CN111590556A - Multi-degree-of-freedom and multi-section intelligent pipe climbing robot - Google Patents
Multi-degree-of-freedom and multi-section intelligent pipe climbing robot Download PDFInfo
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- CN111590556A CN111590556A CN202010586435.4A CN202010586435A CN111590556A CN 111590556 A CN111590556 A CN 111590556A CN 202010586435 A CN202010586435 A CN 202010586435A CN 111590556 A CN111590556 A CN 111590556A
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- steering engine
- clamping jaw
- connecting plate
- servo motor
- gear
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- 230000009194 climbing Effects 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract 2
- 238000009776 industrial production Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 239000003345 natural gas Substances 0.000 abstract 1
- 239000003209 petroleum derivative Substances 0.000 abstract 1
- 210000000078 claw Anatomy 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to the field of intelligent robots, and a pipeline is widely applied as an effective conveying means in the processes of material transportation and medium flowing in general industrial production, petroleum and natural gas, building engineering and the like. In order to prolong the service life of the pipeline and prevent accidents such as leakage and the like, the pipeline must be effectively detected and maintained, and the pipeline climbing robot is generated to meet the requirement. The invention can complete the tasks of routing inspection, recording, remote communication and the like for a long time in practical environments such as pipe diameter section change, complex bent pipelines and the like, and has high safety and reliability.
Description
The technical field is as follows:
the invention belongs to the field of intelligent robots, and particularly relates to a multi-degree-of-freedom multi-section intelligent pipe climbing robot.
Background art:
at present, many marked buildings in large cities, bridge slings, large-scale electric wire towers, satellite transmitting antennas and the like are all composed of tubular parts such as steel pipes, angle irons and the like, and in addition, due to the requirements of pipeline connection, engineering construction, transportation and the like, the section shape of a pipeline or the bending combination of the pipeline needs to be changed, so the multi-degree-of-freedom multi-section type intelligent pipe climbing robot is needed. When the climbing robot is inspected and maintained, the climbing robot is a very difficult and dangerous task, and the manual inspection and maintenance has huge risks, so that the climbing robot plays an important role here.
The climbing robot mainly relates to a plurality of fields such as mechanical structure, automatic control, communication, multi-sensor information fusion, power technology. At present, most inspection robots are limited by conditions of complex mechanism joints, large volume, heavy weight, poor load capacity and the like; the mechanism joint is complex, the control difficulty is high, and the control precision cannot be ensured; the robot is large and heavy, cannot meet the operation requirement of a guy cable, and has low industrial practical level; if the load capacity is poor, the inspection device cannot carry enough power supply and detection equipment, and the inspection task cannot be executed for a long time. In addition, current climbing robot needs the manual work to adjust when adapting to different pipe diameters. And the climbing difficulty is high when the pipe climbing robot meets the problems of large angle, variable diameter, U-shaped pipelines and ropes, and the like, so that a multi-degree-of-freedom and multi-section intelligent pipe climbing robot capable of climbing on a framework is needed to be designed.
The invention content is as follows:
in order to solve the technical problem, the invention provides a multi-degree-of-freedom multi-section intelligent pipe climbing robot, which comprises: the device comprises a cam, a first cylindrical straight gear, a second cylindrical straight gear, a power shaft, a first steering engine rotating support, a pitching connecting plate, a second servo motor, a second steering engine, a middle connecting plate, a third servo motor, a rotating connecting plate, a fourth servo motor, a second steering engine rotating support and a third steering engine.
