CN110594526A - Peristaltic pipeline detection robot - Google Patents
Peristaltic pipeline detection robot Download PDFInfo
- Publication number
- CN110594526A CN110594526A CN201910839637.2A CN201910839637A CN110594526A CN 110594526 A CN110594526 A CN 110594526A CN 201910839637 A CN201910839637 A CN 201910839637A CN 110594526 A CN110594526 A CN 110594526A
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- motor
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- fixing flange
- fixing
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- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 230000002572 peristaltic effect Effects 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 107
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 238000007689 inspection Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000001125 extrusion Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 description 14
- 238000009825 accumulation Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention relates to a creeping type pipeline detection robot, which consists of a motor and a front end umbrella-shaped supporting mechanism driven by the motor, a motor and a telescopic travelling mechanism driven by the motor, a motor and a tail end umbrella-shaped supporting mechanism driven by the motor, a motor and a clamping mechanism driven by the motor, wherein the motor and the telescopic travelling mechanism driven by the motor are positioned in the middle of the robot, the motor and the front end umbrella-shaped supporting mechanism driven by the motor and the tail end umbrella-shaped supporting mechanism driven by the motor are respectively positioned at two sides of the telescopic travelling mechanism, and the clamping mechanism is connected with the front end umbrella-shaped supporting mechanism. The arrangement of the umbrella-shaped supporting structure and the parallelogram link mechanism improves the stability.
Description
Technical Field
The invention relates to a peristaltic pipeline detection robot, in particular to a pipeline detection robot which realizes long and straight pipe detection by utilizing the bionics principle.
Background
Pipeline transportation is a very effective material transportation mode, and is widely applied in the fields of nuclear industry, oil, natural gas, general industry and the like, and pipeline detection technology is developed due to the development of the aspects. The pipeline can be placed in different places such as water, underground, outdoors and the like, and the inside and the outside of the pipeline can be corroded to different degrees due to environmental factors, so that a technology for detecting the inside of the pipeline is needed to ensure the normal transportation and the safety of the pipeline.
The pipeline inspection robot plays a good effect in pipeline inspection, but because pipeline cross-section changes, the pipeline has the mechanical structure than complicated because of the unequal operational environment of inner wall that the mud dirt was piled up and is aroused, and current pipeline inspection robot exists the problem such as mechanical structure is more complicated, and reducing ability is weak, can't realize the inside detection guarantee pipeline normal transportation of pipeline and its security very well. The invention provides a peristaltic pipeline detection robot, which is a robot for completing the work of movement in a pipeline through peristalsis, and the robot simulates the movement of worms, caterpillars and other worm organisms by using the principle of bionics to realize the support and movement of the robot in the pipeline, can overcome the working environment that the pipeline section is deformed and the inner wall of the pipeline is not uniform due to the accumulation of dirt in the pipeline detection process, can work under the condition that the diameter of the pipeline changes along with the time, and has certain capacity of cleaning relatively large foreign matters in the pipeline.
Disclosure of Invention
Aiming at the technical problem that the pipeline detection robot cannot realize detection in the pipeline because the section of the pipeline changes at present, the invention provides the peristaltic pipeline detection robot which can overcome the working environments of deformation of the section of the pipeline, uneven inner wall of the pipeline caused by accumulation of dirt and the like, can work under the condition that the diameter of the pipeline changes along with time, and has certain capacity of cleaning relatively large foreign matters in the pipeline.
A creeping type pipeline detection robot is composed of a motor and a front end umbrella-shaped supporting mechanism driven by the motor, a motor and a telescopic travelling mechanism driven by the motor, a motor and a tail end umbrella-shaped supporting mechanism driven by the motor, and a motor and a clamping mechanism driven by the motor, wherein the motor and the telescopic travelling mechanism driven by the motor are positioned in the middle of the robot; the front-end umbrella-shaped supporting mechanism and the tail-end umbrella-shaped supporting mechanism respectively realize the contact extrusion of the top end of the leg rod piece and the pipe wall of the pipeline to realize surface support through three parallelogram link mechanisms, the three parallelogram link mechanisms are arranged at intervals of 120 degrees, and when the diameter of the pipeline changes, the front-end umbrella-shaped supporting mechanism and the tail-end umbrella-shaped supporting mechanism alternately contract and support to realize the creeping type advance of the robot.
