CN111120775A - Active rotation obstacle avoidance type pipeline robot - Google Patents
Active rotation obstacle avoidance type pipeline robot Download PDFInfo
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- CN111120775A CN111120775A CN201911207170.6A CN201911207170A CN111120775A CN 111120775 A CN111120775 A CN 111120775A CN 201911207170 A CN201911207170 A CN 201911207170A CN 111120775 A CN111120775 A CN 111120775A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 230000008859 change Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 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
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an active rotating obstacle avoidance type pipeline robot, belongs to the field of pipeline detection, and relates to a pipeline robot capable of moving in a pipeline in a straight and rotating mode. The device contains drive and transmission module one, back support and the module of marcing, drive and transmission module two, preceding support and rotation module, whole frame module, its characterized in that: the first driving and transmission module can provide and distribute power for the straight movement of the whole robot; the rear supporting and advancing module can support the whole robot to adapt to the pipe diameter change and advance along the pipeline; the second driving and transmission module can provide and distribute power for the whole robot to rotate when encountering a large obstacle; the front supporting and rotating module can support the whole robot to adapt to pipe diameter change and realize self rotation; the integral frame module may provide positioning, support and protection for other modules. The invention solves the defect that the existing robot can not manually detect or repair the narrow pipeline and other similar robots can not cross the obstacle with larger volume.
Description
Technical Field
The invention belongs to the field of pipeline detection, relates to a device capable of walking in a pipeline, and particularly relates to an active rotary obstacle avoidance type pipeline robot capable of walking straight and rotating in the pipeline to avoid obstacles and detecting the pipeline.
Background
The pipeline transportation plays an important role in gas-liquid transportation, and the pipeline is used as a carrier for transportation, so that the pipeline has strong transportation performance, and has the advantages of simple structure, safety, reliability, environmental protection and the like; meanwhile, the conveying cost is low, and the conveying device is widely applied to various fields of industrial production and daily life along with the development of economy and society. However, during long-term operation, the pipe may be damaged to some extent, and particularly, corrosion, cracks, and the like may occur inside the pipe, or other foreign materials may be present to block the pipe. These problems often cannot be detected or repaired manually, so a device which can walk smoothly inside the pipeline and can actively avoid obstacles is needed to replace people to complete the work, and the pipeline is regularly detected and necessary cleaning and repairing are carried out when blockage and damage occur, so that the pipeline can be ensured to normally complete the conveying work.
Disclosure of Invention
OBJECT OF THE INVENTION
Overcome unable artificial to pipeline and detected, the barrier can't initiatively be kept away with restoration and most of pipeline robots, the limited problem of adaptation pipeline environment ability, designed an initiative rotation and kept away barrier formula pipeline robot, with the help of relevant work module, accomplish self in the inside walking of pipeline and can self rotate so that effectively avoid the barrier and continue to march when great barrier appears in direction of advance the place ahead, accomplish the predetermined task that detects.
Technical solution of the invention (i.e. summary of the invention)
The invention mainly aims at detection of a conveying pipeline and provides an active rotating obstacle avoidance type pipeline robot.
The technical scheme of the invention is that by means of electromechanical integration, the pipeline robot can move and avoid obstacles in a narrow pipeline which cannot be artificially detected, and the pipeline is visually detected. The device mainly comprises five parts, namely a first driving and transmission module, a rear supporting and advancing module, a second driving and transmission module, a front supporting and rotating module and an integral frame module, wherein the first driving and transmission module comprises a worm shaft, a worm, a coupler, a first motor, three groups of worm wheel retainers, a worm wheel and a worm wheel shaft; the rear supporting and advancing module comprises three groups of spring seats, a supporting spring, a spring retaining rod I, a wheel retaining frame, a Mecanum wheel I, a wheel shaft I, a tensioning synchronous belt, a synchronous belt wheel I, a tensioning spring I, a tensioning rod, a tensioning retaining frame, a tensioning spring II, a tensioning wheel rod and a synchronous belt wheel II; the driving and transmission module II comprises a motor II, three groups of planet wheels, planet wheel shafts and a sun wheel center connecting rod; the front supporting and rotating module comprises three groups of synchronous belts, a synchronous belt wheel III, an inclined rod, a wheel shaft II, a synchronous belt wheel IV, a long connecting rod, a Mecanum wheel II, a wheel retainer II, a spring retainer rod II, a supporting spring II and a spring seat II; the integral frame module comprises a tail plate, a first connecting frame, a first motor frame plate, a second motor frame plate and a front end retaining plate.
