CN112228699A - Peristaltic connecting rod driving pipeline robot - Google Patents
Peristaltic connecting rod driving pipeline robot Download PDFInfo
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- CN112228699A CN112228699A CN202011081497.6A CN202011081497A CN112228699A CN 112228699 A CN112228699 A CN 112228699A CN 202011081497 A CN202011081497 A CN 202011081497A CN 112228699 A CN112228699 A CN 112228699A
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- crankshaft
- connecting rod
- driving
- arm
- elastic supporting
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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
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a peristaltic connecting rod driving pipeline robot which comprises a driving motor, a driving mechanism and a driven mechanism, wherein the driving motor is connected with the driving mechanism; the driving mechanism comprises a first shell and a driving crankshaft, the first shell is connected with a first elastic supporting arm in a sliding mode, and the first elastic supporting arm is connected with the driving crankshaft through a first connecting rod; the driven mechanism comprises a second shell and a driven crankshaft, the phase difference between the driven crankshaft and the driving crankshaft is 180 degrees, the second shell is connected with a second elastic supporting arm in a sliding mode, and the second elastic supporting arm is connected with the driven crankshaft through a second connecting rod; the output end of the driving motor is connected with a driving crankshaft, the driving crankshaft is in transmission sleeve joint with a driven crankshaft and can slide relatively, a flexible connecting rod is hinged between the first elastic supporting arm and the second shell, and one end of the flexible connecting rod, which is hinged with the first elastic supporting arm, can swing along with the sliding of the first elastic supporting arm; the invention realizes radial support and axial movement by the same motor drive, has simple structure and good movement coordination, and realizes the rapid movement of the robot.
Description
Technical Field
The invention relates to a peristaltic connecting rod driving pipeline robot.
Background
When carrying out the operation in the pipeline, often use pipeline robot to carry out the displacement, but current pipeline robot's supporting mechanism independently sets up with displacement mechanism, drives through the power supply of difference, leads to the structure complicacy, and the motion harmony is poor, is unfavorable for pipeline robot rapid draing in the pipeline.
Disclosure of Invention
The invention aims to overcome the defects and provide a peristaltic connecting rod driven pipeline robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a peristaltic connecting rod driving pipeline robot comprises a driving motor, a driving mechanism and a driven mechanism;
the driving mechanism comprises a first shell and a driving crankshaft, the driving crankshaft is rotatably connected in the first shell, three first sliding groove arms extend outwards on the peripheral wall of the first shell at equal intervals, the three first sliding groove arms are all connected with first elastic supporting arms in a sliding mode, and one ends of the three first elastic supporting arms are connected with the driving crankshaft through first connecting rods respectively;
the driven mechanism comprises a second shell and a driven crankshaft, the driven crankshaft is rotatably connected in the second shell, the phase difference between the driven crankshaft and the driving crankshaft is 180 degrees, three second chute arms extend outwards at equal intervals on the peripheral wall of the second shell, the three second chute arms are all connected with second elastic supporting arms in a sliding mode, and one ends of the three second elastic supporting arms are connected with the driven crankshaft through second connecting rods respectively;
the driving motor is fixed on one side of the first shell, which faces away from the second shell, and the output end of the driving motor is connected with the journal of the driving crankshaft, which is far away from the driven crankshaft, the adjacent side of the first shell and the second shell is in sliding sleeve joint, the adjacent end of the driving crankshaft and the driven crankshaft are in transmission sleeve joint and can slide relatively, the first elastic supporting arm and the second shell are hinged with a flexible connecting rod, and the hinged end of the flexible connecting rod and the first elastic supporting arm can swing along with the sliding of the first elastic supporting arm and change between a flexible state and a rigid state.