The motor and the tail end umbrella-shaped supporting structure driven by the motor comprise a first triangular fixing plate, three first parallelogram link mechanisms, a first moving flange, a first fixed side fixing flange, a first motor reducer, an integral fixing flange and a first screw shaft, wherein the first parallelogram link mechanism consists of two side connecting rods and a leg connecting rod, one end of each side connecting rod is respectively connected to the first triangular fixing plate through a hinge, the other end of each side connecting rod is respectively movably connected with the two ends of the leg connecting rod through hinges, a slideway is arranged in the middle of each side connecting rod, the side connecting rod close to the first moving flange passes through the slideway through a pin to be movably connected with the first moving flange, the first motor reducer is connected with the first screw shaft and is fixed on the first fixed side fixing flange, the two ends of the first screw shaft are respectively fixed on the first fixed side fixing flange and the first moving flange through screws, the first linear bearing is fixed on the first moving flange through a screw, the first screw shaft drives the first moving flange to move to realize the swing of the parallelogram link mechanism, the first triangular fixing plate, the first fixing side fixing flange and the first motor fixing method are fixedly connected with the integral fixing flange through jackscrews, and a shaft on the integral fixing flange penetrates through the first linear bearing fixed on the first moving flange.
The motor and the telescopic walking mechanism driven by the motor comprise a supporting side fixing flange, a second screw shaft, a second fixing side fixing flange, a second motor fixing flange and a second motor reducer, wherein the second motor reducer is connected with a second screw shaft and fixed on the second motor fixing flange, the second screw shaft is fixed on the second fixing side fixing flange through screws, a second linear bearing is fixed on the supporting side fixing flange through screws, a top screw is adopted between the second fixing side fixing flange, the second motor fixing flange and the supporting side fixing flange for fixation, the second screw shaft is connected with the integral fixing flange through screws, the shaft of the supporting side fixing flange penetrates through the linear bearing fixed on the integral fixing flange, and the shaft of the integral fixing flange penetrates through the second linear bearing fixed on the supporting side fixing flange.
The motor and the front end umbrella-shaped supporting structure driven by the motor comprise a second triangular fixing plate, three second parallelogram link mechanisms, a second moving flange, a third fixing side fixing flange, a third motor reducer and a third screw shaft, wherein each second parallelogram link mechanism comprises two side connecting rods and a leg connecting rod, one end of each side connecting rod is connected to the second triangular fixing plate through a hinge, the other end of each side connecting rod is movably connected with two ends of the leg connecting rod through hinges, a slideway is formed in the middle of each side connecting rod, the side connecting rod close to the second moving flange passes through the slideway through a pin to be movably connected with the second moving flange, the third motor reducer is connected with the third screw shaft and fixed on the third fixing side fixing flange, and two ends of the third screw shaft are fixed on the third fixing side fixing flange and the second moving flange through screws respectively, the third linear bearing is fixed on the second moving flange through a screw, the third screw shaft drives the second moving flange to move to realize the swing of the parallelogram link mechanism, the second triangular fixing plate, the third fixing side fixing flange and the third motor fixing method are fixedly connected with the supporting side fixing flange through jackscrews, and the shaft on the supporting side fixing flange penetrates through the third linear bearing fixed on the second moving flange.
The clamping mechanism comprises a mechanical claw support, a fourth fixing side fixing flange, a fourth motor reducer, a mechanical claw lead screw shaft, a mechanical claw and a motor fixing plate, wherein the mechanical claw support is connected with the fourth fixing side fixing flange through a screw, the fourth motor reducer is connected with the mechanical claw lead screw shaft and is connected with the motor fixing plate through a screw, the mechanical claw is fixed on the mechanical claw support through a hinge pin shaft, the mechanical claw lead screw shaft is connected with the mechanical claw through a protrusion, the motor fixing plate is fixed on the mechanical claw support through a screw, a jackscrew is fixedly connected between the fourth fixing side fixing flange and a supporting side fixing flange, and the motor drives the mechanical claw lead screw shaft to drive the mechanical claw to clamp and move.