One end of the bottom surface of the first steering engine rotating support is provided with a first steering engine, the first steering engine is connected with the first clamping jaw, a pitching connecting plate is arranged in the middle of the first steering engine rotating support, the top end of the first steering engine rotating support is an open triangle, the opening and a middle connecting plate are arranged at the opening, a servo motor II is arranged on one side surface of the first steering engine rotating support, a supporting rod is arranged on the surface of the servo motor II and penetrates through the pitching connecting plate, a second steering engine is arranged at the other end of the supporting rod, the middle connecting plate is rotated on the side surface of the middle connecting plate, the supporting rod is arranged on the inner side surface of the rotating connecting plate, a servo motor III is arranged at the other end of the supporting rod, a rotating connecting plate is arranged in the middle of the servo motor, a third steering gear is arranged on the outer side surface of the rotary connecting plate and connected with the second clamping jaw,
further technical scheme, clamping jaw one and clamping jaw two are the isotructure, clamping jaw one includes power shaft, worm wheel, clamping jaw blade, the clamping jaw support, be equipped with the worm wheel in the middle of the power shaft, power shaft both ends symmetry is equipped with the cam, the worm wheel below is equipped with the meshing worm, be equipped with cylinder straight-teeth gear two in the middle of the worm, cylinder straight-teeth gear two tops are equipped with meshing cylinder straight-teeth gear one, be equipped with perpendicular servo motor one in the middle of the cylinder straight-teeth gear one, the cam is connected with the connecting rod respectively, the connecting rod is connected with the clamping jaw blade respectively, be equipped with the clamping jaw support fixed through the pin in the middle of the clamping jaw blade, clamping jaw blade circular arc medial surface.
Compared with the prior art, the invention has the beneficial effects that: the control is simple. Small volume, light and flexible structure, and can adapt to working environments such as pipelines with different pipe diameters, large angles and U-shaped pipelines. The device can work in severe and complex environments and has high safety and reliability.
Description of the drawings:
the accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is an overall profile elevation of the present invention;
FIG. 2 is a front view of the connection portion of the present invention;
FIG. 3 is a front view of a jaw of the present patent;
FIG. 4 is a right side view of the jaws of the present patent;
in the figure: 1. the novel steering gear comprises a first clamping jaw, a second clamping jaw, a first pitching rotating mechanism, a third clamping jaw, a fourth pitching connecting plate, a middle connecting plate, a 6 rotating connecting plate, a 7 steering gear rotating support, a 8 servo motor, a 9 servo motor, a 10 steering gear, a 11 steering gear, a second steering gear, a 12 servo motor, a third servo motor, a 13 steering gear rotating support, a 14 steering gear, a third steering gear, a 15 clamping jaw blade, a 16 clamping jaw support, a 17 connecting rod, a 18 servo motor, a 19 plastic part, a 20 pin, a 21 worm wheel, a 22 worm, a 23 cam, a 24 power shaft, a 25 cylindrical straight gear, a 26 cylindrical straight gear and a second straight gear.
The specific implementation mode is as follows:
as shown in the figure, a multi freedom, multistage formula intelligence climb a tub robot includes: the device comprises a cam 23, a first cylindrical straight gear 25, a second cylindrical straight gear 26, a power shaft 24, a first steering gear 10, a first steering gear rotating support 7, a pitching connecting plate 4, a second servo motor 8, a second steering gear 11, a middle connecting plate 5, a third servo motor 12, a rotating connecting plate 6, a fourth servo motor 9, a second steering gear rotating support 13 and a third steering gear 14.
A first steering engine 10 is arranged at one end of the bottom surface of a first steering engine rotating support 7, the first steering engine 10 is connected with a first clamping jaw 1, a pitching connecting plate 4 is arranged in the middle of the first steering engine rotating support 7, the pitching connecting plate 4 is rectangular, the top end of the first steering engine rotating support is an open triangular body, the opening is connected with a middle connecting plate 5, a second servo motor 8 is arranged on the side surface of the first steering engine rotating support 7, a supporting rod is arranged on the surface of the second servo motor 8 and penetrates through the pitching connecting plate 4, a second steering engine 11 is arranged at the other end of the supporting rod, the second steering engine 11 is arranged in the middle connecting plate 5, a connecting plate 6 is rotated on the side surface of the middle connecting plate 5, a supporting rod 2 is arranged on the inner side surface of the rotating connecting plate 6, a third servo motor 12, a servo motor IV 9 is arranged on the side surface of the steering engine rotating support II 13, a rotating connecting plate 6 is arranged in the middle of the servo motor IV, a steering engine III 14 is arranged on the outer side surface of the rotating connecting plate 6, the steering engine III 14 is connected with the clamping jaw II 3,
the clamping jaw comprises a first clamping jaw 1 and a second clamping jaw 3, the first clamping jaw 1 and the second clamping jaw 3 are of the same structure, the clamping jaw comprises a power shaft 24, a worm wheel 21, a clamping jaw blade 15 and a clamping jaw bracket 16, a worm wheel 21 is arranged in the middle of the power shaft 24, cams 23 are symmetrically arranged at two ends of the power shaft 24, a meshing worm 22 is arranged below the worm wheel 21, a second cylindrical spur gear 26 is arranged in the middle of the worm 22, a first meshed cylindrical spur gear 25 is arranged above the second cylindrical spur gear 26, a first vertical servo motor 18 is arranged in the middle of the first cylindrical spur gear 25, the cams 23 are respectively connected with the connecting rods 17, the connecting rods 17 are respectively connected with the clamping jaw blades 15, the middle of the clamping jaw blade 15 is provided with a clamping jaw support 16 fixed through a pin 20, the arc inner side surface of the clamping jaw blade 15 is provided with a plastic part 19, and the plastic part 19 is made of rubber and is antiskid and wear-resistant.
