CN111946942A - Rescue system suitable for operation of pipeline robot - Google Patents
Rescue system suitable for operation of pipeline robot Download PDFInfo
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- CN111946942A CN111946942A CN202010847314.0A CN202010847314A CN111946942A CN 111946942 A CN111946942 A CN 111946942A CN 202010847314 A CN202010847314 A CN 202010847314A CN 111946942 A CN111946942 A CN 111946942A
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- shaft
- fixing frame
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- robot
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/46—Launching or retrieval of pigs or moles
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Emergency Lowering Means (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rescue system suitable for pipeline robot operation, which comprises an impact part and a grabbing part, wherein the impact part comprises a conical head, and the conical head is fixed at the front end of a rescue robot; the grabbing part comprises a shaft and a grabbing claw mechanism arranged on the shaft; the gripper mechanism comprises a first fixing frame, the first fixing frame is fixedly arranged in the middle of the shaft, and a plurality of groups of connecting pieces are hinged to the front end of the first fixing frame; a shaft at the rear end of the first fixed frame is sleeved with a conical limiting piece, and the conical surface of the conical limiting piece is contacted with the plurality of groups of wheels; the buffering piece is movably sleeved at the front end of the shaft, and the first spring is sleeved on the shaft between the buffering piece and the fixing frame. The device can be automatically aligned with a robot which is clamped in a pipeline, the pipeline robot is effectively disengaged and separated through a mechanical device, the rescue system is quickly butted with the robot to be rescued, the robot is not easy to loosen after being butted through a special conical member, and the success rate of rescue is improved.
Description
Technical Field
The invention belongs to the technical field of pipeline operation rescue devices, and particularly relates to a rescue system suitable for pipeline robot operation.
Background
The pipeline robot often needs to go deep into the pipeline to operate, communication interruption, blockage in a curve and the like are common faults of the pipeline robot, and the pipeline robot cannot easily get rid of trouble, so that how to realize safe and quick rescue when the pipeline welding robot breaks down is very important.
The rescue system is one of the important systems of the pipeline robot, and has the advantages that when the pipeline robot breaks down in the pipeline, the trapped pipeline robot can escape through the structural system without pulling other violence modes through a rope, so that the pipeline coating is prevented from being damaged, and the loss is reduced.
In the prior art, the rescue system has a complex structure and low rescue efficiency, so that it is very important to provide a system with a compact structure, good stability and high reliability, which is also a technical problem to be solved urgently in a pipeline robot system.
Disclosure of Invention
The invention aims to provide a rescue system suitable for operation of a pipeline robot, and solves the problems of difficulty in rescue, complex structure and the like of the pipeline robot rescue system in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the rescue system suitable for the operation of the pipeline robot comprises an impact part and a grabbing part, wherein the impact part comprises a conical head which is fixed at the front end of the rescue robot;
the grabbing part is arranged on the pipeline robot to be rescued and comprises a shaft and a grabbing claw mechanism arranged on the shaft;
the gripper mechanism comprises a first fixing frame, the first fixing frame is fixedly arranged in the middle of the shaft, the front end of the first fixing frame is hinged with a plurality of groups of connecting pieces through a first connecting shaft, and the plurality of groups of connecting pieces form a gripper body; the front ends of the connecting pieces are provided with inward hook structures, and the rear ends of the connecting pieces are connected with wheels;
a shaft at the rear end of the first fixed frame is sleeved with a conical limiting piece, and the conical surface of the conical limiting piece is contacted with the plurality of groups of wheels;
the buffering piece is movably sleeved at the front end of the shaft, and the first spring is sleeved on the shaft between the buffering piece and the fixing frame.
The manual valve mechanism is arranged at the rear part of the grabbing part and comprises a second fixing frame, the second fixing frame is arranged at the tail end of the shaft, a manual valve is arranged on the end face of the outer side of the second fixing frame, a support is arranged above the second fixing frame through a screw, the support is connected with a rocker arm through a second connecting shaft, the front end of the rocker arm is contacted with the rear end of the conical limiting piece, and a third spring is sleeved on the shaft between the conical limiting piece and the second fixing frame; the tail end of the rocker arm is in contact with a switching mechanism of the manual valve.