The front end umbrella-shaped supporting mechanism, the tail end umbrella-shaped supporting mechanism, the telescopic travelling mechanism and the clamping mechanism are connected through screws and nuts.
The invention has the advantages that during the pipeline detection process, the working environment that the pipeline section is deformed, the inner wall of the pipeline is uneven due to the accumulation of dirt and the like can be overcome, the pipeline can work under the condition that the diameter of the pipeline changes along with the time, and meanwhile, the robot has certain capacity of cleaning relatively large foreign matters in the pipeline. The invention combines the caterpillar movement mode with the robot walking mechanism to realize the movement of the robot creeping forward in the pipeline; the umbrella-shaped supporting mechanism has higher motion stability and stronger adaptability to the diameter change of the pipeline; the parallelogram linkage mechanism can realize a line-surface supporting mode and has great advantages in stability.
Drawings
FIG. 1 is a schematic three-dimensional structure of a peristaltic pipeline inspection robot according to the present invention;
FIG. 2 is a schematic structural view of a motor and a tail end umbrella-shaped supporting mechanism driven by the motor;
FIG. 3 is a perspective side view of the motor and its driven trailing umbrella support mechanism;
FIG. 4 is a top view of the motor and its driven trailing umbrella support mechanism;
FIG. 5 is a schematic structural diagram of a motor and a telescopic traveling mechanism driven by the motor;
FIG. 6 is a perspective side view of the motor and its driving telescopic traveling mechanism;
FIG. 7 is a top view of the motor and its driving telescopic traveling mechanism;
FIG. 8 is a schematic structural view of the motor and its driven front umbrella support mechanism;
FIG. 9 is a perspective side view of the motor and its driven front end umbrella support mechanism;
FIG. 10 is a top view of the motor and its driven front umbrella support mechanism;
FIG. 11 is a schematic view of the motor and the gripper mechanism driven by the motor;
FIG. 12 is a perspective side view of the motor and its driven gripper mechanism;
fig. 13 is a top view of the motor and its driven gripper mechanism.
In the figure: 1. a motor and a tail end umbrella-shaped supporting mechanism driven by the motor, 2, the motor and a telescopic walking mechanism driven by the motor, 3, the motor and a front end umbrella-shaped supporting mechanism driven by the motor, 4, the motor and a clamping mechanism driven by the motor, 11, a first triangular fixing plate, 12, a parallelogram linkage mechanism I, 13, a first moving flange, 14, a first fixing side fixing flange, 15, a first motor fixing flange, 1-6, a first motor reducer, 17, an integral fixing flange, 18, a first screw shaft, 21, a supporting side fixing flange, 22, a second screw shaft, 23, a second fixing side fixing flange, 24, a second motor fixing flange, 25, a second motor reducer, 31, a second triangular fixing plate, 32, a second parallelogram linkage mechanism, 33, a second moving flange, 34, a third fixing side fixing flange, 35 and a third motor fixing flange, 36. a third motor reducer 37, a third screw shaft 41, a gripper bracket 42, a fourth fixed-side fixing flange 43, a fourth motor reducer 44, a gripper screw shaft 45, a gripper 46 and a motor fixing plate.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in figure 1, the creeping type pipeline detecting robot consists of a motor and a front-end umbrella-shaped supporting mechanism 3 driven by the motor, a telescopic travelling mechanism 2 driven by the motor, a tail-end umbrella-shaped supporting mechanism 1 driven by the motor, and a clamping mechanism 4 driven by the motor.
As shown in fig. 2, the motor and the driven tail end umbrella-shaped supporting structure 1 thereof comprise a first triangular fixing plate 11, a first parallelogram linkage 12, a first moving flange 13, a first fixing side fixing flange 14, a first motor fixing flange 15, a first motor reducer 16, an integral fixing flange 17 and a first screw shaft 18.
