CN110894902A - Telescopic crawling robot in pneumatic pipe - Google Patents
Telescopic crawling robot in pneumatic pipe Download PDFInfo
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- CN110894902A CN110894902A CN201911412466.1A CN201911412466A CN110894902A CN 110894902 A CN110894902 A CN 110894902A CN 201911412466 A CN201911412466 A CN 201911412466A CN 110894902 A CN110894902 A CN 110894902A
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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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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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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- Combustion & Propulsion (AREA)
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a pneumatic telescopic crawling robot in a pipe, which comprises a front supporting device, a front telescopic cylinder, a rear telescopic cylinder and an air distribution valve, wherein the front supporting device, the front telescopic cylinder, the rear telescopic cylinder and the air distribution valve are sequentially connected through a connecting device, the air distribution valve is fixedly connected with the rear supporting device and is connected with an air supply pipe, the air distribution valve is also connected with the front supporting device and the rear supporting device through an air pipe, the front supporting device and the rear supporting device are also connected through an air pipe, and the front telescopic cylinder is also respectively connected with the front supporting device and the rear telescopic cylinder through the air pipe. The telescopic crawling robot in the pneumatic pipe does not need a plurality of control pipeline valves, and can automatically move forward or stop by closing and opening the air source through the air distribution valve.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a telescopic crawling robot in a pneumatic pipe.
Background
At present, in the fields of general heavy industry, nuclear facilities, petroleum and natural gas, military equipment and the like, pipelines are widely applied as an effective material conveying mode. In the maintenance, inspection and dredging work, if the working space is narrow or the environment is dangerous, it is often necessary to use a pipeline robot, and thus various pipeline robots have been developed. The existing pipeline robots mostly use motors as executing elements to realize wheel-type walking or telescopic walking action of the robots, and the robots using the motors as the executing elements have the main defects that flammable and explosive gas or liquid possibly remains in pipelines, so that the potential safety hazard of explosion, sealing leakage and the risk of damage to electrical elements exist.
Disclosure of Invention
The invention aims to provide a telescopic crawling robot in a pneumatic pipe, which can automatically move forward or stop by closing and opening an air source through an air distribution valve without a plurality of control pipeline valves.
The technical scheme includes that the pneumatic tube internal telescopic crawling robot comprises a front supporting device, a front telescopic cylinder, a rear telescopic cylinder and an air distribution valve which are sequentially connected through a connecting device, wherein the air distribution valve is fixedly connected with the rear supporting device and is connected with an air supply pipe, the air distribution valve is further connected with the front supporting device and the rear supporting device through air tubes, the front supporting device and the rear supporting device are further connected through the air tubes, and the front telescopic cylinder is further respectively connected with the front supporting device and the rear telescopic cylinder through the air tubes.
The present invention is also characterized in that,
the connecting device is a plastic hose with a knitting line, two ends of the plastic hose with the knitting line are fixedly connected with pipe hoops, and the plastic hose with the knitting line is fixedly connected with the front supporting device, the front telescopic cylinder, the rear telescopic cylinder and the air distribution valve through the pipe hoops respectively.
The front supporting device comprises a cylinder body, a piston is arranged in the cylinder body, a piston rod is fixedly connected to the piston, the cylinder body is far away from a telescopic cylinder before one end of the piston rod extending out is connected with a connecting device in a fixed mode, a front supporting mechanical arm is arranged on the cylinder body and located at one end of the piston rod extending out in a fixed mode, the front supporting mechanical arm is fixedly connected with the piston rod and is supported, one end, close to the front supporting mechanical arm, of the cylinder body is provided with an air inlet and an air outlet, one end, far away from the front supporting mechanical arm, of the cylinder body is provided with an air inlet a and an air outlet a, the.
Preceding supporting manipulator is located the gyration cavity that the piston rod stretches out one end including fixing at the cylinder block, the center pin of gyration cavity coincides with the center pin of cylinder block, the piston rod stretches into in the gyration cavity and fixedly connected with helical compression spring in proper order, the slider, helical compression spring a other end fixed connection keeps away from the one end of piston rod in the gyration cavity, it has the bracing piece to articulate on the slider, the bracing piece is provided with two, the two bracing piece other ends all are provided with the spout, the corresponding both sides of gyration cavity are fixedly connected with round pin axle respectively, two round pin axles correspond respectively and stretch.
