CN111251328B

CN111251328B - Manipulator clamp for pipeline plugging robot

Info

Publication number: CN111251328B
Application number: CN202010130604.3A
Authority: CN
Inventors: 何正文; 王宇智
Original assignee: Nanjing Yuyi Communication Technology Co Ltd
Current assignee: Nanjing Yuyi Communication Technology Co Ltd
Priority date: 2019-07-28
Filing date: 2019-07-28
Publication date: 2021-07-30
Anticipated expiration: 2039-07-28
Also published as: CN110315561B; WO2021017529A1; CN111251328A; CN110315561A

Abstract

The invention discloses a manipulator clamp for a pipeline blocking robot, which comprises a pipeline robot body, wherein one end of the pipeline robot body is provided with the manipulator clamp, two sides of the pipeline robot body are respectively provided with a plurality of driving wheels, one side of the manipulator clamp, which is far away from the pipeline robot body, is provided with a jacking device, one side of the upper end of the jacking device is provided with a camera, one side of the camera and the other side, which is positioned at the upper end of the jacking device, are provided with a lighting lamp, wherein the jacking device comprises a fixed frame, a partition plate is arranged at the inner side of the fixed frame, a movable pipe is inserted between the fixed frame and the partition plate, a movable rod is inserted at the inner side of the movable pipe, one end of the movable rod is provided with a first gear, the lower end of the first gear is provided with a second gear matched with the first gear, the central position of the second gear is connected with an, the upper end of the thread is provided with a gear III matched with the thread.

Description

Manipulator clamp for pipeline plugging robot

This patent is the divisional application, and the information of former application is as follows, the name: a manipulator anchor clamps and control system for pipeline blocking robot, application number: 2019106859153, filing date: 7 and 28 days 2019.

Technical Field

The invention relates to the field of robots, in particular to a manipulator clamp and a control system for a pipeline plugging robot.

Background

At present, add the branch road pipe on the gas transmission pipeline that is using, in order not to influence the normal gas transmission of gas transmission pipeline, just need often dredge gas transmission pipeline, prevent the pipeline blocking, influence the gas transmission, the jam operation among the prior art is accomplished by technical staff with the help of stifled ware down usually, and the gas belongs to inflammable and explosive article, operating personnel has the potential safety hazard, especially under high temperature environment, it is more dangerous, when the pipeline uses pipeline robot at the in-process of mediation, still not have a manipulator anchor clamps can realize carrying out the shutoff operation from inside to outside formula to the pipeline, also not have corresponding control system to control manipulator anchor clamps.

Disclosure of Invention

The technical task of the invention is to provide a manipulator clamp and a control system for a pipeline blocking robot to solve the problem of unsafe pipeline dredging.

The technical scheme of the invention is realized as follows:

a manipulator clamp and a control system for a pipeline blocking robot comprise a pipeline robot body, wherein one end of the pipeline robot body is provided with a manipulator clamp, two sides of the pipeline robot body are respectively provided with a plurality of driving wheels, one side of the manipulator clamp, which is far away from the pipeline robot body, is provided with a jacking device, one side of the upper end of the jacking device is provided with a camera, one side of the camera, which is positioned at the other side of the upper end of the jacking device, is provided with a lighting lamp, the jacking device comprises a fixed frame, a partition plate is arranged at the inner side of the fixed frame, a movable pipe is arranged between the fixed frame and the partition plate in an inserting manner, a movable rod is arranged at the inner side of the movable pipe in an inserting manner, one end of the movable rod is provided with a first gear, the lower end of the first gear is provided with a second gear matched with the first gear, the central position of the second gear is connected with an output shaft of a first motor, the other end of movable rod is equipped with the briquetting, just be located on the movable tube the thread has been seted up to the inboard of fixed frame, the upper end of thread be equipped with thread matched with gear three, gear three's center and motor two's output shaft, and, the motor two is located on the inner wall of fixed frame.

Preferably, the first gear and the second gear are both conical gears, and the first gear and the second gear are perpendicular to each other.

Preferably, the joints between the movable pipe and the fixed frame and between the movable pipe and the partition plates are provided with through holes.

Preferably, the manipulator anchor clamps include the fixed plate, and, one side of fixed plate with this body coupling of pipeline robot, it is equipped with the loose axle to alternate on the fixed plate, the one end of loose axle is equipped with motor three, and, motor tribit in the inside of pipeline robot body, the other end of loose axle is equipped with the movable block, one side of movable block with fixed frame is connected, on the loose axle and be located one side of fixed plate is equipped with the mount.