The first connecting rod and the second connecting rod of the first parallelogram connecting rod mechanism 12 are connected on the third triangle fixing plate 11 through hinges, the two ends of the leg connecting rod are respectively connected on the first connecting rod and the second connecting rod through hinges, the center of the first connecting rod and the second connecting rod of the first parallelogram connecting rod mechanism 12 is provided with a slideway, the second connecting rod close to the first moving flange side passes through the slideway through a pin and is movably connected with the first moving flange 13, the movement of the first moving flange 13 drives the tail end umbrella-mounted supporting mechanism to open and close, a first motor reducer 16 is connected with a first lead screw shaft 18 and is fixed on a first motor fixing flange 15, the first lead screw shaft 18 is fixed on the first fixing side fixing flange 14 and the first moving flange 13 through screws, a first linear bearing is fixed on the first moving flange 13 through screws, the first lead screw shaft 18 drives the first moving flange 13 to move left and right, the swing of the first parallelogram linkage 12 is realized, all parts are connected together by the integral fixing flange 17, the first triangular fixing plate 11, the first fixing side fixing flange 14, the first motor fixing flange 15 and the integral fixing flange 17 are fixed by adopting jackscrews, and a shaft on the integral fixing flange 17 passes through a first linear bearing fixed on the first moving flange 13.
As shown in fig. 5, the motor and the telescopic traveling mechanism 2 driven by the motor include a support-side fixing flange 21, a second screw shaft 22, a second fixing-side fixing flange 23, a second motor fixing flange 24, and a second motor reducer 25.
The second motor reducer 25 is connected with the second screw shaft 22 and fixed on the second motor fixing flange 24, the second screw shaft 22 is fixed on the second fixing side fixing flange 23 through screws, the second linear bearing is fixed on the support side fixing flange 21 through screws, the second fixing side fixing flange 23 and the support side fixing flange 21 are both fixed through jackscrews, the second screw shaft II 22 is connected with the integral fixing flange 17 through screws, the support side fixing flange 21 is located on the left side of the integral fixing flange 17, the shaft of the support side fixing flange 21 penetrates through the linear bearing fixed on the integral fixing flange 17, and the shaft of the integral fixing flange 17 penetrates through the second linear bearing fixed on the support side fixing flange 21.
As shown in fig. 8, the motor and the driven front-end umbrella-shaped support structure 3 thereof include a second triangular fixing plate 31, a second parallelogram linkage 32, a second moving flange 33, a third fixing-side fixing flange 34, a third motor fixing flange 35, a third motor reducer 36, and a third screw shaft 37.
The first connecting rod and the second connecting rod of the second parallelogram connecting rod mechanism 32 are connected to the second triangular fixing plate 31 through hinges, two ends of the leg connecting rod are connected to the first connecting rod and the second connecting rod through hinges respectively, a slide way is arranged in the center of the first connecting rod and the center of the second connecting rod of the second parallelogram connecting rod mechanism 32, the second connecting rod close to the second moving flange side penetrates through the slide way through a pin to be movably connected with the second moving flange 33, and the movement of the second moving flange 33 drives the front-end umbrella-shaped supporting mechanism to be opened and closed. The third motor reducer 36 is connected with a third screw shaft 37 and fixed on a third motor fixing flange 35, the third screw shaft 37 is fixed on a third fixing side fixing flange 34 and a second moving flange 33 through screws, a third linear bearing is fixed on the second moving flange 33 through screws, the third screw shaft 37 drives the second moving flange 33 to move left and right to swing the second parallelogram mechanism 32, the third fixing side fixing flange 34, the third motor fixing flange 35 and the supporting side fixing flange 21 are fixed through jackscrews, and a shaft of the supporting side fixing flange 21 penetrates through the third linear bearing fixed on the second moving flange 33.
As shown in fig. 11, the motor and the gripper mechanism 4 driven by the motor include a gripper bracket 41, a fourth fixed-side fixing flange 42, a fourth motor reducer 43, a gripper screw shaft 44, a gripper 45, and a motor fixing plate 46.