Preceding telescopic cylinder includes cylinder block a, be provided with piston an in the cylinder block a, fixedly connected with piston rod an on the piston a, piston rod a keeps away from the one end fixed connection that the piston rod stretches out through connecting device and cylinder block, the one end that cylinder block a is close to the cylinder block is provided with air inlet b and gas vent b, the one end that cylinder block a kept away from the cylinder block is provided with air inlet c and gas vent c, air inlet b passes through trachea connection exhaust port a, gas vent b and gas vent c are respectively through the flexible cylinder in trachea connection back, air inlet c passes through the trachea and connects the exhaust port.
The rear telescopic cylinder comprises a cylinder body b, a piston b is arranged in the cylinder body b, the piston b is fixedly connected with a piston rod b, the piston rod b is fixedly connected with an air distribution valve through a connecting device, one end, far away from the piston rod b, of the cylinder body b is fixedly connected with a cylinder body a through a connecting device, one end, close to the air distribution valve, of the cylinder body b is provided with an air inlet e, one end, close to the front telescopic cylinder, of the cylinder body b is provided with an air inlet d, and the air inlet e and the air inlet d are connected with an.
Rear support device includes cylinder block c, be provided with piston c in the cylinder block c, piston c fixedly connected with piston rod c, cylinder block c keeps away from the one end fixed connection distribution valve that piston rod c stretches out, lie in the one end fixedly connected with rear support manipulator that piston rod c stretches out on the cylinder block c, the manipulator is supported behind the piston rod c fixed connection, the one end that cylinder block c is close to rear support manipulator is provided with gas vent f, the one end that preceding support manipulator was kept away from to the cylinder block is provided with gas vent d and gas vent e, gas vent d passes through the trachea and connects the air inlet, gas vent f passes through the.
The back support manipulator is including fixing the gyration cavity an that cylinder block c is located piston rod c and stretches out one end, the center pin of gyration cavity an and the center pin coincidence of cylinder block c, piston rod c stretches into in the gyration cavity an and fixedly connected with helical compression spring b in proper order, slider an, helical compression spring c other end fixed connection keeps away from piston rod c's one end in the gyration cavity an, it has bracing piece an to articulate on the slider an, bracing piece an is provided with two, two bracing piece an other ends all are provided with spout an, the corresponding both sides of gyration cavity an are fixedly connected with round pin axle an respectively, two round pin axle an correspond respectively and stretch into in the spout an.
The air distribution valve comprises a valve body which is fixed on a cylinder body c and is far away from one end, extending out of a piston rod c, of the cylinder body, the other end of the valve body is fixedly connected with a rear telescopic cylinder through a connecting device, a gap n is formed between one end, close to the cylinder body c, of the valve body and a cylinder tail plate of the cylinder body c, an annular gap m is formed in one end, far away from the cylinder body c, of the valve body, a valve block is installed between the annular gap m and the gap n, an air distribution hole communicated with the gap n is further formed in the cylinder tail plate of the cylinder body c, an air inlet f and an air outlet g are further formed in the cylinder body c, the air outlet g is communicated with the annular gap m, the.
The invention has the beneficial effects that: the invention provides a telescopic crawling robot in a pneumatic pipe, which does not need a plurality of control pipeline valves, only has one gas distribution valve, can automatically move forward or stop by opening and closing a gas source, adopts plastic hoses with braided wires for connecting each part, is self-adaptive to turn at will, does not need to be controlled, is flexible and convenient, has simple integral structure and control, carries various detection devices, and can carry out operations such as inspection and maintenance along the detected pipeline.
