CN111391932A - Deformable crawler-type spherical pipeline robot - Google Patents
Deformable crawler-type spherical pipeline robot Download PDFInfo
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- CN111391932A CN111391932A CN202010274231.7A CN202010274231A CN111391932A CN 111391932 A CN111391932 A CN 111391932A CN 202010274231 A CN202010274231 A CN 202010274231A CN 111391932 A CN111391932 A CN 111391932A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Abstract
The invention discloses a deformable crawler-type spherical pipeline robot which comprises a shell and a control component arranged in the shell, wherein the shell comprises a left hemispherical shell, a middle connecting piece and a right hemispherical shell, the left hemispherical shell is connected with the right hemispherical shell through the middle connecting piece and is symmetrical about the middle connecting piece, a left crawler belt is arranged at the inner end of the left hemispherical shell, and a right crawler belt is arranged at the inner end of the right hemispherical shell. The spherical shell of the spherical robot can be carried into a complex pipeline to replace manual detection, the original spherical structure is changed into a long-strip-shaped crawler structure through the deformation of the self structure, the obstacle in the pipeline can be conveniently passed through, in addition, the forward and reverse deformation of the spherical shell of the spherical robot is completely reversible, the control process is simple, the mechanisms participating in the deformation are few, and the movement and the deformation can be quickly and conveniently realized.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a deformable crawler-type spherical pipeline robot.
Background
As is well known, in modern industrial production and daily life, pipelines are widely used as a safe and economic material conveying means in various aspects such as natural gas, petroleum, chemical raw materials, water supply and the like. With the increase of the service life, various problems such as corrosion, cracks, accidental damage and the like occur to the pipeline, and the normal production and living order is seriously influenced. The pipelines are distributed underground in an intricate and complex manner, the internal environment is complex, and manual operation is not facilitated, so that the pipeline detection by using the robot is a main direction of the current technical development, and how to design the robot which can be well adapted to the motion in the pipeline environment becomes a research hotspot. The walking structure of the general robot in the pipe has the forms of wheel type, crawler type, leg type and creeping type. The pipelines of ventilation systems for urban sewage, petroleum and natural gas transportation, industrial material transportation, water supply and drainage and buildings are mostly medium and small pipelines, and the pipe diameter range of the pipelines is 30-200 mm. In such a narrow space of the pipeline, the spherical pipeline robot becomes the first choice. The spherical pipe robot can keep the balance of the system in the unstable environment of the terrain, can restore the stable state through self transient adjustment even after collision occurs, and has low space ratio, flexible movement turning and small driving resistance.
However, when the spherical pipeline robot encounters a large obstacle in the pipeline, the self volume limits the spherical pipeline robot to pass through the obstacle, so that the pipeline detection work cannot be normally operated. Therefore, there is a need for a novel spherical pipeline robot, which can solve the problem that the spherical pipeline robot is too large to pass through when facing a large obstacle in the pipeline.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a deformable crawler-type spherical pipeline robot.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides a spherical pipeline robot of deformable crawler-type, this robot includes the casing and locates the control unit in it, the casing includes left hemisphere shell, intermediate junction spare and right hemisphere shell, left side hemisphere shell passes through intermediate junction spare and links to each other with right hemisphere shell, about the intermediate junction spare symmetry, left side hemisphere shell is located interior department and is equipped with the left side track, right side hemisphere shell is located interior department and is equipped with the right side track.