The working principle is as follows: the first steering engine 10 and the second servo motor 8 adjust the first clamping jaw 1 to a proper angle, and the first servo motor 18 drives four connecting rods through a first cylindrical straight gear 25, a second cylindrical straight gear 26, a worm 22, a worm wheel 21, a power shaft 24 and a cam to realize clamping and loosening actions of the first clamping jaw 1.
Climbing working process: when a first claw 1 clamps a pipeline, the pitch connecting plate 4 raises the height of a second clamping jaw 3 through a second steering engine 11, the rotary connecting plate 6 can rotate 360 degrees through a third servo motor 12 to adapt to a narrow space, the second clamping jaw 3 can be adjusted to another position through a fourth servo motor 9 and a third steering engine 14, the first servo motor 18 can realize the clamping and loosening actions of the second clamping jaw 3 through a first cylindrical straight gear 25, a second cylindrical straight gear 25, a worm 22, a worm wheel 21, a power shaft 24 and a cam to drive other four connecting rods, the second clamping jaw clamps the pipeline, the first clamping jaw 1 drives the four connecting rods through the first cylindrical straight gear 25, the second cylindrical straight gear 26, the worm 22, the worm wheel 21, the power shaft 24 and the cam through the first servo motor 18, so that the first clamping jaw 1 loosens the pipeline, when the first clamping jaw loosens the pipeline, the second steering engine 11 adjusts the height of the first claw, the angle of the first clamping jaw 1 is adjusted through the first steering engine 10, so that the first clamping jaw 1 can clamp a pipeline, and the second clamping jaw 3 can enable the pipe climbing robot to climb up continuously by repeating the action of the first clamping jaw 1.
The descending working process: when a first jaw 1 clamps a pipeline, the pitch connecting plate 4 downwards reduces the height of a second jaw 3 through a second steering engine 11, the rotary connecting plate 6 can rotate 360 degrees through a third servo motor 12 to adapt to a narrow space, the second jaw 3 can be adjusted to a proper position through a fourth servo motor 9 and a third steering engine 12, the first servo motor 18 can realize clamping and loosening actions of the second jaw 3 through a first cylindrical straight gear 25, a second cylindrical straight gear 26, a worm 22, a worm wheel 21, a power shaft 24 and a cam to drive four connecting rods, the second jaw clamps the pipeline, the first jaw 1 drives the four connecting rods through the first cylindrical straight gear 25, the second cylindrical straight gear 26, the worm 22, the worm wheel 21, the power shaft 24 and the cam through the first servo motor 18, so that the first jaw 1 loosens the pipeline, when the first jaw loosens the pipeline, the second steering engine 11 adjusts the height of the first jaw 1, the angle of the first clamping jaw 1 is adjusted through the first steering engine 10, so that the first jaw 1 can clamp a pipeline, and the second jaw 3 can enable the pipe climbing robot to descend continuously by repeating the action of the first jaw 1.
The technical means disclosed by the scheme of the invention are not limited to the technical means disclosed by the technical means, and also comprise the technical scheme formed by equivalent replacement of the technical features. The present invention is not limited to the details given herein, but is within the ordinary knowledge of those skilled in the art.