Drawings
FIG. 1 is a schematic structural diagram of a telescopic crawling robot in a pneumatic pipe, which is disclosed by the invention;
FIG. 2 is a schematic structural diagram of a front support device in the pneumatic tube telescopic crawling robot of the invention;
FIG. 3 is a schematic structural diagram of a connecting device in the pneumatic tube telescopic crawling robot of the invention;
FIG. 4 is a schematic structural diagram of a front telescopic cylinder in the pneumatic tube telescopic crawling robot of the invention;
FIG. 5 is a schematic structural diagram of a rear telescopic cylinder in the pneumatic tube telescopic crawling robot of the invention;
FIG. 6 is a schematic structural diagram of a rear support device in the pneumatic tube telescopic crawling robot of the invention;
FIG. 7 is a schematic structural diagram of an air distribution valve in the telescopic crawling robot in the pneumatic tube, provided by the invention;
FIG. 8 is a first gas distribution process diagram of a gas distribution valve in the telescopic crawling robot in the pneumatic tube of the invention;
FIG. 9 is a second gas distribution process diagram of a gas distribution valve in the telescopic crawling robot in the pneumatic tube of the invention;
FIG. 10 is a third diagram of the air distribution process of an air distribution valve in the telescopic crawling robot in the pneumatic tube of the invention;
FIG. 11 is a fourth diagram of the air distribution process of an air distribution valve in the telescopic crawling robot in the pneumatic tube of the invention;
fig. 12 is a working process diagram of the telescopic crawling robot in the pneumatic pipe.
In the figure, 1, a front supporting device, 2, a connecting device, 3, a front telescopic cylinder, 4, a rear telescopic cylinder, 5, an air distribution valve, 6, a rear supporting device and 7, an air supply pipe are arranged;
101. the piston-cylinder type air compressor comprises a spiral compression spring a, 102, a support rod, 103, a pin shaft, 104, a sliding block, 105, a spiral compression spring, 106, a piston rod, 107, an air inlet, 108, an air outlet, 109, a piston, 110, a cylinder block, 111, an air outlet a, 112, an air inlet a, 113, a rotary cavity and 114, a sliding chute;
201. 202, a plastic hose with a braided wire;
301. piston rod a, 302, cylinder block a, 303, piston a, 304, intake port c, 305, exhaust port c, 306, intake port b, 307, exhaust port b;
401. inlet d, 402, piston b, 403, piston rod b, 404, cylinder block b, 405, inlet e;
501. the valve comprises a valve body, 502, an air inlet f, 503, a valve plate, 504, a cylinder tail plate, 505, an air distribution hole, 506, an air outlet d, 507, an air outlet e, 508, an air outlet g, 509 and an air outlet f;
601. piston c, 602, piston rod c, 603, rotary cavity a, 604, spiral compression spring b, 605, slide block a, 606, support rod a, 607, pin shaft a, 608, spiral compression spring c, 609, cylinder block c, 610 and chute a.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a pneumatic telescopic crawling robot in a pipe, which is structurally shown in fig. 1 and comprises a front supporting device 1, a front telescopic cylinder 3, a rear telescopic cylinder 4 and a gas distribution valve 5 which are sequentially connected through a connecting device 2, wherein the gas distribution valve 5 is fixedly connected with a rear supporting device 6, the gas distribution valve 5 is connected with a gas supply pipe 7, the gas distribution valve 5 is further connected with the front supporting device 1 and the rear supporting device 6 through gas pipes, the front supporting device 1 and the rear supporting device 6 are further connected through gas pipes, and the front telescopic cylinder 3 is further respectively connected with the front supporting device 1 and the rear telescopic cylinder 4 through gas pipes.
As shown in fig. 2, the connecting device 2 is a plastic hose with knitting threads 201, two ends of the plastic hose with knitting threads 201 are fixedly connected with pipe hoops 202, and the plastic hose with knitting threads 201 is fixedly connected with the front support device 1, the front telescopic cylinder 3, the rear telescopic cylinder 4 and the air distribution valve 5 through the pipe hoops 202 respectively.
As shown in fig. 3, the front support device 1 includes a cylinder block 110, a piston 109 is disposed in the cylinder block 110, a piston rod 106 is fixedly connected to the piston 109, one end of the cylinder block 110, which is far away from the piston rod 106, is fixedly connected to the front telescopic cylinder 3 through a connecting device 2, one end of the cylinder block 110, which is far away from the piston rod 106, is fixedly connected to a front support manipulator, the piston rod 106 is fixedly connected to the front support manipulator, one end of the cylinder block 110, which is near to the front support manipulator, is provided with an air inlet 107 and an air outlet 108, one end of the cylinder block 110, which is far away from the front support manipulator, is provided with an air inlet a112 and an air outlet a111, the air inlet 107 and the air inlet a.