Furthermore, the switch mechanism comprises a stop block, a connecting block and a second spring, the connecting block is fixed on the fixing frame, the stop block and the second spring are fixed on the connecting block, and the other end of the second spring is connected with the stop block; the stop is adjacent to the handle of the manual valve.
Furthermore, a plurality of groups of limiting blocks are fixedly arranged on the first fixing frame, and the limiting blocks can limit the rotating angle of the connecting piece.
Furthermore, four groups of connecting pieces (2) are arranged.
Compared with the prior art, the invention has the following beneficial effects:
the device can be automatically aligned with a robot which is clamped in a pipeline, the pipeline robot is effectively disengaged and separated through a mechanical device, the rescue system is quickly butted with the robot to be rescued, the robot is not easy to loosen after being butted through a special conical member, and the success rate of rescue is improved.
Drawings
FIG. 1 is a schematic view of the construction of the impingement section of the present invention;
FIG. 2 is a schematic view of the structure of the grasping portion of the present invention;
FIG. 3 is a schematic view of the impact portion of the present invention in abutting engagement with the gripping portion;
FIG. 4 is an isometric view of FIG. 3;
FIG. 5 is another isometric view of FIG. 3;
in the figure, 1-a cone head, 2-a connecting piece, 3-a buffer piece, 4-a first spring, 5-a limiting block, 6-a first fixing frame, 7-a wheel, 8-a cone limiting block, 9-a rocker arm, 10-a third spring, 11-a shaft, 12-a support, 13-a shaft, 14-a second spring, 15-a manual valve, 16-a second fixing frame, 17-a stop block, 18-a connecting block, 19-a first connecting shaft and 20-a second connecting shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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.
The rescue system suitable for the pipeline robot operation described with reference to fig. 1-5 comprises an impact part and a grabbing part, wherein the impact part comprises a conical head 1, and the conical head 1 is fixed at the front end of the rescue robot; the grabbing part is arranged at one end, facing the pipe orifice, of the pipeline robot power vehicle to be rescued and comprises a shaft 11 and a grabbing claw mechanism arranged on the shaft 11;
the gripper mechanism comprises a first fixing frame 6, the first fixing frame 6 is fixedly arranged in the middle of the shaft 11, four groups of connecting pieces 2 are hinged to the front end of the first fixing frame 6 through a first connecting shaft 19, and the four groups of connecting pieces 2 form a gripper body; the front ends of the connecting pieces 2 are provided with inward hook structures, and the rear ends of the connecting pieces 2 are connected with wheels 7;
a shaft 11 at the rear end of the first fixing frame 6 is sleeved with a conical limiting piece 8, and the conical surface of the conical limiting piece 8 is in contact with the plurality of groups of wheels 7;
the buffering piece 3 is movably sleeved at the front end of the shaft 11, and the first spring 4 is sleeved on the shaft 11 between the buffering piece 3 and the fixing frame 6.
In another embodiment, the device further comprises a manual valve mechanism, the manual valve mechanism is arranged at the rear part of the grabbing part, the manual valve mechanism comprises a second fixing frame 16, the second fixing frame 16 is arranged at the tail end of the shaft 11, a manual valve 15 is arranged on the outer end face of the second fixing frame 16, a support 12 is arranged above the second fixing frame 16 through a screw, the support 12 is connected with the rocker arm 9 through a second connecting shaft 20 in a shaft connection mode, the front end of the rocker arm 9 is in contact with the rear end of the conical limiting piece 8, and a third spring 10 is sleeved on the shaft 11 between the conical limiting piece 8 and the second fixing frame 16; the end of the rocker arm 9 is in contact with the switching mechanism of the manual valve 15.
