CN111776100B - Outer pipeline crawling robot with six-link mechanism - Google Patents
Outer pipeline crawling robot with six-link mechanism Download PDFInfo
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- CN111776100B CN111776100B CN202010650269.XA CN202010650269A CN111776100B CN 111776100 B CN111776100 B CN 111776100B CN 202010650269 A CN202010650269 A CN 202010650269A CN 111776100 B CN111776100 B CN 111776100B
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- vehicle body
- disc
- pipeline
- chassis
- connecting rod
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- 230000009193 crawling Effects 0.000 title claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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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
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
An external pipeline crawling robot comprising: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body; the front vehicle body includes: the universal wheel, the mechanical arm, the connecting disc and the power mechanism are arranged on the chassis; the arm includes: the device comprises a base, a six-link mechanism and a wheel set mechanism. The pipeline gripping device utilizes the motion and output force of three sets of driving systems as motion and force input, pipeline gripping is realized through the mechanical arm of the six-rod mechanism, various motion functions of adjusting the adaptive radius, linearly moving along the pipeline, rotating around the pipeline, overcoming right-angle turning obstacles and the like can be realized through the innovative wheel set design, the pipeline gripping device has the advantages of simple structure, easiness in manufacturing, low cost, capability of realizing motion on pipelines with different diameters, capability of carrying various pipeline detection devices according to needs, great reduction in manpower and material resources for monitoring work, and wide application prospect.
Description
Technical Field
The invention relates to the technology in the field of pipeline crawling, in particular to an outer pipeline crawling robot with a six-link mechanism.
Background
In nuclear power stations, various factories, urban water supply systems and other places, pipeline systems are often very complex and need to be detected regularly to ensure safety. The manual detection is time-consuming and labor-consuming, the efficiency is low, most pipelines contain high-temperature, high-pressure, toxic and radioactive fluid, and therefore a pipeline detection robot is required to replace manual operation.
The pipeline detection robot is a robot integrating various sensors and operating devices, and can be mainly divided into an outer pipeline and an inner pipeline. The inner pipeline crawling robot mainly adopts rollers or tracks, realizes movement in pipelines, is suitable for climbing of thin pipe diameters, needs high flexibility of the robot, and cannot detect oil transportation and water drainage of the pipelines. The outer pipeline crawling robot achieves grabbing and moving of the pipeline through the clamping mechanism and the wheel set, and then detection work is carried out. The outer pipeline robot can carry out oil transportation and detection simultaneously, but is not suitable for the work of pipe diameter-variable pipelines or vertical pipelines, and has higher requirements on flexibility and transmission.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the outer pipeline crawling robot with the six-bar mechanism, the motion and output force of three sets of driving systems is used as the motion and force input, the pipeline gripping is realized through the mechanical arms of the six-bar mechanism, and the linear motion and the pipe winding rotation are realized through the innovative wheel set design.
The invention is realized by the following technical scheme:
the invention comprises the following steps: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body.
The front vehicle body comprises: chassis and universal wheel, arm, connection disc, the power unit that sets up on the chassis, wherein: the universal wheels are arranged at the bottom of the chassis in the front and at the back, the power mechanism is arranged in the middle of the chassis and connected with the connecting disc, and the mechanical arms are symmetrically arranged on two sides of the chassis and connected with the power mechanism through the connecting disc.
The arm include: base, six link mechanism and wheelset mechanism, wherein: the base is arranged on the periphery of the chassis and connected with the six-connecting-rod mechanism, the six-connecting-rod mechanism is arranged on two sides of the chassis and connected with the connecting disc, and the wheel set mechanism is arranged at the tail end of the six-connecting-rod mechanism.
The six-bar linkage mechanism comprises: disc connecting rod, last pivot, lower pivot, arm connecting rod, wheelset support frame and bearing, wherein: disc connecting rod one end links to each other with the connection disc, and the other end links to each other with the arm connecting rod, and the arm connecting rod sets up in last pivot both ends to link to each other with the base through the bearing, the arm connecting rod other end sets up in lower pivot both ends, and links to each other with the wheelset support frame through pivot down.