The front supporting manipulator comprises a rotary cavity 113 fixed at one end, extending out of a piston rod 106, of a cylinder body 110, the central axis of the rotary cavity 113 coincides with the central axis of the cylinder body 110, the piston rod 106 extends into the rotary cavity 113 and is fixedly connected with a spiral compression spring 105 in sequence, a sliding block 104 and a spiral compression spring a101, the other end of the spiral compression spring a101 is fixedly connected at one end, far away from the piston rod 106, of the rotary cavity 113, a supporting rod 102 is hinged to the sliding block 104, the two supporting rods 102 are provided with two sliding grooves 114, two sides, corresponding to the rotary cavity 113, of each of the two supporting rods 103 are fixedly connected with a pin shaft 103, and the two.
As shown in fig. 4, the front telescopic cylinder 3 includes a cylinder block a302, a piston a303 is disposed in the cylinder block a302, a piston rod a301 is fixedly connected to the piston a303, the piston rod a301 is fixedly connected to an end of the cylinder block 110 far from the piston rod 106 through a connecting device 2, an intake port b306 and an exhaust port b307 are disposed at an end of the cylinder block a302 close to the cylinder block 110, an intake port c304 and an exhaust port c305 are disposed at an end of the cylinder block a302 far from the cylinder block 110, the intake port b306 is connected to the exhaust port a111 through a gas pipe, the exhaust port b307 and the exhaust port c305 are respectively connected to the rear telescopic cylinder 4 through a gas pipe.
As shown in fig. 5, rear telescopic cylinder 4 includes a cylinder block b404, a piston b402 is disposed in cylinder block b404, piston b402 is fixedly connected to a piston rod b403, piston rod b403 is fixedly connected to distribution valve 5 through a connecting device 2, the end of cylinder block b404 that extends away from piston rod b403 is fixedly connected to cylinder block a302 through connecting device 2, an air inlet e405 is disposed at the end of cylinder block b404 that is close to distribution valve 5, an air inlet d401 is disposed at the end of cylinder block b404 that is close to front telescopic cylinder 3, and air inlet e405 and air inlet d401 are respectively connected to an exhaust port b307 and an exhaust port c305 through air pipes.
As shown in fig. 6, the rear supporting device 6 includes a cylinder block c609, a piston c601 is arranged in the cylinder block c609, a piston rod c602 is fixedly connected to the piston c601, an end of the cylinder block c609 far away from the piston rod c602 is fixedly connected to a gas distribution valve 5, an end of the cylinder block c609 far away from the piston rod c602 is fixedly connected to a rear supporting manipulator, the piston rod c602 is fixedly connected to the rear supporting manipulator, an exhaust port f509 is arranged at an end of the cylinder block c609 close to the rear supporting manipulator, an exhaust port d506 and an exhaust port e507 are arranged at an end of the cylinder block 110 far away from the front supporting manipulator, the exhaust port d506 is connected to the gas inlet.
The rear supporting manipulator comprises a rotary cavity a603 fixed at one end, extending out, of a piston rod c602, of a cylinder block c609, the central shaft of the rotary cavity a603 is overlapped with the central shaft of the cylinder block c609, the piston rod c602 extends into the rotary cavity a603 and is fixedly connected with a spiral compression spring b604, a sliding block a605 and a spiral compression spring c608 in sequence, the other end of the spiral compression spring c608 is fixedly connected with one end, far away from the piston rod c602, of the rotary cavity a603, a supporting rod a606 is hinged to the sliding block a605, the two supporting rods a606 are arranged, the other ends of the two supporting rods a606 are provided with sliding grooves a610, two corresponding sides of the rotary cavity a603 are fixedly connected with pin shafts a607 respectively, and the.
As shown in fig. 7, the gas distribution valve 5 includes a valve body 501 fixed at one end of a cylinder block c609 far away from a piston rod c602, the other end of the valve body 501 is fixedly connected with the rear telescopic cylinder 4 through a connecting device 2, a gap n is provided between one end of the valve body 501 close to the cylinder block c609 and a cylinder tail plate 504 of the cylinder block c609, an annular gap m is provided at one end of the valve body 501 far away from the cylinder block c609, a valve plate 503 is installed between the annular gap m and the gap n, a gas distribution hole 505 communicated with the gap n is further provided on the cylinder tail plate 504 of the cylinder block c609, a gas inlet f502 and a gas outlet g508 are further provided on the cylinder block c609, the gas outlet g508 is communicated with the annular gap m, the gas inlet f502 is communicated with the gap n, the gas inlet f502 is further connected with.