Preferably, the fixing frame is of a cross structure, limiting grooves are formed in the periphery of the fixing frame, and sliding blocks matched with the limiting grooves are arranged on the inner sides of the limiting grooves.

Preferably, all be equipped with two sets of connecting blocks around the movable block, the upper end both sides of connecting block all are equipped with the connecting rod, the upper end of connecting rod is equipped with the connecting plate, the both ends of connecting rod respectively with the connecting block reaches all connect through the pivot between the connecting plate, the upper end of connecting plate is equipped with the roof.

Preferably, the top plate is of an L-shaped structure, one side of the top plate is connected with the sliding block, and sawteeth are arranged at the upper end of the top plate.

Preferably, one end of the movable shaft is located inside the movable block, an external thread is arranged inside the movable block, and an internal thread matched with the external thread is arranged on the inner side of the movable block.

Another embodiment of the present invention is a control system for a manipulator fixture of a pipe plugging robot, including a control module, a power module, an illumination module, a camera module, a driving module, and a remote control terminal, where the control module is respectively connected to one end of the power module, one end of the illumination module, one end of the camera module, one end of the driving module, and one end of the remote control terminal.

Preferably, the other end of the driving module is connected with the first motor, the second motor, the third motor and the driving mechanism respectively, the driving mechanism is connected with the driving wheel, the other end of the illuminating module is connected with the illuminating lamp, and the other end of the camera module is connected with the camera.

The invention has the beneficial effects that:

1. the pressing block can move back and forth under the action of the jacking device, so that the blocked position of the pipeline can be dredged, and a worker can observe the inside of the pipeline through the remote control terminal, so that faults and reasons can be found in time, and the blocking error rate is reduced;

2. the manipulator clamp can be directly installed on a manipulator of an industrial robot for use, has strong universality, can replace manual work to perform lower blocking work, and has high working efficiency, safety and reliability;

3. whole dredging operation by a control personnel alright accomplish, control personnel only need input corresponding instruction alright remote control accomplish the dredging work for human cost greatly reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a robot hand jig for a pipe plugging robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a jacking device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a robot clamp according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a manipulator clamp and control system for a pipe plugging robot according to an embodiment of the present invention.

In the figure:

1. a pipeline robot body; 2. a manipulator clamp; 3. a drive wheel; 4. a jacking device; 5. a camera; 6. an illuminating lamp; 7. a fixing frame; 8. a partition plate; 9. a movable tube; 10. a movable rod; 11. a first gear; 12. a second gear; 13. a first motor; 14. briquetting; 15. a thread; 16. a third gear; 17. a second motor; 18. a fixing plate; 19. a movable shaft; 20. a third motor; 21. a movable block; 22. a fixed mount; 23. a limiting groove; 24. a slider; 25. connecting blocks; 26. a connecting rod; 27. a connecting plate; 28. a top plate; 29. saw teeth; 30. a rotating shaft; 31. a control module; 32. a power supply module; 33. a lighting module; 34. a camera module; 35. a drive module; 36. a remote control terminal; 37. a drive mechanism.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

Embodiment, as shown in fig. 1-3, a manipulator fixture and a control system for a pipeline blocking robot according to an embodiment of the present invention includes a pipeline robot body 1, a manipulator fixture 2 is disposed at one end of the pipeline robot body 1, a plurality of driving wheels 3 are disposed on both sides of the pipeline robot body 1, a jacking device 4 is disposed on one side of the manipulator fixture 2 away from the pipeline robot body 1, a camera 5 is disposed on one side of an upper end of the jacking device 4, and an illuminating lamp 6 is disposed on one side of the camera 5 and the other side of the upper end of the jacking device 4.

The structure and function of the jacking device 4 will be described in detail below.