The gripper bracket 41 is connected to the fourth fixing-side fixing flange 42 by screws, the fourth motor reducer 43 is connected to the gripper screw shaft 44 and fixed to the motor fixing plate 46 by screws, the gripper 45 is fixed to the gripper bracket 41 by a hinge pin, the gripper screw shaft 44 hooks the gripper 45 by a protrusion, the motor fixing plate 46 is fixed to the gripper bracket 41 by screws, and the fixing-side fixing flange and the support-side fixing flange 21 are fixed by jackscrews.
Through the technical scheme, the robot moves by the following method: in the large-diameter pipeline, umbrella-shaped mechanisms at two ends simultaneously open and support the pipe wall, and the telescopic travelling mechanism is positioned in the middle of the robot body; the tail end umbrella-shaped mechanism is supported in the large-diameter pipeline, and the front end umbrella-shaped mechanism is contracted; the tail end umbrella-shaped mechanism is supported in the large-caliber pipeline, and the front end umbrella-shaped mechanism moves forwards along the machine body and enters the small-caliber pipeline part; the tail end umbrella-shaped mechanism is supported in the large-caliber pipeline, and the front end umbrella-shaped mechanism is opened and supported in the small-caliber pipeline; the front end umbrella-shaped mechanism is supported in the small-diameter pipeline, and the tail end umbrella-shaped mechanism is contracted; the front end umbrella-shaped mechanism is supported in the small-diameter pipeline, and the tail end umbrella-shaped mechanism moves forwards along the machine body.
Through the technical scheme, the robot directly drives the mechanical claw screw shaft to drive the mechanical claw to perform clamping movement through the motor.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a formula of wriggling pipeline inspection robot, the robot is got the mechanism by motor and the umbrella supporting mechanism of driven front end, motor and the flexible running gear of driven, motor and the umbrella supporting mechanism of driven tail end and motor and driven clamp and constitutes its characterized in that: the motor and the telescopic travelling mechanism driven by the motor are positioned in the middle of the robot, the motor and the front end umbrella-shaped supporting mechanism driven by the motor and the tail end umbrella-shaped supporting mechanism driven by the motor are respectively positioned on two sides of the telescopic travelling mechanism, and the clamping mechanism is connected to the front end umbrella-shaped supporting mechanism; the front-end umbrella-shaped supporting mechanism and the tail-end umbrella-shaped supporting mechanism respectively realize the contact extrusion of the top end surface of the leg connecting rod and the wall surface of the pipeline through three parallelogram connecting rod mechanisms to realize surface support, the three parallelogram connecting rod mechanisms are arranged at intervals of 120 degrees, and when the diameter of the pipeline changes, the front-end umbrella-shaped supporting mechanism and the tail-end umbrella-shaped supporting mechanism alternately contract and support to realize the creeping type advance of the robot.
2. The peristaltic pipeline detection robot according to claim 1, wherein the motor and the driven umbrella-shaped supporting structure at the tail end thereof comprise a first triangular fixing plate, three first parallelogram link mechanisms, a first moving flange, a first fixed side fixing flange, a first motor reducer, an integral fixing flange and a first screw shaft, the first parallelogram link mechanism comprises two side links and a leg link, one end of each of the two side links is respectively connected to the first triangular fixing plate through a hinge, the other end of each of the two side links is respectively movably connected with two ends of the leg link through a hinge, a slide way is arranged in the middle of each of the two side links, the side link near the first moving flange passes through the slide way through a pin to be movably connected with the first moving flange, and the first motor reducer is connected with the first screw shaft, fix on first fixed side mounting flange, first lead screw axle both ends are respectively through fix with screw on first fixed side mounting flange and first moving flange, first straight line bearing passes through fix with screw on first moving flange, first lead screw axle drives first moving flange motion and realizes the swing of parallelogram link mechanism, first triangle-shaped fixed plate, first fixed side mounting flange, first motor fixation method adopts jackscrew fixed connection with whole mounting flange, the first linear bearing of fixing on the first moving flange is passed to the axle on the whole mounting flange.