For convenience of description, the air pipe connecting the exhaust port d506 to the intake port 107 is denoted by p, and the air pipe connecting the exhaust port g508 to the exhaust port f509 and the intake port a112 is denoted by q.
The working principle of the front support device 1 and the rear support device 6 of the telescopic crawling robot in the pneumatic pipe is as follows: the two ends of the robot are basically the same in structure and action principle by the front supporting device 1 and the rear supporting device 6, and the front supporting device 1 is taken as an example to explain the working principle:
when the air distribution valve 5 enables the air inlet 107 to enter air, the piston 109 and the piston rod 106 are pushed to move rightwards, under the combined action of the spiral compression spring a101 and the spiral compression spring 105, the sliding block 104 moves rightwards to drive the supporting rod 102 to rotate and move rightwards in the sliding groove 114, and the supporting rod 102 loosens the support on the pipe wall; when the air distribution valve 5 makes the air inlet a112 intake air, the piston 109 and the piston rod 106 are pushed to move left, and under the combined action of the helical compression spring a101 and the helical compression spring 105, the slider 104 moves left, drives the support rod 102 to rotate and move left in the sliding groove 114, so that the support rod 102 is tightly supported on the pipe wall.
The working principle of the gas distribution valve 5 is as follows:
as shown in fig. 8 and 9, when air is not taken into and exhausted from the air pipes p and q for a while, the air supply is connected to the air inlet f502 through the air supply pipe 7, the air inlet f502 is always in an air inlet state, when the valve plate 503 is positioned at the left side of the gap n, the power air enters the g cavity of the cylinder block c609 through the air inlet f502, the gap n and the air distribution hole 505, pushes the piston c601 to move to the right, starts to supply air to the front support device 1 through the air inlet 107 through the air outlet d506, the piston c601 moves to the right, the pressure of the h cavity rises after the piston c601 blocks the air outlet e507, and when the piston c601 crosses the air outlet e507, as shown in fig. 10 and 11, the g cavity is vented to the atmosphere through the air outlet e507, because the h cavity is communicated with the annular gap m through the air outlet f509 and the air outlet g508, the pressure air acts on the left side of the valve plate 503 to push the valve plate 503 to, on the one hand, air is supplied to the front support device 1 through the air inlet a112, and on the other hand, air is supplied to the h cavity of the cylinder block c609, and the piston c601 is pushed to the left. When the piston c601 moves left to block the exhaust port e507 again, the pressure of the g cavity rises, once the piston c601 crosses the exhaust port e507, the h cavity is communicated with the atmosphere through the exhaust port e507, pressure is suddenly relieved, the valve plate 503 rapidly moves left under the action of the pressure air of the g cavity and returns to the initial position, and the valve plate reciprocating circulation air distribution action is formed in the process.
The invention relates to an integral working principle of a telescopic crawling robot in a pneumatic pipe, which comprises the following steps:
as shown in fig. 12, the air supply is connected to the air inlet f502 through the air supply pipe 7, when the air distribution valve 5 outputs the power air from the air pipe p through the air outlet d506, the power air firstly reaches the air inlet 107 of the front support device 1 to enable the piston 109 to move right, the support manipulator is pulled to loosen the support of the pipe wall, the power air reaches the d cavity of the front telescopic cylinder 3 through the air outlet 108 and the air inlet c304, the piston a303 is pushed to extend the piston rod a301 to enable the robot to move forward for a distance, then the power air reaches the e cavity of the rear telescopic cylinder 4 through the air outlet c305 and the air inlet d401, the piston b402 is pushed to extend the piston rod b403 to enable the robot to move forward for a distance again, then the air distribution valve 5 is reversed, the air pipe q is output through the air outlet g508 to enter the b cavity of the cylinder block 110 of the front support device 1 through the air inlet a112, the piston, meanwhile, the power air enters the h cavity of the cylinder of the rear support device 5 through the exhaust port f509, the piston c601 is pushed to pull back the piston rod c602 to loosen the rear support manipulator, then the power air in the b cavity of the cylinder of the front support device 1 reaches the c cavity of the front telescopic cylinder 3 through the exhaust port a111 and the air inlet b306, the cylinder body of the front telescopic cylinder 3 moves forwards due to the immobility of the piston a303, namely, the subsequent part of the robot is pulled to move forwards for a certain distance, meanwhile, the power air in the c cavity of the front telescopic cylinder 3 reaches the f cavity of the rear telescopic cylinder 4 through the exhaust port b307 and the air inlet e405, the piston a303 of the rear telescopic cylinder 3 moves forwards due to the immobility of the cylinder body b404 of the rear telescopic cylinder 4, the subsequent part of the robot is pulled to move forwards for a certain distance, so that the robot completes a forward process, and then under the automatic air distribution action of the air distribution, the robot can realize continuous automatic forward movement until the air source is closed.
