse acting force is applied to the underwater pipeline robot, the pressure is increased, the forward friction force of the robot is increased, and the walking is more reliable and accurate; on the other hand, the support frame can be adopted to enable the inner operation of the trolley pipeline to be more stable.
(2) Designing double swing cylinders to work cooperatively, selecting two swing cylinders with the same standard swing angle, and designing a bidirectional ratchet mechanism to convert the swing of an output shaft of each swing cylinder into rotation; meanwhile, the two swing cylinders move alternately, so that the trolley continuously advances.
(3) The double-swing cylinder is designed to work cooperatively, so that the minimum unit of the advancing distance at each time can be ensured to be the standard stroke of the cylinder, and the accurate control of displacement is realized to a certain extent.
(4) The swing cylinder is designed to be used as a driving part of the robot, and no electric part is involved. On one hand, the harm of water inlet of the equipment can be reduced to the minimum, and the stability of the equipment is improved; on the other hand, the application is more important, the equipment can be used in flammable and explosive scenes such as gas pipelines, and the like, because no electric component is involved, and no electric spark is caused by the problem of underwater pipeline robots, so that secondary disasters are caused.
The invention can realize the reliable and continuous operation of the explosion-proof walking robot of the natural gas pipeline by designing the double-swing cylinder and the bidirectional ratchet mechanism to work cooperatively, and has the advantages of stability and reliability in the working process, simple control and easy operation.
Drawings
FIG. 1 is an overall three-dimensional view of the operation of an explosion-proof walking robot for a natural gas pipeline;
fig. 2 is an overall structural view of the explosion-proof walking robot of the natural gas pipeline;
fig. 3 is an overall structural view of the explosion-proof walking robot of the natural gas line with the support frame removed;
fig. 4 is a partial sectional view of the bidirectional ratchet mechanism 10A;
FIG. 5 is an outside three-dimensional view of the two-way ratchet mechanism 10A;
FIG. 6 is an inside three-dimensional view of the two-way ratchet mechanism 10A;
fig. 7 is a plan view of the explosion-proof walking robot of the natural gas pipeline with the support frame removed;
fig. 8 is a three-dimensional view of the control sleeve.
In the figure: 1, a chassis; 2, a swing cylinder; 3 an output shaft; 4, a ratchet wheel shell A; 5 ratchet casing B; 6, a cylindrical shaft A; 7, a cylindrical shaft B; 8, ratchet wheel pawl A; 9 ratchet wheel pawl B; 10 ratchet spring A; 11 ratchet spring B; 12 drive gear A; 13 drive gear B; 14 a control sleeve; 15 a connection mechanism; 16 sliding blocks; 17 bidirectional guide rail pneumatic claws; 18 wheels; 19 drive gear C; 20 bearing; 21, a bearing seat; 22 supporting wheels; 23 support bar A; 24 supporting the rod B; 25 supporting the spring; 26 supporting the connecting rod; 27 support the rod holder.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
An explosion-proof walking robot for a natural gas pipeline as shown in fig. 1, 2, 3 and 7 comprises a chassis 1, a swing cylinder 2, a transmission system, a transmission control system, a wheel system and a support system.
The chassis 1 is of a square plate structure, and four square through holes are formed in four corners of the chassis.
The two oscillating cylinders 2 shown in fig. 2 are arranged in parallel on the upper surface of the chassis 1 in front and back (the definition of the front and back directions is taken as reference for the advancing direction of the robot), each oscillating cylinder 2 has two output shafts 3, and the axial direction of each output shaft 3 is perpendicular to the advancing direction of the robot and parallel to the chassis 1.