The wheelset mechanism include: direct current motor, motor frame and cylindricality gyro wheel, wherein: the cylindrical roller is arranged on the six-bar mechanism, the motor frame is arranged on the six-bar mechanism and connected with the cylindrical roller, and the direct current motor is arranged on the motor frame.
Technical effects
The invention solves the problem that the complex pipeline system can not be fully automatically detected in industrial production. The invention can work on pipelines with different pipe diameters (200 +/-20 mm) without disassembly and assembly; the straight-line motion speed can reach 0.5m/s and the average bending time is 10s through a composite pipeline system comprising a right-angle pipeline and a T-shaped pipeline; can realize detecting around pipe circumferential direction.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a robot arm of the present invention at different opening angles;
FIG. 3 is a schematic view of the force applied between the wheel set and the pipe according to the present invention;
FIG. 4 is a schematic view of the movement of the present invention through a right angle elbow;
FIGS. 5 a-c are schematic views illustrating the working states of the embodiment;
in the figure: the device comprises a chassis 1, a mechanical arm 2, a base 3, a bearing 4, a universal wheel 5, a connecting disc 6, a disc connecting rod 7, a power mechanism 8, an upper rotating shaft 9, a lower rotating shaft 10, a wheel set supporting frame 11, an arm connecting rod 12, a motor frame 13, a direct current motor 14, a cylindrical roller 15, a vehicle body connecting piece 16, a driving device 17, a front vehicle body 18, a rear vehicle body 19, a wheel set mechanism 20, a six-link mechanism 21 and an upper arm connecting rod 22.
Detailed Description
As shown in fig. 1 to 3, the external pipeline crawling robot according to the present embodiment includes: front and rear bodies 18, 19 of the same structure, and a body joint 16 and a driving device 17 for controlling the pivoting of the front and rear bodies, wherein: the vehicle body attachment 16 is attached to a front vehicle body 18 and a rear vehicle body 19, respectively, and the drive unit 17 is provided on the front vehicle body 18 and the rear vehicle body 19.
The front vehicle body 18 includes: a chassis 1 and two universal wheels 5, two sets of arms 2, connection disc 6, power unit 8 that set up on the chassis for support and connection, wherein: universal wheel 5 sets up in chassis 1 bottom around through locknut, power unit 8 sets up in chassis 1 intermediate position and links to each other with connection disc 6, 2 symmetries of arm set up in chassis 1 both sides and link to each other with power unit 8 through connection disc 6, drive arrangement 8 drives connection disc 6 and rotates, transmission through a series of connecting rods, change into the synchronous opening and shutting of left and right sides arm 2 for hug closely the pipeline and provide certain pretightning force, arm 2 is about 45 degrees contained angles with the pipeline when hugging closely.
The mechanical arm 2 comprises: base 3, six link mechanism 21 and wheelset mechanism 20, wherein: the base 3 is arranged around the chassis 1 through locknuts and connected with the six-bar mechanism 21, the six-bar mechanism 21 is arranged on two sides of the chassis 1 and connected with the connecting disc 6, and the wheel set mechanism 20 is arranged at the tail end of the six-bar mechanism 21.
The six-bar linkage 21 includes: disc connecting rod 7, last pivot 9, lower pivot 10, arm connecting rod 12, wheelset support frame 11, bearing 4 and upper arm connecting rod 22, wherein: one end of a disc connecting rod 7 is connected with the connecting disc 6, the other end of the disc connecting rod is connected with an arm connecting rod 12, the arm connecting rod 12 is arranged at two ends of the upper rotating shaft 9 and is connected with the base 3 through a bearing 4, and the other end of the arm connecting rod 12 is arranged at two ends of the lower rotating shaft 10 and is connected with the wheel set supporting frame 11 through the lower rotating shaft 10.