Claims (9)
1. The utility model provides a flexible robot of crawling in pneumatic tube which characterized in that, includes preceding strutting arrangement (1), preceding telescopic cylinder (3), back telescopic cylinder (4), distribution valve (5) that loop through connecting device (2) and connect, strutting arrangement (6) behind distribution valve (5) fixedly connected with, distribution valve (5) are connected with air supply line (7), distribution valve (5) still connect through the trachea preceding strutting arrangement (1) and back strutting arrangement (6), preceding strutting arrangement (1) and back strutting arrangement (6) still connect through the trachea, preceding telescopic cylinder (3) still are connected with preceding strutting arrangement (1) and back telescopic cylinder (4) respectively through the trachea.
2. The pneumatic telescopic crawling robot in pipe as claimed in claim 1, wherein the connecting device (2) is a plastic hose (201) with a knitting line, two ends of the plastic hose (201) with a knitting line are fixedly connected with pipe hoops (202), and the plastic hose (201) with a knitting line is fixedly connected with the front supporting device (1), the front telescopic cylinder (3), the rear telescopic cylinder (4) and the air distribution valve (5) through the pipe hoops (202).
3. The telescopic crawling robot in pneumatic tube according to claim 1 or 2, characterized in that the front support device (1) comprises a cylinder block (110), a piston (109) is arranged in the cylinder block (110), a piston rod (106) is fixedly connected to the piston (109), one end of the cylinder block (110) far away from the piston rod (106) is fixedly connected to a front telescopic cylinder (3) through the connecting device (2), one end of the cylinder block (110) far away from the piston rod (106) is fixedly connected to a front support manipulator, the piston rod (106) is fixedly connected to the front support manipulator, one end of the cylinder block (110) close to the front support manipulator is provided with an air inlet (107) and an air outlet (108), one end of the cylinder block (110) far away from the front support manipulator is provided with an air inlet a (112) and an air outlet a (111), the air inlet (107) and the air inlet a (112) are respectively connected with the rear supporting device (6) and the air distribution valve (5) through air pipes, and the air outlet (108) and the air outlet a (111) are respectively connected with the front telescopic air cylinder (3) through air pipes.
4. The telescopic crawling robot in the pneumatic tube as claimed in claim 3, wherein the front support manipulator comprises a rotary cavity (113) fixed at one end of a cylinder body (110) where a piston rod (106) extends out, the central axis of the rotary cavity (113) is coincident with the central axis of the cylinder body (110), the piston rod (106) extends into the rotary cavity (113) and is fixedly connected with a spiral compression spring (105), a sliding block (104) and a spiral compression spring a (101) in sequence, the other end of the spiral compression spring a (101) is fixedly connected with one end of the rotary cavity (113) far away from the piston rod (106), the sliding block (104) is hinged with two support rods (102), the other ends of the two support rods (102) are both provided with a sliding groove (114), two corresponding sides of the rotary cavity (113) are respectively and fixedly connected with a pin shaft (103), the two pin shafts (103) respectively and correspondingly extend into the sliding grooves (114).
5. The pneumatic telescopic crawling robot in pipe according to claim 3, characterized in that the front telescopic cylinder (3) comprises a cylinder block a (302), a piston a (303) is arranged in the cylinder block a (302), a piston rod a (301) is fixedly connected to the piston a (303), the piston rod a (301) is fixedly connected to one end, far away from the piston rod (106), of the cylinder block (110) through a connecting device (2), an air inlet b (306) and an air outlet b (307) are arranged at one end, close to the cylinder block (110), of the cylinder block a (302), an air inlet c (304) and an air outlet c (305) are arranged at one end, far away from the cylinder block (110), of the cylinder block a (302), the air inlet b (306) is connected to the air outlet a (111) through an air pipe, the air outlet b (307) and the air outlet c (305) are respectively connected to the rear telescopic cylinder (4) through an air pipe, the air inlet c (304) is connected with the air outlet (108) through an air pipe.