The transmission systems shown in fig. 3 and 4 have four groups, and each rotating system is arranged on an output shaft 3 of the swinging cylinder 2; the transmission system comprises a ratchet casing A4, a ratchet casing B5, a cylindrical shaft A6, a cylindrical shaft B7, a ratchet pawl A8, a ratchet pawl B9, a ratchet spring A10, a ratchet spring B11, a transmission gear A12 and a transmission gear B13. The ratchet casing A4 is of a diameter-variable cylinder structure, the inner diameter of a small-diameter section of the ratchet casing A4 is the same as the diameter of the output shaft 3, a boss is arranged at the tail of a large-diameter section of the ratchet casing A4, the thickness of the boss is one half of the width of a groove of the control sleeve 14, the ratchet casing A4 is sleeved on the output shaft 3, the ratchet casing A4 and the output shaft 3 are in clearance fit, and the ratchet casing A4 can freely move on the output shaft 3; the ratchet wheel shell B5 is of a diameter-variable cylinder structure, the inner diameter of the small-diameter section of the ratchet wheel shell B5 is the same as that of the output shaft 3, a boss is arranged at the tail of the large-diameter section of the ratchet wheel shell B5, and the thickness of the boss is one half of the width of the groove of the control sleeve 14; the ratchet wheel shell A4 and the ratchet wheel shell B5 are fixedly installed, the ratchet wheel shell A4 and the ratchet wheel shell B5 are coaxial, the tail end of the output shaft 3 is located in the middle of the large-diameter section of the ratchet wheel shell B5, the ratchet wheel shell B5 is in clearance fit with the output shaft 3, the ratchet wheel shell B5 can freely move on the output shaft 3, the two bosses are installed in a groove of the control sleeve 14 and are in clearance fit with the control sleeve 14, and the ratchet wheel shell A4 and the ratchet wheel shell B5 can freely rotate in the groove; the transmission gear A12 is fixedly arranged on the output shaft 13, and the transmission gear A12 is positioned in a space formed by two large-diameter sections of a ratchet casing A4 and a ratchet casing B5; the ratchet pawl A8 is arranged on the inner surface of the variable diameter part of the ratchet casing A4 through a cylindrical shaft A6, and the ratchet pawl A8 can rotate freely by taking the cylindrical shaft A6 as a shaft; two ends of the ratchet spring A10 are respectively arranged on the inner surface of the ratchet casing A4 and the ratchet pawl A8 and are used for limiting the spatial position of the ratchet pawl A8; the installation position of the ratchet wheel pawl A8 corresponds to the tooth space position of the transmission gear A12, namely when the transmission gear A12 moves to one side of the ratchet wheel shell A4, the ratchet wheel pawl A8 is positioned in the tooth space of the transmission gear A12, and at the moment, the transmission gear A12, the ratchet wheel pawl A8 and the ratchet wheel shell A4 form a one-way ratchet wheel structure which is used for transmitting the anticlockwise rotation of the output shaft 3 to the transmission gear A12; the ratchet pawl B9 is arranged on the inner surface of the variable diameter part of the ratchet housing B5 through a cylindrical shaft B7, and the ratchet pawl B9 can rotate freely by taking the cylindrical shaft B7 as a shaft; two ends of the ratchet spring B11 are respectively arranged on the inner surface of the ratchet shell B5 and the ratchet pawl B9 and are used for limiting the space position of the ratchet pawl B9; the installation position of the ratchet wheel pawl B8 corresponds to the tooth space position of the transmission gear A12, the installation control sleeve direction of the ratchet wheel pawl B9 is opposite to the installation direction of the ratchet wheel pawl A8, namely when the transmission gear A12 moves to one side of the ratchet wheel shell B5, the ratchet wheel pawl B9 is positioned in the tooth space of the transmission gear A12, and at the moment, the transmission gear A12, the ratchet wheel pawl A8 and the ratchet wheel shell A4 form a one-way ratchet wheel structure which is used for transmitting the clockwise rotation of the output shaft 3 to the transmission gear A12; the transmission system is designed to realize the function of a bidirectional ratchet wheel; the transmission gear B13 is fixedly arranged on the outer side of the small-diameter section of the ratchet casing B5.
The transmission control system comprises a control sleeve 14, a connecting mechanism 15, a sliding block 16 and a bidirectional guide rail pneumatic claw 17. The bidirectional guide rail pneumatic claw 17 is arranged in the middle of the upper surface of the chassis 1 and positioned between the two swing cylinders 2, the bidirectional guide rail pneumatic claw 17 is provided with two sliding blocks 16 capable of freely sliding, and the sliding direction of each sliding block 16 is perpendicular to the advancing direction of the robot and parallel to the chassis 1; the connecting mechanisms 15 are rectangular structures, and one ends of the two connecting mechanisms 15 are respectively arranged on the sliding block 16; as shown in fig. 8, the control sleeve 14 is composed of a circular ring and a rectangular mounting plate mounted on the outer surface of the circular ring, the inner surface of the circular ring is provided with a groove, bosses of the ratchet housing a (4) and the ratchet housing B (5) are mounted in the groove, the number of the control sleeve 14 is four, every two of the control sleeve 14 are mounted at the tail end of the connecting mechanism 15 in a group, and the axis of the circular ring of the control sleeve 14 is coincident with the axis of the output shaft 3; when the slide 16 is moved, the drive train can be moved via the connecting means 15 and the control sleeve 14.