The wheel set mechanism 20 includes: direct current motor 14, motor frame 13 and cylindricality gyro wheel 15, wherein: the cylindrical roller 15 is arranged between the wheel set supporting frames 11, the motor frame 13 is arranged on the wheel set supporting frames 11 and connected with the cylindrical roller 15, and the direct current motor 14 is arranged on the motor frame 13.
The surface of the universal wheel 5 is covered with silicon rubber.
The six connecting rods of the mechanical arms can simultaneously control the mechanical arms on two sides to synchronously move; the mechanical arm can adapt to pipelines with different pipe diameters by controlling the rotation angle of the disc; through the length of each connecting rod, the transmission angle and the pressure angle of the whole mechanism are reasonably designed, and the large tail end pretightening force can be output by small motor driving torque.
As shown in fig. 4 and 5 a-c, when the driving device 17 on the robot arm 2 rotates clockwise, the end of the robot arm 2 grips the pipe, and when it rotates counterclockwise, the pipe is released. The opening angle of the mechanical arm 2 can be adjusted by controlling the rotation angle of the driving device 17, so that the adaptive radius can be adjusted, and the robot can work on pipelines with different diameters (200 +/-20 mm).
When the cylindrical roller 15 rotates, friction along and perpendicular to the pipe diameter is generated. If the cylindrical rollers 15 on the two sides rotate reversely, the friction forces generated on the two sides and perpendicular to the pipe diameter are mutually offset, and the friction forces along the axis are mutually superposed, so that the robot can move linearly; if the cylindrical rollers 15 on the two sides rotate in the same direction, the friction forces along the shaft diameter generated on the two sides are mutually offset, and the friction forces vertical to the shaft axis are mutually superposed, so that the robot can rotate around the pipe.
The driving device 17 can control the relative movement of the two vehicle bodies to form a certain included angle; when through right angle type pipeline, earlier through rotating the adjustment robot to suitable position around the pipe, then the arm 2 of preceding automobile body 18 opens, and the pipeline is gripped to the arm of back automobile body 19, and the driving device control front truck through the middle part lifts up to the front and back automobile body and is 90 degrees, and then back automobile body 19 drives and makes the robot straight line advance, supports the pipeline and grasps until preceding automobile body 18, then the back car loosens the pipeline, and the front truck drives, can pass through right angle type pipeline.
Through concrete actual experiment, under diameter 200 mm's PVC pipeline to 12V power is 60kg steering wheel power supply, and the above-mentioned device of operation, the experimental data that can obtain are for silicon rubber for the material of wheel crust: the positive pressure on the pipe wall is 11.12N, and the traction force provided by the wheels on the two sides is 4.72N.