Furthermore, in the deformable crawler-type spherical pipeline robot, the left hemispherical shell and the right hemispherical shell have the same structure, and each of the left hemispherical shell and the right hemispherical shell comprises a supporting pulley a, a large inner spur gear, a vertical supporting mini cylinder a, a chute box mini cylinder a, a horizontal mini cylinder a, a steering engine platform, a horizontal mini cylinder b, a horizontal mini cylinder c, a horizontal mini cylinder d, a vertical supporting mini cylinder b, a supporting pulley b, a chute box mini cylinder b, a fixed frame, a chute box and a hemispherical shell side part; one end of each of the supporting pulley a and the supporting pulley b is in contact with a sliding chute of the large inner straight gear, the other end of each of the supporting pulley a and the supporting pulley b is respectively connected with the vertical direction supporting mini cylinder a and the vertical direction supporting mini cylinder b, the vertical direction supporting mini cylinder a and the vertical direction supporting mini cylinder b are fixed on the fixed frame through sleeve holes in the fixed frame, and the sliding chute box mini cylinder a and the sliding chute box mini cylinder b are fixed on the fixed frame through sleeve holes in the side face of the fixed frame; the horizontal mini cylinder a, the steering engine platform, the horizontal mini cylinder b, the horizontal mini cylinder c and the horizontal mini cylinder d are fixed on the upper side and the lower side of the fixed frame;
the chute box comprises a spring a, a motor a, a straight gear bracket b, a spring b, a push-pull electromagnet a, a motor b, a chute box horizontal cylinder and a push-pull electromagnet b; a spring a is arranged at the joint of the chute box mini cylinder and the chute box, and a spring b is arranged at the joint of the chute box mini cylinder b and the chute box; the straight gear bracket a and the straight gear bracket b are positioned on a guide rail of the chute box and can slide oppositely along the horizontal direction under the pushing of a horizontal cylinder of the chute box;
the steering engine platform is fixed with four push rods of a horizontal mini cylinder a, a horizontal mini cylinder b, a horizontal mini cylinder c and a horizontal mini cylinder d, and the four push rods of the mini cylinders can enable the steering engine platform to move freely in the horizontal direction when moving simultaneously.
Further, among the spherical pipeline robot of above-mentioned deformable crawler-type, the inside straight-tooth gear I, straight-tooth gear II, straight-tooth gear III, bevel gear I, the II constitution of bevel gear that is equipped with of chute box, their intermeshing constitutes gear engagement drive disk assembly, straight-tooth gear III and big interior straight-tooth gear intermeshing, be connected through plug-type electro-magnet b between straight-tooth gear III and the straight-tooth gear support a, be connected through plug-type electro-magnet a between straight-tooth gear III and the straight-tooth gear support b, bevel gear II and I intermeshing of bevel gear, bevel gear I and I are located same pivot of straight-tooth gear, I and II intermeshing of straight-tooth gear, the inner circle tooth's socket intermeshing of straight-tooth gear III and left side track or right side track.
Furthermore, in the deformable crawler-type spherical pipeline robot, the hemispherical shell side part comprises a side spherical shell starting steering engine, a side spherical shell middle section steering engine, a side spherical shell end section and a side spherical shell middle section, and the side spherical shell starting steering engine is installed on the steering engine platform.
Further, in the deformable crawler-type spherical pipeline robot, the intermediate connecting piece comprises an outer sleeve, an intermediate sleeve, a sensor support, an inner sleeve a, an inner sleeve b, an inner sleeve c and an inner sleeve d; the four inner sleeves are respectively sleeved outside the four horizontal mini cylinders, the middle-layer sleeve is sleeved outside the four inner sleeves, the sensor support is fixed on the outer side of the middle-layer sleeve, and the outer-layer sleeve is sleeved outside the middle-layer sleeve and the sensor support.
Further, among the spherical pipeline robot of above-mentioned deformable crawler-type, control unit includes battery module, carbon dioxide mini gas cylinder module, motor drive module, mini cylinder control module, major system module and sensor module, control unit is through fixing on fixed frame, last battery holder and the cylinder seat of being equipped with of fixed frame, battery module places on the battery holder, carbon dioxide mini gas cylinder module places on the cylinder seat, host system and battery holder fixed connection, motor drive module, sensor module and mini cylinder control module have been placed respectively to host system's top.
Further, in the deformable crawler-type spherical pipeline robot, the sensor of the sensor module is an ultrasonic sensor.
The invention has the beneficial effects that:
1. the deformable crawler-type spherical pipeline robot has two movement modes, the sphere is driven in a left-right hemisphere differential mode, the turning radius is small, and the robot is easy to control; the crawler-type motion can face various complex working environments.
2. When the deformable crawler-type spherical pipeline robot is not deformed, the overall shape of the deformable crawler-type spherical pipeline robot is spherical, the regular shape of the spherical pipeline robot is reserved, the space occupation ratio is low, the turning is flexible, the driving resistance is small, the deformable crawler-type spherical pipeline robot has better climbing capability and strong anti-overturning capability compared with a balance wheel type robot, the gravity center can be adjusted through the rotation and the movement of the side spherical shell, and the deformable crawler-type spherical pipeline robot can be quickly adjusted after being overturned; when the pipeline moves in the pipeline, two contact points are arranged at most on the inner wall of the pipeline, the contact section area is small, direct collision with the inside of the pipeline cannot occur, and possible damage to the internal structure of the pipeline is avoided. After deformation, the crawler-type robot becomes and has excellent capability when climbing a slope and having complicated road conditions.