The wheel system has four groups, and each group comprises a wheel 18, a transmission gear C19, a bearing 20 and a bearing seat 21. The thickness of the transmission gear C19 is 2-2.5 times of that of the transmission gear B13, and the transmission gear C19 is fixedly arranged on a rotating shaft of the wheel 18; the wheel 18 is arranged on the chassis 1 through two bearings 20 and a bearing seat 21, and the wheel 18 passes through a square through hole on the chassis 1; the transmission gear C19 is meshed with the transmission gear B13 to realize transmission.
The support system comprises a support wheel 22, a support rod A23, a support rod B24, a support spring 25, a support connecting rod 26 and a support rod seat 27. The number of the support rod seats 27 is four, and the four support rod seats are respectively and fixedly arranged at four corners of the chassis 1; the number of the support rods A23 is two, the two support rods A23 are respectively arranged on two support rod seats 27 positioned at the front side (or the rear side), the support rod A23 can freely rotate in the vertical plane of the chassis 1, and the tail end of each support rod A23 is provided with a support wheel 22; a supporting connecting rod 26 is arranged between the two supporting rods A23; the two support rods B24 are respectively arranged on two support rod seats 27 positioned at the rear side (or the front side), the support rod B24 can freely rotate in the vertical plane of the chassis 1, the tail end of each support rod B24 is provided with a support wheel 22, a slot is arranged in the middle of the support rod B24, the support connecting rod 26 penetrates through the slot of the support rod B24, and the support connecting rod 26 can freely move in the slot of the support rod B24; a supporting spring 25 is arranged between the supporting rod a23 and the supporting rod B24 which are positioned in the same rotating plane, and is used for tightening the supporting system to enable the supporting wheel 22 to be supported on the inner wall of the pipeline.
An explosion-proof walking robot for a natural gas pipeline comprises a walking method:
1. walk forward
Two sliders 16 arranged on a bidirectional guide rail pneumatic claw 17 slide outwards to drive four transmission systems to move, a ratchet casing A4 is close to a transmission gear A12, and the transmission gear A12 is meshed with a ratchet pawl A8; the output shaft 3 of the swing cylinder 2 rotates in a reciprocating mode, when the output shaft 3 rotates clockwise, the transmission gear A12 idles, when the output shaft 3 rotates anticlockwise, the transmission gear A12 drives the transmission to rotate, the wheels 18 are further driven to rotate, and the robot moves forwards; the output shafts 3 of the front and the back swing cylinders 2 work alternately to realize the continuous forward movement of the robot.
2. Walk backward
The two sliders 16 arranged on the bidirectional guide rail pneumatic claw 17 slide inwards to drive the four transmission systems to move, the shell B5 is close to the transmission gear A12 ratchet wheel, and the transmission gear A12 is meshed with the ratchet wheel pawl B9; the output shaft 3 of the swing cylinder 2 rotates in a reciprocating mode, when the output shaft 3 rotates anticlockwise, the transmission gear A12 idles, when the output shaft 3 rotates clockwise, the transmission gear A12 drives the transmission to rotate, the wheels 18 are further driven to rotate, and the robot moves backwards; the output shafts 3 of the front and the back swing cylinders 2 work alternately to realize the continuous backward movement of the robot.
The invention provides a support system. On the one hand, the underwater pipeline robot adopts a wheel type structure and moves mainly by friction force. When the supporting frame props against the top of the inner wall of the pipeline, a reverse acting force is applied to the underwater pipeline robot, the pressure is increased, the forward friction force of the robot is increased, and the walking is more reliable and accurate; on the other hand, the support frame can be adopted to enable the inner operation of the trolley pipeline to be more stable.
The invention designs double swing cylinders to work cooperatively, selects two swing cylinders with the same standard swing angle, designs a bidirectional ratchet mechanism, and converts the swing of an output shaft of the swing cylinder into rotation; meanwhile, the two swing cylinders move alternately, so that the trolley continuously advances.
The invention designs the double-swing cylinder to work cooperatively, can ensure that the minimum unit of each advancing distance is the standard stroke of the cylinder, and realizes the accurate control of displacement to a certain extent.