The first elastic support arm and the second elastic support arm respectively comprise a sliding arm, a floating arm, a transition spring and a U-shaped swing contact block, one end of the floating arm stretches into the sliding arm in a sliding mode, the transition spring is arranged in the sliding arm, two ends of the transition spring are respectively abutted to the floating arm and the sliding arm, the middle of the bottom end of the swing contact block is hinged to the other end of the floating arm, the sliding arm of the first elastic support arm is connected to the first sliding groove arm in a sliding mode, one end, far away from the swing contact block, of the sliding arm of the first elastic support arm is connected with the driving crankshaft through a first connecting rod, the sliding arm of the second elastic support arm is connected to the second sliding groove arm in a sliding mode, and one end, far away from the swing contact block, of the sliding arm of the second elastic support arm is connected with the driven crankshaft through a second connecting rod.
Furthermore, the end parts of the two ends of the swinging contact block are both of semicircular structures.
The flexible connecting rod comprises a first section of connecting rod and a second section of connecting rod, one end of the first section of connecting rod is hinged to the first elastic supporting arm, one end of the second section of connecting rod is hinged to the second shell, the other end of the first section of connecting rod is provided with an axial blind hole and a strip-shaped bayonet communicated with the axial blind hole, the other end of the second section of connecting rod is provided with a buckle, the other end of the second section of connecting rod movably extends into the axial blind hole of the first section of connecting rod, the buckle is movably clamped in the strip-shaped bayonet, the first sliding groove arm is provided with an opening convenient for the flexible connecting rod to swing corresponding to the first section of connecting rod, and the sliding strokes of the sliding arm of the first elastic supporting arm and the sliding arm of the second elastic supporting arm are both greater than the sliding stroke.
The first guide part axially extends from one side of the first shell close to the second shell, the second guide part axially extends from one side of the second shell close to the first shell, the first guide part slidably extends into the second guide part and is in transmission connection with the second guide part, the journal of the driving crankshaft close to the driven crankshaft extends into the first guide part, the journal of the driven crankshaft close to the driving crankshaft extends into the second guide part, and the journal of the driven crankshaft close to the driving crankshaft extends into the journal of the driving crankshaft close to the driven crankshaft and is in transmission connection with the driving crankshaft.
The first guide part and the second guide part are both in a hexagonal prism structure, the shaft neck of the driving crankshaft is provided with a shaft hole in a hexagonal prism structure, and the shaft neck of the driven crankshaft is in a hexagonal prism structure.
The invention has the beneficial effects that: compared with the prior art, the phase difference between the driving crankshaft and the driven crankshaft is set to be 180 degrees, so that the first elastic supporting arm and the second elastic supporting arm are alternately supported and fixed with the pipe wall of the pipeline, and meanwhile, the radial support and the axial movement are realized under the drive of the same driving motor by utilizing the linkage of the flexible connecting rod and the first elastic supporting arm, the structure is simple, the movement coordination is good, and the rapid movement of the robot is realized.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of another aspect of the present invention;
FIG. 3 is a cross-sectional view of the present invention;
FIG. 4 is a view of the present invention in use disposed within a conduit;
FIG. 5 is an exploded schematic view of the active mechanism of the present invention;
FIG. 6 is an exploded schematic view of the follower mechanism of the present invention;
FIG. 7 is a cross-sectional view of a first resilient support arm or a second resilient support arm of the present invention;
description of reference numerals: a driving motor-1;
an active mechanism-2; a first housing-21; a first chute arm-211; a first guide portion-212; a driving crankshaft-22; a first resilient support arm-23; a first link-24;
a driven mechanism-3; a second housing-31; a second chute arm-311; a second guide portion-312; -32, a driven crankshaft; a second resilient support arm-33; a second link-34; a flexible connecting rod-4; a first section of connecting rod-41; a strip bayonet-411; a second section of connecting rod-42; a buckle-421;
a sliding arm-10; a floating arm-20; transition spring-30; the contact block-40 is swung.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 7, the peristaltic connecting rod driven pipeline robot according to the present embodiment includes a driving motor 1, a driving mechanism 2 and a driven mechanism 3;