3. The internal driving mode of the deformable crawler-type spherical pipeline robot adopts internal gear meshing transmission, the external gear is connected with the spherical shell, the motor drives the external gear to move forwards after reducing the speed, and the deformable crawler-type spherical pipeline robot is not easy to slip through gear meshing; the deformation can be rapidly and simply completed through the air cylinder and the electromagnet during the deformation; the deformed tracked robot has the advantages of being not easy to slip and stable in movement.
4. The deformable crawler-type spherical pipeline robot adopts a structure of the left hemisphere and the right hemisphere, each hemisphere can be independently controlled to complete respective movement and complete sealing of the deformed left hemisphere and the right hemisphere, the advantage of good sealing performance of the spherical pipeline robot is kept, internal mechanisms and sensors which are not easy to expose of the robot can be arranged in a sealing area, a gap is reserved between the two hemispheres, and the deformable crawler-type spherical pipeline robot is convenient to install special sensors which need to be exposed to external environment.
Of course, it is not necessary for any one product that embodies the invention to achieve all of the above advantages simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced 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 that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an overall profile view of the present invention;
FIG. 2 is a schematic view of the inner structure of the left hemispherical shell according to the present invention;
FIG. 3 is a schematic view of the construction of the chute case of the present invention;
FIG. 4 is a schematic structural view of a hemispherical shell side member of the present invention;
FIG. 5 is a schematic view of the construction of the gear engagement drive member of the present invention;
FIG. 6 is a schematic view showing an internal structure of the intermediate connecting member according to the present invention;
FIG. 7 is an internal structural view of the present invention before deformation;
fig. 8 is a modified internal structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, the embodiment is a deformable crawler-type spherical pipeline robot, the robot includes a housing and a control component arranged in the housing, the housing includes a left hemispherical shell 1, a middle connecting member and a right hemispherical shell 5, the left hemispherical shell 1 is connected to the right hemispherical shell 5 through the middle connecting member, the left hemispherical shell is symmetrical with respect to the middle connecting member, a left crawler 2 is arranged at an inner end of the left hemispherical shell 1, and a right crawler 4 is arranged at an inner end of the right hemispherical shell.
The left hemispherical shell 1 and the right hemispherical shell 5 have the same structure and respectively comprise a supporting pulley a6, a large inner spur gear 7, a vertical supporting mini cylinder a8, a chute box mini cylinder a9, a horizontal mini cylinder a10, a steering engine platform 11, a horizontal mini cylinder b12, a horizontal mini cylinder c13, a horizontal mini cylinder d14, a vertical supporting mini cylinder b15, a supporting pulley b16, a chute box mini cylinder b17, a fixed frame 18, a chute box 19 and a hemispherical shell side part; one end of each of the supporting pulley a6 and the supporting pulley b16 is in contact with a sliding groove of the large inner spur gear 7, the other end of each of the supporting pulley a6 and the supporting pulley b16 is respectively connected with the vertical supporting mini cylinder a8 and the vertical supporting mini cylinder b15, the vertical supporting mini cylinder a8 and the vertical supporting mini cylinder b15 are fixed on the fixed frame 18 through sleeve holes in the fixed frame, and the sliding groove box mini cylinder a9 and the sliding groove box mini cylinder b17 are fixed on the fixed frame 18 through sleeve holes in the side face of the fixed frame 18; the horizontal mini cylinder a10, the steering engine platform 11, the horizontal mini cylinder b12, the horizontal mini cylinder c13 and the horizontal mini cylinder d14 are fixed on the upper and lower sides of the fixed frame 18.
The chute box 19 comprises a spring a20, a motor a21, a spur gear bracket a22, a spur gear bracket b23, a spring b24, a push-pull electromagnet a25, a motor b26, a chute box horizontal cylinder 27 and a push-pull electromagnet b 28; a spring a20 is arranged at the joint of the chute box mini cylinder a9 and the chute box 19, and a spring b24 is arranged at the joint of the chute box mini cylinder b17 and the chute box 19; the spur gear bracket a22 and the spur gear bracket b23 are located on the guide rail of the chute box 19 and can slide in the opposite direction in the horizontal direction under the pushing of the chute box horizontal cylinder 27.