The invention designs a swing cylinder as a driving part of a robot, and does not relate to an electric part. On one hand, the harm of water inlet of the equipment can be reduced to the minimum, and the stability of the equipment is improved; on the other hand, the application is more important, the equipment can be used in flammable and explosive scenes such as gas pipelines, and the like, because no electric component is involved, and no electric spark is caused by the problem of underwater pipeline robots, so that secondary disasters are caused.
The invention can realize the reliable and continuous operation of the explosion-proof walking robot of the natural gas pipeline by designing the double-swing cylinder and the bidirectional ratchet mechanism to work cooperatively, and has the advantages of stability and reliability in the working process, simple control and easy operation.
Claims (4)
1. An explosion-proof walking robot for a natural gas pipeline is characterized by comprising a chassis (1), a swing cylinder (2), a transmission system, a transmission control system, a wheel system and a supporting system;
the chassis (1) is of a square plate structure, and four through holes are formed in four corners of the chassis;
the robot is characterized in that the number of the swing cylinders (2) is two, the swing cylinders are arranged on the upper surface of the chassis (1) in parallel front and back, each swing cylinder (2) is provided with two output shafts (3), and the axial directions of the output shafts (3) are vertical to the advancing direction of the robot and parallel to the chassis (1);
the four transmission systems are arranged, and each transmission system is arranged on an output shaft (3) of the swing cylinder (2); the transmission system comprises a ratchet wheel shell A (4), a ratchet wheel shell B (5), a cylindrical shaft A (6), a cylindrical shaft B (7), a ratchet wheel pawl A (8), a ratchet wheel pawl B (9), a ratchet wheel spring A (10), a ratchet wheel spring B (11), a transmission gear A (12) and a transmission gear B (13); the ratchet wheel shell A (4) is of a reducing cylinder structure, the inner diameter of a small diameter section of the ratchet wheel shell A (4) is the same as that of the output shaft (3), a boss is arranged at the tail of a large diameter section of the ratchet wheel shell A (4), the ratchet wheel shell A (4) is sleeved on the output shaft (3), the ratchet wheel shell A (4) and the output shaft (3) are in clearance fit, and the ratchet wheel shell A (4) can freely move on the output shaft (3); the ratchet wheel shell B (5) is of a reducing cylinder structure, the inner diameter of the small-diameter section of the ratchet wheel shell B (5) is the same as that of the output shaft (3), and a boss is arranged at the tail of the large-diameter section of the ratchet wheel shell B (5); the ratchet wheel shell A (4) and the ratchet wheel shell B (5) are fixedly installed, the ratchet wheel shell A (4) and the ratchet wheel shell B (5) are coaxial, the tail end of the output shaft (3) is located in the middle of the large-diameter section of the ratchet wheel shell B (5), the ratchet wheel shell B (5) and the output shaft (3) are in clearance fit, the ratchet wheel shell B (5) can freely move on the output shaft (3), the two bosses are installed in a groove of the control sleeve (14), the bosses and the control sleeve (14) are in clearance fit, and the ratchet wheel shell A (4) and the ratchet wheel shell B (5) can freely rotate in the groove; the transmission gear A (12) is fixedly arranged on the output shaft (3), and the transmission gear A (12) is positioned in a space formed by two large-diameter sections of the ratchet wheel shell A (4) and the ratchet wheel shell B (5); the ratchet pawl A (8) is arranged on the inner surface of the diameter-variable part of the ratchet shell A (4) through a cylindrical shaft A (6), and the ratchet pawl A (8) can rotate freely by taking the cylindrical shaft A (6) as a shaft; two ends of the ratchet spring A (10) are respectively arranged on the inner surface of the ratchet shell A (4) and the ratchet pawl A (8) and used for limiting the spatial position of the ratchet pawl A (8); the installation position of the ratchet wheel pawl A (8) corresponds to the tooth space position of the transmission gear A (12), namely when the transmission gear A (12) moves to one side of the ratchet wheel shell A (4), the ratchet wheel pawl A (8) is positioned in the tooth space of the transmission gear A (12), and at the moment, the transmission gear A (12), the ratchet wheel pawl A (8) and the ratchet wheel shell A (4) form a one-way ratchet wheel structure which is used for transmitting the anticlockwise rotation of the output shaft (3) to the transmission gear A (12); the ratchet pawl B (9) is arranged on the inner surface