Compared with the prior art, the device uses smaller working voltage and steering engine to realize larger pretightening force and traction force, and meets the power requirement of complex motion of the mechanism. Meanwhile, the structure is simplified, the whole weight and energy consumption are reduced, and the operation efficiency is improved.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (1)
1. An outer pipe crawling robot, comprising: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body;
the front vehicle body comprises: chassis and set up universal wheel, arm, connection disc, power unit on the chassis, wherein: the universal wheels are arranged at the bottom of the chassis in front and at the back, the power mechanism is arranged in the middle of the chassis and connected with the connecting disc, and the mechanical arms are symmetrically arranged at two sides of the chassis and connected with the power mechanism through the connecting disc;
the mechanical arm comprises: base, six link mechanism and wheelset mechanism, wherein: the base is arranged on the periphery of the chassis and connected with the six-connecting-rod mechanism, the six-connecting-rod mechanism is arranged on two sides of the chassis and connected with the connecting disc, and the wheel set mechanism is arranged at the tail end of the six-connecting-rod mechanism;
the six-bar linkage mechanism comprises: disc connecting rod, last pivot, lower pivot, arm connecting rod, wheelset support frame and bearing, wherein: one end of a disc connecting rod is connected with the connecting disc, the other end of the disc connecting rod is connected with an arm connecting rod, the arm connecting rod is arranged at two ends of the upper rotating shaft and is connected with the base through a bearing, the other end of the arm connecting rod is arranged at two ends of the lower rotating shaft and is connected with the wheel set supporting frame through the lower rotating shaft, and the mechanical arm can adapt to pipelines with different pipe diameters by controlling the rotation angle of the disc; outputting larger terminal pretightening force with smaller motor driving torque based on the length of each connecting rod, the transmission angle and the pressure angle of the whole mechanism;
the wheelset mechanism include: direct current motor, motor frame and cylindricality gyro wheel, wherein: the cylindrical roller is arranged on the six-bar mechanism, the motor frame is arranged on the six-bar mechanism and connected with the cylindrical roller, and the direct current motor is arranged on the motor frame;
the surface of the universal wheel is covered with silicon rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010650269.XA CN111776100B (en) | 2020-07-08 | 2020-07-08 | Outer pipeline crawling robot with six-link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010650269.XA CN111776100B (en) | 2020-07-08 | 2020-07-08 | Outer pipeline crawling robot with six-link mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111776100A CN111776100A (en) | 2020-10-16 |
| CN111776100B true CN111776100B (en) | 2022-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010650269.XA Expired - Fee Related CN111776100B (en) | 2020-07-08 | 2020-07-08 | Outer pipeline crawling robot with six-link mechanism |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104126A (en) * | 2021-03-15 | 2021-07-13 | 湖北工业大学 | Foldable device of crawling outside of tubes |
| CN113184676B (en) * | 2021-05-12 | 2023-04-28 | 上海工程技术大学 | Armrest sterilizing device |
| CN113479268B (en) * | 2021-07-19 | 2022-04-12 | 沈阳航空航天大学 | Patrol and examine robot that collects walking, climbing and hinder more in an organic whole |
| CN114777697B (en) * | 2022-05-18 | 2023-09-01 | 南京工程学院 | Wall thickness detection device based on spheroidal graphite cast tube |
| CN118372223B (en) * | 2024-06-21 | 2024-09-06 | 安徽建筑大学 | Three-section type structure out-of-pipe crawler and crawling, obstacle avoiding and obstacle surmounting method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700643A (en) * | 2012-05-17 | 2012-10-03 | 山东科技大学 | Mechanical structure of pipe-outside walking robot, and working method of mechanical structure |
| CN204037719U (en) * | 2014-08-12 | 2014-12-24 | 皖西学院 | The outer tube climber device people of two-way wheel type pipe |
| CN204450530U (en) * | 2015-01-27 | 2015-07-08 | 浙江理工大学 | A kind of stacking machine mechanical arm with five degree of freedom |
| CN110744537A (en) * | 2019-10-17 | 2020-02-04 | 尔智机器人(珠海)有限公司 | Three-joint robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2929228B1 (en) * | 2008-03-28 | 2010-06-18 | Thales Sa | POKER ROBOT ROBOT. |
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2020
- 2020-07-08 CN CN202010650269.XA patent/CN111776100B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700643A (en) * | 2012-05-17 | 2012-10-03 | 山东科技大学 | Mechanical structure of pipe-outside walking robot, and working method of mechanical structure |
| CN204037719U (en) * | 2014-08-12 | 2014-12-24 | 皖西学院 | The outer tube climber device people of two-way wheel type pipe |
| CN204450530U (en) * | 2015-01-27 | 2015-07-08 | 浙江理工大学 | A kind of stacking machine mechanical arm with five degree of freedom |
| CN110744537A (en) * | 2019-10-17 | 2020-02-04 | 尔智机器人(珠海)有限公司 | Three-joint robot |
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| CN111776100A (en) | 2020-10-16 |
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