Claims (2)
1. The utility model provides a multi freedom, multistage formula intelligence climb a tub robot which characterized in that includes: the device comprises a cam, a first cylindrical straight gear, a second cylindrical straight gear, a power shaft, a first steering engine rotating support, a pitching connecting plate, a second servo motor, a second steering engine, a middle connecting plate, a third servo motor, a rotating connecting plate, a fourth servo motor, a second steering engine rotating support and a third steering engine.
One end of the bottom surface of the first steering engine rotating support is provided with a first steering engine, the first steering engine is connected with the first clamping jaw, a pitching connecting plate is arranged in the middle of the first steering engine rotating support, the top end of the first steering engine rotating support is an open triangle, the opening and a middle connecting plate are arranged at the opening, a servo motor II is arranged on one side surface of the first steering engine rotating support, a supporting rod is arranged on the surface of the servo motor II and penetrates through the pitching connecting plate, a second steering engine is arranged at the other end of the supporting rod, the middle connecting plate is rotated on the side surface of the middle connecting plate, the supporting rod is arranged on the inner side surface of the rotating connecting plate, a servo motor III is arranged at the other end of the supporting rod, a rotating connecting plate is arranged in the middle of the servo motor, and a third steering engine is arranged on the outer side surface of the rotary connecting plate and is connected with the second clamping jaw.
2. The multi-degree-of-freedom multi-section intelligent pipe climbing robot according to claim 1, characterized in that: clamping jaw one and clamping jaw two are the isotructure, clamping jaw one includes power shaft, worm wheel, clamping jaw blade, the jaw support, be equipped with the worm wheel in the middle of the power shaft, power shaft both ends symmetry is equipped with the cam, the worm wheel below is equipped with the meshing worm, be equipped with cylinder straight-teeth gear two in the middle of the worm, cylinder straight-teeth gear two tops are equipped with meshing cylinder straight-teeth gear one, be equipped with perpendicular servo motor one in the middle of the cylinder straight-teeth gear one, the cam is connected with the connecting rod respectively, the connecting rod is connected with the clamping jaw blade respectively, be equipped with the clamping jaw support fixed through the pin in the middle of the clamping jaw blade, clamping jaw blade circular arc medial surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586435.4A CN111590556A (en) | 2020-06-24 | 2020-06-24 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586435.4A CN111590556A (en) | 2020-06-24 | 2020-06-24 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN111590556A true CN111590556A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010586435.4A Pending CN111590556A (en) | 2020-06-24 | 2020-06-24 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN111590556A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| KR20130035536A (en) * | 2011-09-30 | 2013-04-09 | 한국원자력연구원 | An inspection robot of the pipe |
| CN103395064A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Rack pipe detection robot based on ultrasonic guided wave technology |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
| US20180370018A1 (en) * | 2010-10-19 | 2018-12-27 | White Puma Pty Limited | Device for Traversing an Object |
| CN110614648A (en) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | Under-actuated self-adaptive two-finger clamping jaw |
| CN210732485U (en) * | 2019-10-18 | 2020-06-12 | 昆山华卓昌精密模具有限公司 | Manipulator clamp |
| CN212859467U (en) * | 2020-06-24 | 2021-04-02 | 南京工业职业技术学院 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
-
2020
- 2020-06-24 CN CN202010586435.4A patent/CN111590556A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| US20180370018A1 (en) * | 2010-10-19 | 2018-12-27 | White Puma Pty Limited | Device for Traversing an Object |
| KR20130035536A (en) * | 2011-09-30 | 2013-04-09 | 한국원자력연구원 | An inspection robot of the pipe |
| CN103395064A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Rack pipe detection robot based on ultrasonic guided wave technology |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
| CN110614648A (en) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | Under-actuated self-adaptive two-finger clamping jaw |
| CN210732485U (en) * | 2019-10-18 | 2020-06-12 | 昆山华卓昌精密模具有限公司 | Manipulator clamp |
| CN212859467U (en) * | 2020-06-24 | 2021-04-02 | 南京工业职业技术学院 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 江励: "双手爪式模块化仿生攀爬机器人的研究", 信息科技, no. 11, pages 19 - 27 * |
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