of the diameter-variable part of the ratchet shell B (5) through a cylindrical shaft B (7), and the ratchet pawl B (9) can rotate freely by taking the cylindrical shaft B (7) as a shaft; two ends of the ratchet spring B (11) are respectively arranged on the inner surface of the ratchet shell B (5) and the ratchet pawl B (9) and used for limiting the spatial position of the ratchet pawl B (9); the installation position of the ratchet pawl B (8) corresponds to the tooth space position of the transmission gear A (12), the installation control sleeve direction of the ratchet pawl B (9) is opposite to the installation direction of the ratchet pawl A (8), namely when the transmission gear A (12) moves to one side of the ratchet shell B (5), the ratchet pawl B (9) is positioned in the tooth space of the transmission gear A (12), and at the moment, the transmission gear A (12), the ratchet pawl A (8) and the ratchet shell A (4) form a one-way ratchet structure and are used for transmitting the clockwise rotation of the output shaft (3) to the transmission gear A (12); the transmission system is designed to realize the function of a bidirectional ratchet wheel; the transmission gear B (13) is fixedly arranged on the outer side of the small-diameter section of the ratchet wheel shell B (5);
the transmission control system comprises a control sleeve (14), a connecting mechanism (15), a sliding block (16) and a bidirectional guide rail pneumatic claw (17); the bidirectional guide rail pneumatic claw (17) is arranged in the middle of the upper surface of the chassis (1) and is positioned between the two swing cylinders (2), the bidirectional guide rail pneumatic claw (17) is provided with two sliding blocks (16) capable of freely sliding, and the sliding direction of each sliding block (16) is perpendicular to the advancing direction of the robot and parallel to the chassis (1); the connecting mechanisms (15) are of rectangular structures, and one ends of the two connecting mechanisms (15) are respectively arranged on the sliding blocks (16); the control sleeve (14) consists of a circular ring and a rectangular mounting plate arranged on the outer surface of the circular ring, the inner surface of the circular ring is provided with a groove, bosses of the ratchet wheel shell A (4) and the ratchet wheel shell B (5) are arranged in the groove, the number of the control sleeve (14) is four, every two control sleeve groups are oppositely arranged at the tail end of the connecting mechanism (15), and the axis of the circular ring of the control sleeve (14) is superposed with the axis of the output shaft (3); when the sliding block (16) moves, the transmission system can be driven to move by the connecting mechanism (15) and the control sleeve (14);
the wheel system comprises four groups, and each group comprises a wheel (18), a transmission gear C (19), a bearing (20) and a bearing seat (21); the transmission gear C (19) is fixedly arranged on a rotating shaft of the wheel (18); the wheels (18) penetrate through holes in the chassis (1) and are arranged on the chassis (1) through two bearings (20) and a bearing seat (21); the transmission gear C (19) is meshed with the transmission gear B (13) to realize transmission;
the supporting system comprises a supporting wheel (22), two supporting rods A (23), two supporting rods B (24), a supporting spring (25), a supporting connecting rod (26) and four supporting rod seats (27); the support rod seats (27) are arranged at the four corners of the chassis (1); the supporting rod A (23) is arranged on two supporting rod seats (27) positioned on the front side, the supporting rod B (24) is arranged on two supporting rod seats (27) positioned on the rear side, the supporting rod A (23) and the supporting rod B (24) can freely rotate in a vertical plane of the chassis (1), and the tail end of each supporting rod A, B (23 and 24) is provided with a supporting wheel (22); a supporting connecting rod (26) is arranged between the two supporting rods A (23), a slot is formed in the middle of the supporting rod B (24), and the supporting connecting rod (26) penetrates through the slot and can freely move in the slot; and a supporting spring (25) is arranged between the supporting rod A (23) and the supporting rod B (24) which are positioned in the same rotating plane and used for tightening the supporting system so that the supporting wheel (22) is supported on the inner wall of the pipeline.
2. The robot of claim 1, wherein the thickness of the projection at the end of the large diameter section of the ratchet housing A (4) is one half of the groove width of the control sleeve (14).
3. The robot of claim 1, wherein the thickness of the projection at the end of the large diameter section of the ratchet housing B (5) is one half of the groove width of the control sleeve (14).