The steering engine platform 11 is fixed with four push rods, namely a horizontal mini cylinder a10, a horizontal mini cylinder b12, a horizontal mini cylinder c13 and a horizontal mini cylinder d14, and the four push rods of the mini cylinders can enable the steering engine platform 11 to freely move in the horizontal direction when moving simultaneously.
The inner part of the chute box 19 is provided with a straight gear I35, a straight gear II 34, a straight gear III 33, a bevel gear I36 and a bevel gear II 37 which are meshed with each other to form a gear meshing transmission component, the straight gear III 33 is meshed with the large inner straight gear 7, the straight gear III 33 is connected with a straight gear support a22 through a push-pull electromagnet b28, the straight gear III 33 is connected with a straight gear support b23 through a push-pull electromagnet a25, the bevel gear II 37 is meshed with the bevel gear I36, the bevel gear I36 and the straight gear I35 are located on the same rotating shaft, the straight gear I35 is meshed with the straight gear II 34, and the straight gear III 33 is meshed with the inner ring tooth grooves of the left crawler 2 or the right crawler 4.
The hemispherical shell side part comprises a side spherical shell starting steering engine 29, a side spherical shell middle section steering engine 30, a side spherical shell end section 31 and a side spherical shell middle section 32, and the side spherical shell starting steering engine 29 is installed on the steering engine platform 11.
The intermediate connector comprises an outer sleeve 3, a middle sleeve 38, a sensor bracket 39, an inner sleeve a40, an inner sleeve b41, an inner sleeve c42 and an inner sleeve d 43; the four inner sleeves are respectively sleeved outside the four horizontal mini cylinders, the middle-layer sleeve 38 is sleeved outside the four inner sleeves, the sensor support is fixed outside the middle-layer sleeve 38, and the outer-layer sleeve 3 is sleeved outside the middle-layer sleeve 38 and the sensor support 39.
Control unit includes battery module, the mini gas cylinder module of carbon dioxide, motor drive module, mini cylinder control module, master module and sensor module, and control unit is through fixing on fixed frame 18, is equipped with battery holder and gas cylinder seat on the fixed frame 18, and battery module places on the battery holder, and the mini gas cylinder module of carbon dioxide is placed on the gas cylinder seat, host system and battery holder fixed connection, and motor drive module, sensor module and mini cylinder control module have been placed respectively to host system's top. The sensor of the sensor module is an ultrasonic sensor.
The motion process of the embodiment is as follows:
when the spherical pipeline robot is not deformed and is in a spherical shape, the motor a21 drives the bevel gear II 37 to rotate, the bevel gear II 37 is meshed with the bevel gear I36 to drive the bevel gear I36 to rotate, the bevel gear I36 and the spur gear I35 are positioned on the same rotating shaft and transmit rotation to the spur gear II 34, the spur gear II 34 is meshed with the spur gear III 33 to drive the spur gear III 33 to rotate, the spur gear III 33 is meshed with the large inner spur gear 7 to drive the large inner spur gear 7 to rotate, the large inner spur gear 7 is nested in the tooth socket of the left crawler 2 to drive the left crawler 2 to rotate, so that the left hemispherical shell 1 moves, and similarly, the right side motor transmits motion to the gear set of the right hemispherical shell 5 to drive the right hemispherical shell 5 to move, and when the rotating speeds and directions of the motor a21 and the right hemispherical motor are the same, the robot makes linear motion; when the rotation speed of the motor a21 is the same as that of the right hemisphere and the rotation speed is opposite to that of the right hemisphere, the robot makes pivot turning motion; when the rotating speeds of the motor a21 and the motors of the right hemispherical shell are different in size and the directions are the same, the robot performs arc motion, and when the rotating speeds of the motor a21 and the motors of the right hemispherical shell are zero, the robot stops moving.