The switch mechanism comprises a stop block 17, a connecting block 18 and a second spring 14, the connecting block 18 is fixed on the fixed frame 16, the stop block 17 and the second spring 14 are fixed on the connecting block 18, and the other end of the second spring 14 is connected with the stop block 17; the stopper 17 is provided on one side of the handle of the manual valve 15.
A plurality of groups of limiting blocks 5 are fixedly arranged on the first fixing frame 6, and the limiting blocks 5 can limit the rotating angle of the connecting piece 2.
The working process of the invention is described as follows:
when the pipeline robot is trapped, the rescue robot takes the conical head 1 fixed at the front end to move towards the pipe, the conical head 1 collides with four groups of connecting pieces 2 in a grabbing mechanism connected to a pipeline robot power vehicle to be rescued, under the impact of the conical head 1, the connecting pieces 2 are opened at a certain angle around a first connecting shaft 19, meanwhile, wheels 7 arranged on the connecting pieces 2 slide on a conical limiting piece 8, the conical limiting piece 8 compresses a third spring 10 along a shaft 11 to deform, the conical limiting piece 8 supports a rocker arm 9 rotating around a second connecting shaft 20 in the moving process, the tail end of the rocker arm 9 enables a handle of a manual valve 15 to be downward, a stop block 17 can rotate around a screw on the connecting block 18 towards one side of the rocker arm 9 under the action of a second spring 14, the handle of the manual valve 15 enables the manual valve 15 to exhaust under the action of the stop block 17, and the air cylinder deflates to achieve the clutch release effect, at the moment, the top wheel used for applying pressure on the power vehicle loses pressure due to the exhaust of the manual valve 15, so that the aim of rescue connection is fulfilled, and finally, the rescue vehicle connected with the conical head 1 drags the connecting piece 2 to drive the whole train to fulfill the aim of rescue.
When the conical head 1 completely enters the gripper body structure formed by the four groups of connecting pieces 2, the conical head 1 collides against the buffer piece 3, the buffer piece 3 moves and plays a buffer role under the action of the first spring 4, at the moment, the connecting pieces 2 recover to the initial position under the action of the conical limiting piece 8 and the third spring 10, and the limiting block 5 prevents the connecting pieces 2 from excessively opening inwards; after a series of actions of the grabbing mechanism, the conical head 1 and the grabbing mechanism are clamped to be dead, the rescue vehicle with the conical head 1 returns towards the direction of the pipe opening, the groove in the conical head 1 is clamped at one end of the connecting piece 2 at the moment, the conical head 1 is not easy to loosen, and the rescue vehicle can complete rescue of the pipeline robot to be rescued.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. Any partial modification or replacement within the technical scope of the present disclosure by a person skilled in the art should be included in the scope of the present disclosure.
Claims (5)
1. The rescue system suitable for the operation of the pipeline robot is characterized by comprising an impact part and a grabbing part, wherein the impact part comprises a conical head (1), and the conical head (1) is fixed at the front end of the rescue robot;
the grabbing part is arranged on a pipeline robot to be rescued and comprises a shaft (11) and a grabbing claw mechanism arranged on the shaft (11);
the gripper mechanism comprises a first fixing frame (6), the first fixing frame (6) is fixedly arranged in the middle of the shaft (11), the front end of the first fixing frame (6) is hinged with a plurality of groups of connecting pieces (2) through a first connecting shaft (19), and the plurality of groups of connecting pieces (2) form a gripper body; the front ends of the connecting pieces (2) are provided with inward hook structures, and the rear ends of the connecting pieces (2) are connected with wheels (7);
a shaft (11) at the rear end of the first fixing frame (6) is sleeved with a conical limiting piece (8), and the conical surface of the conical limiting piece (8) is contacted with the plurality of groups of wheels (7);
the front end of the shaft (11) is movably sleeved with the buffer piece (3), and the shaft (11) between the buffer piece (3) and the fixing frame (6) is sleeved with the first spring (4).