As shown in fig. 2, the jacking device 4 comprises a fixed frame 7, a partition plate 8 is arranged on the inner side of the fixed frame 7, a movable pipe 9 is inserted between the fixed frame 7 and the partition plate 8, a movable rod 10 is inserted on the inner side of the movable pipe 9, a first gear 11 is arranged at one end of the movable rod 10, a second gear 12 matched with the first gear 11 is arranged at the lower end of the first gear 11, the first gear 11 and the second gear 12 are both conical gears, the first gear 11 and the second gear 12 are perpendicular to each other, the central position of the second gear 12 is connected with an output shaft of a first motor 13, a pressing block 14 is arranged at the other end of the movable rod 10, a thread 15 is arranged on the movable pipe 9 and positioned on the inner side of the fixed frame 7, a third gear 16 matched with the thread 15 is arranged at the upper end of the thread 15, the center of the third gear 16 is connected with the output shaft of a second motor 17, and the second motor 17 is positioned on the inner wall of the fixed frame 7, the joints between the movable pipe 9 and the fixed frame 7 and the clapboard 8 are all provided with through holes.

The structure and operation of the robot gripper 2 will be described in detail below.

As shown in fig. 3, the manipulator fixture 2 includes a fixing plate 18, one side of the fixing plate 18 is connected to the pipeline robot body 1, a movable shaft 19 is inserted into the fixing plate 18, one end of the movable shaft 19 is provided with a motor three 20, the motor three 20 is located inside the pipeline robot body 1, the other end of the movable shaft 19 is provided with a movable block 21, one side of the movable block 21 is connected to the fixing frame 7, one side of the movable shaft 19 located on the fixing plate 18 is provided with a fixing frame 22, the fixing frame 22 is in a cross-shaped structure, the fixing frame 22 is provided with a limiting groove 23 around, the inner side of the limiting groove 23 is provided with a sliding block 24 matching with the limiting groove 23, two sets of connecting blocks 25 are provided around the movable block 21, two sides of the upper end of the connecting block 25 are provided with connecting rods 26, the upper end of the connecting rod 26 is provided with a connecting plate 27, two ends of, the upper end of connecting plate 27 is equipped with roof 28, and roof 28 is L shape structure to, one side and the slider 24 of roof 28 are connected, and the upper end of roof 28 is equipped with sawtooth 29, and the outside screw thread has been seted up to the one end of loose axle 19 and the inside that is located the movable block 21, and the inboard of movable block 21 is equipped with the internal thread with external screw thread matched with.

As shown in fig. 4, according to an embodiment of the present invention, there is further provided a control system for a manipulator fixture of a pipe plugging robot, including a control module 31, a power module 32, an illumination module 33, a camera module 34, a driving module 35 and a remote control terminal 36, where the control module 31 is connected to one ends of the power module 32, the illumination module 33, the camera module 34, the driving module 35 and the remote control terminal 36, the other end of the driving module 35 is connected to one ends of the first motor 13, the second motor 17, the third motor 20 and the driving mechanism 37, the driving mechanism 37 is connected to the driving wheel 3, the other end of the illumination module 33 is connected to the illumination lamp 6, and the other end of the camera module 34 is connected to the camera 5.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In practical application: by putting the pipeline robot into the pipeline, at this time, the worker gives an instruction to the control module 31 through the remote control terminal 36, so that the control module 31 sends a signal to the driving module 35, and then the driving module 35 drives the driving mechanism 37 to work, and the driving mechanism 37 drives the driving wheel 3 to move, so that the pipeline robot body 1 walks in the pipeline, the worker can observe the internal condition of the pipeline through the illuminating lamp 6 and the camera 5, when encountering the blocked place, the worker drives the motor three 20 to work through driving the motor three 20, so that the motor three 20 drives the movable shaft 19 to move, because one end of the movable shaft 19 is provided with an external thread, the inner side of the movable block 21 is provided with an internal thread matched with the external thread, and then the rotation of the movable shaft 19 drives the movable block 21 to move, the movement of the movable block 21 drives the connecting block 25 to move, so that the connecting block 25 drives the connecting rod 26 and the connecting plate 27 to move to the outer side of the movable block 21, and then the connecting plate 27 drives the top plate 28 to move, so that the top plate 28 drives the sliding block 24 to move on the limiting groove 23, and further the sawtooth 29 on one side of the top plate 28 contacts with the pipeline, so that the pipeline robot body 1 is fixed with the inner wall of the pipeline, and then the first motor 13 and the second motor 17 are driven to work, the second motor 17 drives the third gear 16 to move, and the third gear 16 is meshed with the thread line 15, and further the rotation of the third gear 16 drives the movable pipe 9 to move, so that the movable pipe 9 drives the pressing block 14 to move back and forth, the work of the first motor 13 drives the second gear 12 to move, so that the second gear 12 drives the first gear 11 to work, and further the first gear 11 drives the movable rod 10 to rotate, therefore, the pressing block 14 not only can move back and forth, but.