When the spherical pipeline robot meets an obstacle and needs to deform, the carbon dioxide gas cylinder conveys carbon dioxide to the gas receiving ports of the chute box mini cylinder a9 and the chute box mini cylinder b17, the chute box 19 is pushed to slide to the left side of the left tooth surface and the right tooth surface of the large inner spur gear 7 along the guide rail of the fixed frame 18, then the carbon dioxide gas cylinder conveys the carbon dioxide to the gas receiving port of the chute box horizontal cylinder 27, the chute box horizontal cylinder 27 is pushed to extend towards the two sides in the horizontal direction, and the spur gear support a22 and the spur gear support b23 which are fixed with the chute box are driven to slide out of the chute box towards the two sides in the horizontal direction along the guide rail of the chute box. The straight gear bracket a22 and the straight gear bracket b23 are respectively pushed to the left side and the right side of the large inner straight gear 7 in the horizontal direction by the chute box horizontal cylinder 27, when a push rod of a push-pull electromagnet b28 of the straight gear bracket a22 and a push rod of a push-pull electromagnet a25 of the straight gear bracket b23 are just opposite to small holes in the left side and the right side of the large inner straight gear 7 in the horizontal direction respectively, the push-pull electromagnet a25 and the push-pull electromagnet b28 are driven to insert the respective push rods into the respective opposite small holes, then the straight gear bracket a22 and the straight gear bracket b23 continue to be unfolded in the horizontal direction, and as the push rods of the electromagnets at the two sides are inserted into the small holes in the two sides of the large inner straight gear 7, the upper side and the lower side of the large inner straight gear 7 are driven to gradually approach to the center, the distance between the. The straight gear bracket a22 and the straight gear bracket b23 are unfolded continuously to the horizontal two-side direction and are meshed with the left-side crawler belt 2 or the right-side crawler belt 4 at the outer side, and at the moment, the chute box horizontal cylinder 27 stops pushing to the two sides.
The rear steering engine 30 at the middle section of the side spherical shell drives the rear section 31 of the side spherical shell to bend inwards and contract and is overlapped with the middle section 32 of the side spherical shell, the rear steering engine 29 at the starting part of the side spherical shell drives the middle section 32 of the side spherical shell to rotate outwards, so that the middle section 32 of the side spherical shell is parallel to the vertical direction, then the horizontal mini cylinder a10, the horizontal mini cylinder b12, the horizontal mini cylinder c13 and the horizontal mini cylinder d14 push the steering engine platform 11 to contract inwards, so that the contracted side spherical shell is driven to contract inwards, and the overall appearance of the spherical pipeline robot is in a flat ellipsoid state at the moment.
Then the motor a21 drives the bevel gear II 37 to rotate, the bevel gear II 37 is meshed with the bevel gear I36 to drive the bevel gear I36 to rotate, the bevel gear I36 and the spur gear I35 are positioned on the same rotating shaft, the rotation is transmitted to the spur gear I35, the spur gear I35 is meshed with the spur gear II 34 to drive the spur gear II 34 to rotate, the spur gear II 34 is meshed with the spur gear III 33 to drive the spur gear III 33 to rotate, the spur gear III 33 is meshed with a tooth space 2 in the rubber track to drive the tooth space 2 in the rubber track to rotate, so that the left hemisphere moves, and similarly, the right motor transmits the motion to the gear set of the right hemisphere shell to drive the right hemisphere to move, and when the rotating speed and the rotating direction of the motor a21 and the motor of the right hemisphere shell are the same, the robot does linear motion; when the rotation speed of the motor a21 is the same as that of the motor of the right hemispherical shell and the rotation directions are opposite, the robot makes pivot turning motion; when the rotating speeds of the motor a21 and the right hemisphere motor are different in size and the directions are the same, the robot performs arc motion, and when the rotating speeds of the motor a21 and the right hemisphere motor are zero, the robot stops moving.