3. The peristaltic pipeline inspection robot of claim 2, the motor and the telescopic walking mechanism driven by the motor comprise a supporting side fixing flange, a second screw shaft, a second fixing side fixing flange, a second motor fixing flange and a second motor reducer, wherein the second motor reducer is connected with a second screw shaft and fixed on the second motor fixing flange, the second screw shaft is fixed on the second fixing side fixing flange through screws, a second linear bearing is fixed on the supporting side fixing flange through screws, a top screw is adopted between the second fixing side fixing flange, the second motor fixing flange and the supporting side fixing flange for fixation, the second screw shaft is connected with the integral fixing flange through screws, the shaft of the supporting side fixing flange penetrates through the linear bearing fixed on the integral fixing flange, and the shaft of the integral fixing flange penetrates through the second linear bearing fixed on the supporting side fixing flange.
4. The peristaltic pipeline detection robot according to claim 3, wherein the motor and the front-end umbrella-shaped supporting structure driven by the motor comprise a second triangular fixing plate, three second parallelogram link mechanisms, a second moving flange, a third fixed-side fixing flange, a third motor reducer and a third screw shaft, the second parallelogram link mechanism comprises two side links and a leg link, one end of each of the two side links is connected to the second triangular fixing plate through a hinge, the other end of each of the two side links is movably connected to two ends of the leg link through a hinge, a slide way is formed in the middle of each of the two side links, the side link close to the second moving flange passes through the slide way through a pin to be movably connected to the second moving flange, the third motor reducer is connected to the third screw shaft and is fixed to the third fixed-side fixing flange, two ends of a third screw shaft are respectively fixed on a third fixed side fixing flange and a second movable flange through screws, a third linear bearing is fixed on the second movable flange through screws, the third screw shaft drives the second movable flange to move to realize the swing of the parallelogram link mechanism, a second triangular fixing plate, a third fixed side fixing flange and a third motor fixing method are fixedly connected with a supporting side fixing flange through jackscrews, and a shaft on the supporting side fixing flange penetrates through the third linear bearing fixed on the second movable flange.
5. The peristaltic pipeline inspection robot according to claim 3, wherein the motor and the clamping mechanism driven by the motor comprise a gripper bracket, a fourth fixed-side fixing flange, a fourth motor reducer, a gripper screw shaft, a gripper and a motor fixing plate, the gripper bracket is connected with the fourth fixed-side fixing flange through a screw, the fourth motor reducer is connected with the gripper screw shaft and is connected with the motor fixing plate through a screw, the gripper is fixed on the gripper bracket through a hinge pin shaft, the gripper screw shaft is connected with the gripper through a protrusion, the motor fixing plate is fixed on the gripper bracket through a screw, a jackscrew is fixedly connected between the fourth fixed-side fixing flange and the support-side fixing flange, and the motor drives the gripper screw shaft to drive the gripper to perform clamping movement.
6. The peristaltic pipeline inspection robot as claimed in any one of claims 1 to 5, wherein the front umbrella-shaped supporting mechanism, the rear umbrella-shaped supporting mechanism, the telescopic walking mechanism and the gripping mechanism are connected together by screws and nuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910839637.2A CN110594526B (en) | 2019-09-06 | 2019-09-06 | Peristaltic pipeline detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910839637.2A CN110594526B (en) | 2019-09-06 | 2019-09-06 | Peristaltic pipeline detection robot |
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| CN110594526A true CN110594526A (en) | 2019-12-20 |
| CN110594526B CN110594526B (en) | 2021-03-30 |
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| CN201910839637.2A Active CN110594526B (en) | 2019-09-06 | 2019-09-06 | Peristaltic pipeline detection robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425699A (en) * | 2020-03-24 | 2020-07-17 | 上海工程技术大学 | Foldable pipeline creeping mechanism |
| CN111547833A (en) * | 2020-05-12 | 2020-08-18 | 上海市政工程设计研究总院（集团）有限公司 | Self-generating disinfection robot for pressure pipeline |
| CN112901902A (en) * | 2021-01-13 | 2021-06-04 | 北京理工大学 | Robot mechanism capable of adapting to various pipeline conditions |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
| CN113374982A (en) * | 2021-07-19 | 2021-09-10 | 常州大学 | Telescopic peristaltic advancing type pipeline robot |
| CN114475987A (en) * | 2022-02-28 | 2022-05-13 | 复旦大学 | Multi-mode mobile robot |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
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