4. The explosion-proof walking robot for natural gas pipeline according to claim 1, wherein the thickness of the transmission gear C (19) is 2-2.5 times the thickness of the transmission gear B (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819571.0A CN110529693B (en) | 2019-08-31 | 2019-08-31 | A explosion-proof walking robot for natural gas line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819571.0A CN110529693B (en) | 2019-08-31 | 2019-08-31 | A explosion-proof walking robot for natural gas line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110529693A CN110529693A (en) | 2019-12-03 |
| CN110529693B true CN110529693B (en) | 2020-12-11 |
Family
ID=68665849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910819571.0A Expired - Fee Related CN110529693B (en) | 2019-08-31 | 2019-08-31 | A explosion-proof walking robot for natural gas line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110529693B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959292B (en) * | 2021-03-15 | 2022-07-26 | 安徽碧盾环境工程技术有限公司 | Anti-toppling device of pipeline robot |
| CN113753233A (en) * | 2021-08-31 | 2021-12-07 | 南京航空航天大学 | Amphibious unmanned aerial vehicle based on differential transmission system and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB544455A (en) * | 1940-12-23 | 1942-04-14 | Transplanters Robot Ltd | Improvements in or relating to planting machines |
| CN2177649Y (en) * | 1993-12-31 | 1994-09-21 | 陈大民 | Pneumatic vehicle |
| US8665554B2 (en) * | 2012-01-11 | 2014-03-04 | Oracle International Corporation | Ratcheting gripper for a storage library |
| CN104763788A (en) * | 2015-03-31 | 2015-07-08 | 宁波宫铁精机有限公司 | Bidirectional brake ratchet mechanism |
| CN105276334B (en) * | 2015-10-23 | 2018-01-09 | 河北工业大学 | A kind of detecting robot of pipe |
| CN207617831U (en) * | 2017-12-26 | 2018-07-17 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
| CN108413175B (en) * | 2018-03-07 | 2019-12-31 | 上海工程技术大学 | Hydraulic drive bidirectional peristaltic robot based on ratchet wheel and walking and steering method |
| CN108748188B (en) * | 2018-06-15 | 2019-07-26 | 嘉兴学院 | A kind of complicated rod-shaped multi-freedom robot system of climbing |
-
2019
- 2019-08-31 CN CN201910819571.0A patent/CN110529693B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN110529693A (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110529693B (en) | A explosion-proof walking robot for natural gas line | |
| CN102661470B (en) | Novel crawling pipeline robot | |
| CN201093144Y (en) | Self-adaption pipe mobile mechanism | |
| CN109058653B (en) | Composite driving pipeline robot adapting to multiple detection working conditions | |
| CN108554955B (en) | Reducing pipeline cleaning robot | |
| CN111140723B (en) | Reducing walking type natural gas pipeline detection robot | |
| CN100484727C (en) | Rotary joint structure of underwater electric manipulator | |
| CN101435521A (en) | Self-adapting pipe moving mechanism | |
| CN111609250B (en) | Gas leakage detection device convenient to move | |
| CN111889458B (en) | Self-adaptive laser cleaning robot | |
| CN202491043U (en) | Tubule six-freedom-degree restriction centering and butt welding device | |
| CN103846925B (en) | A kind of underwater hydraulic manipulator short wrist turns clamp drives structure | |
| CN202934574U (en) | Underwater hydraulic mechanical arm short type wrist turning clamp driving structure | |
| CN102935643A (en) | Underwater hydraulic manipulator swinging joint structure | |
| CN106195126B (en) | A kind of maritime platform multilayer multi-line large-sized steel drag chain system | |
| CN102261540B (en) | Self-expanding cankerworm robot | |
| JP5946276B2 (en) | In-pipe travel device | |
| CN210566984U (en) | Self-adaptive self-steering wheel type pipeline robot | |
| CN216848194U (en) | Detection equipment used in diversion tunnel | |
| CN114776935B (en) | But large-scale gyroscope is used in municipal works of automatically regulated balance | |
| CN212313830U (en) | Three-degree-of-freedom cleaning working device of underwater wall surface cleaning robot | |
| CN215436936U (en) | Underground power transmission line pipeline inspection unmanned aerial vehicle capable of automatically avoiding obstacles | |
| CN211502038U (en) | Active spiral drive pipeline robot | |
| CN202040479U (en) | Self-expanding inchworm robot | |
| CN211388349U (en) | Swing type sand blasting and rust removing wall climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201211 Termination date: 20210831 |