The whole connection relationship is as follows: the whole frame module is positioned outside the whole robot, plays a role in supporting and fixing the rest modules, and has an axis parallel to the axis of the pipeline during traveling; the driving and transmission module I is positioned at the middle rear part of the integral frame module, and a motor I in the driving and transmission module I is fixed in a motor hole of a motor frame plate I in the integral frame module; the rear support and advancing module is positioned between the integral frame module and the first driving and transmission module, and three synchronous belt wheels II in the rear support and advancing module are respectively fixed on three worm wheel shafts of the first driving and transmission module; the driving and transmission module II is positioned in the front middle part of the integral frame module, and a motor II in the driving and transmission module II is fixed in a notch of a motor frame plate II in the integral frame module; the front supporting and rotating module is positioned between the integral frame module and the driving and transmission module II, and three synchronous belt pulleys III in the front supporting and rotating module are respectively fixed on three planet wheel shafts in the driving and transmission module II.
The driving and transmission module of the invention mainly has the function of providing and distributing power for the straight movement of the whole robot.
The rear support and advancing module of the invention mainly functions to support the whole robot to adapt to the pipe diameter change and to advance along the axial direction of the pipeline.
The driving and transmission module II of the invention mainly has the functions of providing and distributing power for realizing self rotation of the whole robot when encountering obstacles.
The front support and rotation module is mainly used for supporting the whole robot to adapt to pipe diameter change and enabling the robot to rotate by taking the pipeline axis as an axis.
The integral frame module of the invention mainly functions to provide positioning, supporting and protecting for other modules.
The invention completes the advance of the whole robot along the axis of the pipeline and the rotation of the robot by means of five component modules.
ADVANTAGEOUS EFFECTS OF INVENTION
The invention solves the defects that the narrow pipeline cannot be artificially detected or repaired at present and an obstacle with a larger volume cannot be crossed, and designs an active rotary obstacle avoidance type pipeline robot. The device adopts the modularization design thought, and is divided into five work modules according to the work task difference: the driving and transmission module I, the rear supporting and advancing module, the driving and transmission module II, the front supporting and rotating module and the integral frame module greatly improve the working efficiency of detection, cleaning and maintenance of the pipeline.
Brief description of the drawings
Description of the drawings:
FIG. 1 is an isometric view of the present invention;
FIG. 2 is an isometric view of the drive and transmission module of the present invention;
FIG. 3 is an isometric view of the rear support and travel module of the present invention;
FIG. 4 is a two-axis view of the drive and transmission module of the present invention;
FIG. 5 is an isometric view of a front support and rotation module of the present invention;
FIG. 6 is an isometric view of an integral frame module of the present invention;
FIG. 7 is a side view of a Mecanum wheel axle of the present invention;
FIG. 8 is a schematic diagram of active obstacle avoidance according to the present invention;
the automatic transmission device comprises a driving and transmission module I, a driving and transmission module II, a front supporting and rotation module 500, an integral frame module 101, a worm shaft 102, a worm wheel retainer 103, a worm wheel 104, a worm wheel shaft 105, a worm 106, a coupler 107, a motor I, a motor 201, a spring seat I, a spring retainer rod 203, a wheel retainer I, a wheel retainer 205, a Mecanum wheel I, a wheel shaft 207, a tensioning synchronous belt 208, a synchronous pulley I, a tensioning spring 209, a tensioning spring I, a tensioning rod 210, a tensioning retainer 211, a tensioning retainer 212, a tensioning spring II, a tensioning wheel 213, a tensioning wheel rod 214, a synchronous pulley II, a tensioning wheel shaft 215, a worm wheel II and a worm wheel shaft, wherein the driving; 301. the second motor 302, the planet wheel shaft 303, the planet wheel 304, the sun wheel 305, the center connecting rod 401, the synchronous belt 402, the third synchronous pulley 403, the inclined rod 404, the second wheel shaft 405, the fourth synchronous pulley 406, the long connecting rod 407, the second Mecanum wheel 408, the second wheel retainer 409, the second spring retainer rod 410, the second support spring 411, the second spring retainer 501, the tail plate 502, the first connecting frame 503, the first motor retainer plate 504, the second motor retainer plate 505, the second connecting frame 506, the front end retainer plate 507, the camera 508 and the camera head bracket.