After the spherical pipeline robot deforms and passes through the obstacles in the pipeline, the push-pull electromagnet a25 and the push-pull electromagnet b28 are driven again to pull out the push rods inserted in the small holes on the left side and the right side of the large inner straight gear 7 in the horizontal direction; the carbon dioxide gas bottle conveys carbon dioxide to the other end of the horizontal cylinder 27 of the chute box, so that the horizontal cylinder 27 of the chute box moves reversely and contracts towards the center from two sides in the horizontal direction to drive the straight gear bracket a22 and the straight gear bracket b23 to contract towards the center along the guide rail of the chute box; the carbon dioxide gas cylinder conveys carbon dioxide to the vertical supporting mini cylinder 8 and conveys the carbon dioxide to the other end of the vertical supporting mini cylinder 15 to enable the two mini cylinders to respectively extend out along the upper side and the lower side of the vertical direction, and the supporting pulley a6 and the supporting pulley b16 which are arranged on respective push rods jack the large inner straight gear 7 in the vertical direction to enable the large inner straight gear 7 to be recovered into a circular gear; the carbon dioxide gas cylinder conveys the carbon dioxide to the air ports at the other ends of the chute box mini cylinder a9 and the chute box mini cylinder b17, so that the two mini cylinders drive the chute box to slide from the left side to the center of the left and right tooth surfaces of the large inner spur gear 7 along the guide rail of the fixed frame 18, and the spur gear III 33 is meshed with the large inner spur gear 7 again. And then the horizontal mini cylinder a10, the horizontal mini cylinder b12, the horizontal mini cylinder c13 and the horizontal mini cylinder d14 are pushed reversely, so that the steering engine platform 11 moves outwards, the steering engine 32 at the middle section of the side spherical shell drives the tail section 31 of the side spherical shell to rotate outwards, the steering engine 29 at the starting part of the side spherical shell drives the middle section 32 of the side spherical shell to rotate outwards, and at the moment, the spherical pipeline robot recovers the spherical appearance before deformation. Then the motor a21 drives, through the left spherical shell gear group, the big inner spur gear 7 is driven to rotate, and then the toothed groove 2 in the rubber track is driven to rotate, and the left hemispherical shell rotates. In a similar way, the right motor transmits the motion to the gear set of the right hemispherical shell so as to drive the right hemispherical shell to move, and when the rotating speeds and the directions of the motor a21 and the motor of the right hemispherical shell are the same, the robot makes a linear motion; when the rotation speed of the motor a21 is the same as that of the motor of the right hemispherical shell and the rotation directions are opposite, the robot makes pivot turning motion; when the rotating speeds of the motor a21 and the right hemisphere motor are different in size and the directions are the same, the robot performs arc motion, and when the rotating speeds of the motor a21 and the right hemisphere motor are zero, the robot stops moving.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. Spherical pipeline robot of deformable crawler-type, its characterized in that: the robot comprises a shell and a control component arranged in the shell, wherein the shell comprises a left hemispherical shell (1), an intermediate connecting piece and a right hemispherical shell (5), the left hemispherical shell (1) is connected with the right hemispherical shell (5) through the intermediate connecting piece and is symmetrical about the intermediate connecting piece, a left crawler belt (2) is arranged at the inner end of the left hemispherical shell (1), and a right crawler belt (4) is arranged at the inner end of the right hemispherical shell.
2. The deformable tracked spherical pipeline robot of claim 1, wherein: the left hemispherical shell (1) and the right hemispherical shell (5) are identical in structure and respectively comprise a supporting pulley a (6), a large inner spur gear (7), a vertical supporting mini cylinder a (8), a chute box mini cylinder a (9), a horizontal mini cylinder a (10), a steering engine platform (11), a horizontal mini cylinder b (12), a horizontal mini cylinder c (13), a horizontal mini cylinder d (14), a vertical supporting mini cylinder b (15), a supporting pulley b (16), a chute box mini cylinder b (17), a fixed frame (18), a chute box (19) and hemispherical shell side parts; one end of each of the supporting pulley a (6) and the supporting pulley b (16) is in contact with a sliding chute of the large inner straight gear (7), the other end of each of the supporting pulley a (6) and the supporting pulley b (16) is respectively connected with the vertical direction supporting mini cylinder a (8) and the vertical direction supporting mini cylinder b (15), the vertical direction supporting mini cylinder a (8) and the vertical direction supporting mini cylinder b (15) are fixed on the fixed frame (18) through sleeve holes in the fixed frame, and the sliding chute box mini cylinder a (9) and the sliding chute box mini cylinder b (17) are fixed on the fixed frame (18) through sleeve holes in the side face of the fixed frame (18); the horizontal mini cylinder a (10), the steering engine platform (11), the horizontal mini cylinder b (12), the horizontal mini cylinder c (13) and the horizontal mini cylinder d (14) are fixed on the upper side and the lower side of the fixed frame (18);
the chute box (19) comprises a spring a (20), a motor a (21), a straight gear bracket a (22), a straight gear bracket b (23), a spring b (24), a push-pull electromagnet a (25), a motor b (26), a chute box horizontal cylinder (27) and a push-pull electromagnet b (28); a spring a (20) is arranged at the joint of the chute box mini cylinder (9) and the chute box (19), and a spring b (24) is arranged at the joint of the chute box mini cylinder b (17) and the chute box (19); the straight gear bracket a (22) and the straight gear bracket b (23) are positioned on a guide rail of the chute box (19) and can slide oppositely along the horizontal direction under the pushing of a horizontal cylinder (27) of the chute box;
the steering engine platform (11) is fixed with four push rods of a horizontal mini cylinder a (10), a horizontal mini cylinder b (12), a horizontal mini cylinder c (13) and a horizontal mini cylinder d (14), and the four push rods of the four mini cylinders can enable the steering engine platform (11) to move freely in the horizontal direction when moving simultaneously.