2. The rescue system suitable for the pipeline robot operation is characterized by further comprising a manual valve mechanism, wherein the manual valve mechanism is arranged at the rear part of the grabbing part and comprises a second fixing frame (16), the second fixing frame (16) is arranged at the tail end of the shaft (11), a manual valve (15) is arranged on the outer side end face of the second fixing frame (16), a support (12) is arranged above the second fixing frame (16) through a screw, the support (12) is connected with a rocker arm (9) through a second connecting shaft (20) in a shaft mode, the front end of the rocker arm (9) is in contact with the rear end of the conical limiting part (8), and a third spring (10) is sleeved on the shaft (11) between the conical limiting part (8) and the second fixing frame (16); the tail end of the rocker arm (9) is in contact with a switching mechanism of the manual valve (15).
3. The rescue system suitable for the operation of the pipeline robot as claimed in claim 2, wherein the switch mechanism comprises a stopper (17), a connecting block (18) and a second spring (14), the connecting block (18) is fixed on the fixing frame (16), the stopper (17) and the second spring (14) are fixed on the connecting block (18), and the other end of the second spring (14) is connected with the stopper (17); the stop (17) is adjacent to the handle of the manual valve (15).
4. The rescue system suitable for the operation of the pipeline robot as claimed in claim 3, wherein a plurality of sets of limit blocks (5) are fixedly arranged on the first fixing frame (6), and the limit blocks (5) can limit the rotating angle of the connecting piece (2).
5. Rescue system for robotic work on a pipeline according to claim 4, characterized in that the connectors (2) are provided in four groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010847314.0A CN111946942B (en) | 2020-08-21 | 2020-08-21 | Rescue system suitable for operation of pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010847314.0A CN111946942B (en) | 2020-08-21 | 2020-08-21 | Rescue system suitable for operation of pipeline robot |
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| Publication Number | Publication Date |
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| CN111946942A true CN111946942A (en) | 2020-11-17 |
| CN111946942B CN111946942B (en) | 2021-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010847314.0A Active CN111946942B (en) | 2020-08-21 | 2020-08-21 | Rescue system suitable for operation of pipeline robot |
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Citations (13)
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|---|---|---|---|---|
| JPH0712285A (en) * | 1993-06-25 | 1995-01-17 | Sekisui Chem Co Ltd | Piping repairing device |
| DE19511295A1 (en) * | 1994-04-21 | 1995-10-26 | Eisenhut Max Ag | Mobile repairer for internal rebuilding of pipe walls and junctions |
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| CN101961870A (en) * | 2010-08-12 | 2011-02-02 | 燕山大学 | Danger rescue and pipe parallel robot |
| CN102152310A (en) * | 2011-02-24 | 2011-08-17 | 北京建筑工程学院 | Underground rescue manipulator |
| US8936289B1 (en) * | 2010-03-15 | 2015-01-20 | Telefactor Robotics LLC | Robotic finger assemblies |
| CN204108534U (en) * | 2014-07-08 | 2015-01-21 | 哈尔滨理工大学 | The rescue docking facilities of pipe welding robot |
| CN207824896U (en) * | 2017-12-18 | 2018-09-07 | 西安丁子电子信息科技有限公司 | A kind of mechanical arm for rescuing robot for fire control |
| CN208468399U (en) * | 2018-05-19 | 2019-02-05 | 南安墨潇工业产品设计有限公司 | A kind of rescue robot of adaptive landform |
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2020
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| US8936289B1 (en) * | 2010-03-15 | 2015-01-20 | Telefactor Robotics LLC | Robotic finger assemblies |
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| CN109454647A (en) * | 2018-11-18 | 2019-03-12 | 祝润山 | A kind of rescuing robot for fire control buffering handgrip and fire-fighting robot |
| CN110345335A (en) * | 2019-07-11 | 2019-10-18 | 江苏科技大学 | Climbing robot and its control method in imitative looper gait pipe |
| CN110434864A (en) * | 2019-07-22 | 2019-11-12 | 大连理工大学 | A kind of rescue robot head grabs device based on small diameter deep well |
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| CN111946942B (en) | 2021-10-15 |
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