6. The telescopic crawling robot in pneumatic tube according to claim 5, the rear telescopic cylinder (4) comprises a cylinder body b (404), a piston b (402) is arranged in the cylinder body b (404), the piston b (402) is fixedly connected with a piston rod b (403), the piston rod b (403) is fixedly connected with the gas distribution valve (5) through a connecting device (2), one end of the cylinder body b (404), which is far away from the piston rod b (403), is fixedly connected with the cylinder body a (302) through a connecting device (2), one end of the cylinder body b (404) close to the air distribution valve (5) is provided with an air inlet e (405), one end of the cylinder block b (404) close to the front telescopic cylinder (3) is provided with an air inlet d (401), the air inlet e (405) and the air inlet d (401) are respectively connected with the air outlet b (307) and the air outlet c (305) through air pipes.
7. The pneumatic telescopic crawling robot in pipe according to claim 3, wherein the rear support device (6) comprises a cylinder block c (609), a piston c (601) is arranged in the cylinder block c (609), a piston rod c (602) is fixedly connected to the piston c (601), an air distribution valve (5) is fixedly connected to one end, far away from the piston rod c (602), of the cylinder block c (609), a rear support manipulator is fixedly connected to one end, far away from the piston rod c (602), of the cylinder block c (609), the piston rod c (602) is fixedly connected to the rear support manipulator, an air outlet f (509) is arranged at one end, close to the rear support manipulator, of the cylinder block c (609), an air outlet d (506) and an air outlet e (507) are arranged at one end, far away from the front support manipulator, of the cylinder block (110), and the air outlet d (506) is connected to the air inlet (107) through, the exhaust port f (509) is connected with the air distribution valve (5) through an air pipe.
8. The telescopic crawling robot in pneumatic tube according to claim 7, wherein the rear support manipulator comprises a rotary cavity a (603) fixed on a cylinder block c (609) and located at one end of a piston rod c (602), the central axis of the rotary cavity a (603) is coincident with the central axis of the cylinder block c (609), the piston rod c (602) extends into the rotary cavity a (603) and is fixedly connected with a helical compression spring b (604), a sliding block a (605) and a helical compression spring c (608) in sequence, the other end of the helical compression spring c (608) is fixedly connected with one end of the rotary cavity a (603) far away from the piston rod c (602), the sliding block a (605) is hinged with a support rod a (606), two support rods a (606) are provided, and a chute a (610) is provided at the other end of each of the two support rods a (606), two corresponding sides of the rotary cavity a (603) are respectively and fixedly connected with a pin shaft a (607), and the two pin shafts a (607) respectively and correspondingly extend into the sliding grooves a (610).
9. The telescopic crawling robot in pneumatic pipe according to claim 7, characterized in that the air distribution valve (5) comprises a valve body (501) fixed at one end of the cylinder block c (609) far away from the piston rod c (602), the other end of the valve body (501) is fixedly connected with the rear telescopic cylinder (4) through a connecting device (2), a gap n is arranged between one end of the valve body (501) close to the cylinder block c (609) and a cylinder tail plate (504) of the cylinder block c (609), an annular gap m is arranged at one end of the valve body (501) far away from the cylinder block c (609), a valve plate (503) is arranged between the annular gap m and the gap n, an air distribution hole (505) communicated with the gap n is further arranged on the cylinder tail plate (504) of the cylinder block c (609), an air inlet f (502) and an air outlet g (508) are further arranged on the cylinder block c (609), the exhaust port g (508) is communicated with the annular gap m, the air inlet f (502) is communicated with the gap n, the air inlet f (502) is further connected with an air supply pipe (7), and the exhaust port g (508) is connected with an exhaust port f (509) and an air inlet a (112) through an air pipe.
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| CN201911412466.1A CN110894902B (en) | 2019-12-31 | 2019-12-31 | Telescopic crawling robot in pneumatic pipe |
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| CN201911412466.1A CN110894902B (en) | 2019-12-31 | 2019-12-31 | Telescopic crawling robot in pneumatic pipe |
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| CN110894902B CN110894902B (en) | 2021-10-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113007492A (en) * | 2021-03-04 | 2021-06-22 | 天津科技大学 | Rigid-flexible combined continuous propulsion pipeline robot |
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