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, and fig. 8, the active rotation obstacle avoidance type pipeline robot includes a first driving and transmission module, a rear supporting and traveling module, a second driving and transmission module, a front supporting and rotating module, and an integral frame module, and is characterized in that: the tail plate 501 is connected with a first motor frame plate 503 through a first three connecting frames 502 and fixed through bolts, a second motor frame plate 504 is also fixed with a front end holding plate 505 through a second three connecting frames 505 through bolts, the first motor frame plate 503 and the second motor frame plate 504 are fixed through bolts in an attaching mode, a camera head frame 508 and a camera 507 which are fixed on the front end holding plate 505 form an integral frame module together, a first motor 107 is installed in a motor hole of the first motor frame plate 503, a motor shaft is connected with a worm shaft 101 through a coupler 106, a worm 105 is fixed on the worm shaft 101 through a top thread and meshed with three worm wheels 103 which are uniformly distributed along the circumferential direction, each worm wheel is respectively fixed on three worm wheel shafts 104 together with a second synchronous pulley 215, a tensioning synchronous belt 207 is meshed with the first synchronous pulley 208, the second synchronous pulley 215 and a tensioning wheel 213, a tensioning wheel rod 214 is fixed on a tensioning holder 211 which is fixed with the first motor frame plate 503 through bolts, the two ends of a tension rod 210 which can slide in the notch of the tension retainer are stretched by a first tension spring 209 and a second tension spring 212 respectively, one end of a Mecanum wheel 205, a synchronous pulley 208 and one end of a wheel retainer 204 which are axially vertical to the axial direction of the pipeline are fixed on a first wheel shaft 206 together, and a first spring retainer rod 203 simultaneously passes through the other end of the wheel retainer 204 and a through hole of a first spring seat 201 which is fixed on the notch of the tail plate 501 through a bolt; the second motor 301 is arranged in a motor hole of a second motor frame plate 504, a sun wheel 304 is fixed on a motor shaft and is meshed with three planet wheels 303 which are uniformly distributed along the circumferential direction, each planet wheel is respectively fixed on three planet wheel shafts 302 with three synchronous pulleys three 402 and a central connecting rod 305, a synchronous belt 401 is meshed with the synchronous pulleys three 402 and a synchronous pulley four 405 fixed on a second wheel shaft 404, the planet wheel shafts 302 and the second wheel shaft 404 penetrate through round holes at two ends of an inclined rod 403 and a long connecting rod 406, one ends of a Mecanum wheel two 407 and a wheel retainer two 408 which are axially parallel to the axis of the pipeline are fixed on the second wheel shaft 404, and a spring retainer rod two 409 simultaneously penetrates through the other end of the wheel retainer 408 and a through hole of a second spring seat 411 fixed on the notch of the front end retaining plate 506.
The working principle of the device is that when a first motor 107 rotates and drives a worm 105 on a worm shaft 104 to rotate through a coupler 106, and then three worm wheels 103 meshed with the worm rotate, as the worm wheels 103, the worm wheel shaft 104 and a second synchronous pulley 215 are relatively fixed, torque can be transmitted to a first synchronous pulley 208 through a tensioning synchronous belt 207 and then transmitted to a first Mecanum wheel 205 through a first wheel shaft 206, a first tensioning spring 209 and a second tensioning spring 212 can pull a tensioning wheel rod 214 to enable the tensioning synchronous belt 207 to normally transmit the torque, and a first support spring 202 transmits spring force from a first spring seat 201 to the first Mecanum wheel 205 through a first retainer wheel 204 to enable the first support spring to generate sufficient support force and friction force; similar to the principle, when the second motor 301 drives the sun gear 304 to rotate, the three planet gears meshed with the sun gear 304 rotate, then the torque is transmitted to the second wheel shaft 404 through the meshing of the third synchronous wheel 402, the fourth synchronous wheel 405 and the synchronous belt 401, finally the large wheel disc of the second mecanum wheel 407 rotates, the inclined rod 403, the long connecting rod 406 and the center connecting rod 305 utilize the characteristics of a planetary gear train to ensure the tensioning of the synchronous belt 401 when the center distance between the second wheel shaft 404 and a motor shaft changes, and the spring force is transmitted to the second mecanum wheel 407 from the second spring seat 411 through the second wheel retainer 408 by the second support spring 410 to generate enough supporting force and friction force. The device utilizes the particularity of the Mecanum wheel structure during working, namely, torque can be applied to the large wheel disc to enable the Mecanum wheel to integrally rotate around the axis of the Mecanum wheel, the small wheel can rotate around the small wheel shaft, and the Mecanum wheel can integrally translate along the axis direction of the Mecanum wheel. When this device normally marchs along the pipeline, motor one 107 is rotatory, and motor two 301 is motionless, and when installing camera 507 in device the place ahead and finding can't rely on the passive reducing ability of self to cross great barrier, motor two 301 is rotatory for whole device is rotatory to the gesture that does not have the barrier in wheel the place ahead, guarantees the normal marching of this device.