3. The deformable tracked spherical pipeline robot of claim 2, wherein: the inner part of the chute box (19) is provided with a straight gear I (35), a straight gear II (34), a straight gear III (33), a bevel gear I (36) and a bevel gear II (37), which are mutually meshed to form a gear meshing transmission component, the straight gear III (33) is meshed with the large inner straight gear (7), the straight gear III (33) is connected with the straight gear bracket a (22) through a push-pull type electromagnet a (25), the straight gear III (33) is connected with the straight gear bracket b (23) through a push-pull type electromagnet b (28), the bevel gear II (37) is meshed with the bevel gear I (36), the bevel gear I (36) and the straight gear I (35) are positioned on the same rotating shaft, straight-teeth gear I (35) and straight-teeth gear II (34) intermeshing, straight-teeth gear III (33) and left side track (2) or the inner circle tooth's socket intermeshing of right side track (4).
4. The deformable tracked spherical pipeline robot of claim 2, wherein: the lateral part of the hemispherical shell comprises a lateral spherical shell starting steering engine (29), a lateral spherical shell middle section steering engine (30), a lateral spherical shell tail section (31) and a lateral spherical shell middle section (32), and the lateral spherical shell starting steering engine (29) is installed on a steering engine platform (11).
5. The deformable tracked spherical pipeline robot of claim 2, wherein: the middle connecting piece comprises an outer layer sleeve (3), a middle layer sleeve (38), a sensor bracket (39), an inner sleeve a (40), an inner sleeve b (41), an inner sleeve c (42) and an inner sleeve d (43); the four inner sleeves are respectively sleeved outside the four horizontal mini cylinders, the middle-layer sleeve (38) is sleeved outside the four inner sleeves, the sensor support is fixed on the outer side of the middle-layer sleeve (38), and the outer-layer sleeve (3) is sleeved outside the middle-layer sleeve (38) and the sensor support (39).
6. The deformable tracked spherical pipeline robot of claim 2, wherein: the control component comprises a battery module, a carbon dioxide mini gas cylinder module, a motor driving module, a mini gas cylinder control module, a master control module and a sensor module, the control component is fixed on a fixed frame (18), a battery seat and a gas cylinder seat are arranged on the fixed frame (18), the battery module is placed on the battery seat, the carbon dioxide mini gas cylinder module is placed on the gas cylinder seat, the master control module is fixedly connected with the battery seat, and the motor driving module, the sensor module and the mini gas cylinder control module are respectively placed above the master control module.
7. The deformable tracked spherical pipeline robot of claim 6, wherein: the sensor of the sensor module is an ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010274231.7A CN111391932B (en) | 2020-04-09 | 2020-04-09 | Deformable crawler-type spherical pipeline robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111928987A (en) * | 2020-09-24 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN114147018A (en) * | 2021-11-09 | 2022-03-08 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
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| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
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| RU2584292C1 (en) * | 2015-05-15 | 2016-05-20 | Николай Петрович Дядченко | Wheel-vehicle |
| CN108582093A (en) * | 2018-04-02 | 2018-09-28 | 北京理工大学 | A kind of pipeline detection robot based on rack-and-pinion reducing |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
| CN105438299A (en) * | 2014-11-14 | 2016-03-30 | 福建省泉州市第七中学 | Amphibious data acquisition complex road condition walking robot |
| RU2584292C1 (en) * | 2015-05-15 | 2016-05-20 | Николай Петрович Дядченко | Wheel-vehicle |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
| CN108582093A (en) * | 2018-04-02 | 2018-09-28 | 北京理工大学 | A kind of pipeline detection robot based on rack-and-pinion reducing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111928987A (en) * | 2020-09-24 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN111928987B (en) * | 2020-09-24 | 2020-12-22 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN114147018A (en) * | 2021-11-09 | 2022-03-08 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
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| CN111391932B (en) | 2021-04-06 |
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