In summary, according to the above technical scheme of the present invention, the pressing block 14 of the present invention can move back and forth under the action of the jacking device 4, so as to dredge the blocked position of the pipeline, and the worker can observe the inside of the pipeline through the remote control terminal 36, find out the fault and the cause in time, and reduce the error rate of blocking; the manipulator clamp 2 can be directly installed on a manipulator of an industrial robot for use, the universality is strong, the manipulator clamp 2 can replace manual work to perform lower blocking work, and the working efficiency is high, safe and reliable; whole dredging operation by a control personnel alright accomplish, control personnel only need input corresponding instruction alright remote control accomplish the dredging work for human cost greatly reduced.

The present invention can be easily implemented by those skilled in the art from the above detailed description. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the basis of the disclosed embodiments, a person skilled in the art can combine different technical features at will, thereby implementing different technical solutions.

Claims

1. The utility model provides a manipulator anchor clamps for pipeline blocking robot, a serial communication port, including pipeline robot body (1), the one end of pipeline robot body (1) is equipped with manipulator anchor clamps (2), the both sides of pipeline robot body (1) all are equipped with a plurality of drive wheel (3), keeping away from of manipulator anchor clamps (2) one side of pipeline robot body (1) is equipped with jacking device (4), upper end one side of jacking device (4) is equipped with camera (5), one side of camera (5) just is located the upper end opposite side of jacking device (4) is equipped with light (6), wherein, jacking device (4) are including fixed frame (7), the inboard of fixed frame (7) is equipped with baffle (8), fixed frame (7) with it is equipped with movable pipe (9) to alternate between baffle (8), a movable rod (10) is inserted into the inner side of the movable pipe (9), a first gear (11) is arranged at one end of the movable rod (10), a second gear (12) matched with the first gear (11) is arranged at the lower end of the first gear (11), the central position of the second gear (12) is connected with an output shaft of a first motor (13), a pressing block (14) is arranged at the other end of the movable rod (10), a thread (15) is arranged on the movable pipe (9) and positioned on the inner side of the fixed frame (7), a third gear (16) matched with the thread (15) is arranged at the upper end of the thread (15), the center of the third gear (16) is connected with the output shaft of the second motor (17), and the second motor (17) is positioned on the inner wall of the fixed frame (7);

the first gear (11) and the second gear (12) are both conical gears, and the first gear (11) and the second gear (12) are perpendicular to each other;

through holes are formed in the joints among the movable pipe (9), the fixed frame (7) and the partition plate (8);

the manipulator clamp (2) comprises a fixing plate (18), one side of the fixing plate (18) is connected with the pipeline robot body (1), a movable shaft (19) is inserted into the fixing plate (18), one end of the movable shaft (19) is provided with a motor III (20), the motor III (20) is located inside the pipeline robot body (1), the other end of the movable shaft (19) is provided with a movable block (21), one side of the movable block (21) is connected with the fixing frame (7), and a fixing frame (22) is arranged on the movable shaft (19) and on one side of the fixing plate (18);

all be equipped with two sets of connecting blocks (25) around movable block (21), the upper end both sides of connecting block (25) all are equipped with connecting rod (26), the upper end of connecting rod (26) is equipped with connecting plate (27), the both ends of connecting rod (26) respectively with connecting block (25) reach all connect through pivot (30) between connecting plate (27), the upper end of connecting plate (27) is equipped with roof (28).

2. The manipulator clamp for the pipeline plugging robot according to claim 1, wherein the fixing frame (22) is of a cross structure, limiting grooves (23) are formed in the periphery of the fixing frame (22), and sliding blocks (24) matched with the limiting grooves (23) are arranged on the inner sides of the limiting grooves (23).

3. The robot gripper for pipe plugging robot according to claim 2, wherein said top plate (28) has an L-shaped structure, and one side of said top plate (28) is connected with said slider (24), and the upper end of said top plate (28) is provided with a saw tooth (29).

4. The manipulator clamp for the pipe plugging robot according to claim 3, wherein an external thread is formed at one end of the movable shaft (19) and inside the movable block (21), and an internal thread matched with the external thread is formed on the inner side of the movable block (21).