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An active rotation obstacle avoidance type pipeline robot comprises a first driving and transmission module, a rear supporting and advancing module, a second driving and transmission module, a front supporting and rotating module and an integral frame module, and is characterized in that the integral frame module is positioned at the outermost part of the whole device and provides support and protection for other modules of the whole device; the driving and transmission module is positioned at the middle rear part of the integral frame module and is fixed on the motor frame plate I; the rear supporting and advancing module is connected with the first driving and transmission module and is fixed on a tail plate of the integral frame module; the driving and transmission module is located in the front middle of the integral frame module and is fixed on a motor frame plate II of the integral frame module; the front supporting and rotating module is connected with the driving and transmission module and fixed on a front end holding plate of the integral frame module; the device has the capability of realizing passive diameter change and self active rotation obstacle avoidance by utilizing the spring; the first driving and transmission module is meshed with the three worm wheels through a worm to provide power for the whole device to advance along the pipeline and distribute the power; the driving and transmission module provides power for the whole device to rotate in the pipeline and distributes power through a planetary gear train; the front supporting and rotating module realizes the rotation of the whole device in the pipeline through the transmission between the planetary gear trains and the characteristics of Mecanum wheels; the rear supporting and advancing module stretches the synchronous belt wheel through the tensioning spring to ensure the normal meshing between the synchronous belt and the synchronous belt wheel when the rear supporting and advancing module is passively subjected to diameter changing.
2. The active rotary obstacle avoidance type pipeline robot according to claim 1, wherein: the front support and rotation module utilizes the length fixation of the connecting rod and the inclined rod and the rotation relationship in the planetary gear train to ensure the normal engagement between the planetary gear train when the diameter of the front support and rotation module is changed passively, the front support and rotation module supports the front half part of the whole device through three support springs, and the passive diameter changing capability of adapting to the change of the pipe diameter from 148mm to 152mm is realized.
3. The active rotary obstacle avoidance type pipeline robot according to claim 1, wherein: the rear supporting and advancing module supports the rear half part of the whole device through three supporting springs and has the passive diameter-changing capacity of adapting to the change of the pipe diameter from 148mm to 152 mm.
4. The active rotary obstacle avoidance type pipeline robot according to claim 1, wherein: the rear supporting and advancing module realizes that the whole device advances along the pipeline through synchronous belt transmission and Mecanum wheels.
5. The active rotary obstacle avoidance type pipeline robot according to claim 1, wherein: the integral frame module can be regarded as a hexagonal prism and can provide positioning, supporting and protecting for the rest modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911207170.6A CN111120775B (en) | 2019-11-29 | 2019-11-29 | Actively-rotating obstacle avoidance type pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911207170.6A CN111120775B (en) | 2019-11-29 | 2019-11-29 | Actively-rotating obstacle avoidance type pipeline robot |
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| CN111120775A true CN111120775A (en) | 2020-05-08 |
| CN111120775B CN111120775B (en) | 2024-05-14 |
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| CN201911207170.6A Active CN111120775B (en) | 2019-11-29 | 2019-11-29 | Actively-rotating obstacle avoidance type pipeline robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112066155A (en) * | 2020-09-08 | 2020-12-11 | 沈阳工业大学 | Differential supporting wheel type pipeline robot |
| CN113833935A (en) * | 2021-09-02 | 2021-12-24 | 神华国华寿光发电有限责任公司 | Pipeline robot |
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| CN113833935A (en) * | 2021-09-02 | 2021-12-24 | 神华国华寿光发电有限责任公司 | Pipeline robot |
| CN113833935B (en) * | 2021-09-02 | 2023-08-11 | 国能寿光发电有限责任公司 | Pipeline robot |
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| CN111120775B (en) | 2024-05-14 |
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