the driving mechanism 2 comprises a first shell 21 and a driving crankshaft 22, the driving crankshaft 22 is rotatably connected in the first shell 21, three first sliding groove arms 211 extend outwards at equal intervals on the peripheral wall of the first shell 21, the three first sliding groove arms 211 are all connected with first elastic supporting arms 23 in a sliding manner, and one ends of the three first elastic supporting arms 23 are connected with the driving crankshaft 22 through first connecting rods 24 respectively;
the driven mechanism 3 comprises a second housing 31 and a driven crankshaft 32, the driven crankshaft 32 is rotatably connected in the second housing 31, the phase difference between the driven crankshaft 32 and the driving crankshaft 22 is 180 degrees, three second chute arms 311 extend outwards at equal intervals on the peripheral wall of the second housing 31, the three second chute arms 311 are all connected with second elastic supporting arms 33 in a sliding manner, and one ends of the three second elastic supporting arms 33 are connected with the driven crankshaft 32 through second connecting rods 34 respectively;
the driving motor 1 is fixed on one side of the first casing 21, which is opposite to the second casing 31, and the output end of the driving motor is connected with the journal of the driving crankshaft 22, which is far away from the driven crankshaft 32, the adjacent sides of the first casing 21 and the second casing 31 are in sliding sleeve joint, the adjacent ends of the driving crankshaft 22 and the driven crankshaft 32 are in transmission sleeve joint, and the driving crankshaft and the driven crankshaft can slide relatively, the three first elastic supporting arms 23 are hinged with the second casing 31 to form a flexible connecting rod 4, and the hinged end of the flexible connecting rod 4 and the first elastic supporting arm 23 can swing along with the sliding of the first elastic supporting arm 23 and change between a flexible state and a rigid state.
The working mode of the embodiment is as follows: when the robot works, an external working part is in transmission connection with a journal of the driven crankshaft 32 far away from the driving crankshaft 22, then the whole robot is placed into a pipeline to be operated, then the driving motor 1 drives the driving crankshaft 22 to rotate, the driving crankshaft 22 synchronously drives the three first elastic supporting arms 23 to move through the three first connecting rods 24, the three first elastic supporting arms 23 respectively and correspondingly reciprocate along the first chute arms 211, meanwhile, the driving crankshaft 22 transmits a rotating torque to the driven crankshaft 32 to drive the driven crankshaft 32 to rotate, the driven crankshaft 32 drives the three second elastic supporting arms 33 to synchronously drive the three second elastic supporting arms 33 through the three second connecting rods 34, the three second elastic supporting arms 33 respectively and correspondingly reciprocate along the second chute arms 311, and as the phase difference between the driving crankshaft 22 and the driven crankshaft 32 is 180 degrees, the three first elastic supporting arms 23 and the three second elastic supporting arms 33 move oppositely, when the first elastic supporting arm 23 slides outwards along the first chute arm 211, the second elastic supporting arm 33 slides inwards along the second chute arm 311, so that the driving mechanism 2 and the driven mechanism 3 are alternately supported and fixed with the pipe wall of the pipeline; meanwhile, the flexible connecting rod 4 synchronously swings along with the sliding of the first elastic supporting arm 23, so that the flexible connecting rod changes between a flexible state and a rigid state, when the flexible connecting rod 4 is in the flexible state, no axial acting force is generated between the driving mechanism 2 and the driven mechanism 3, when the flexible connecting rod 4 is in the rigid state, an axial acting force is generated between the driving mechanism 2 and the driven mechanism 3, when the first elastic supporting arm 23 is supported and fixed with the pipe wall of the pipeline, the driving mechanism 2 pulls the driven mechanism 3 to axially move along the pipeline through the flexible connecting rod 4, so as to drive external working parts to move along the pipeline, and when the second elastic supporting arm 33 is supported and fixed with the pipe wall of the pipeline, the driving mechanism 2 axially creeps towards the inside of the pipeline through the reacting force of the driven mechanism 3 received by the flexible connecting rod 4, namely, the driving mechanism 2 moves away from the driven mechanism 3, the external working part is continuously driven to do peristaltic movement in the pipeline.
This embodiment is 180 degrees through the phase difference that sets up initiative bent axle 22 and driven crankshaft 32 for first elastic support arm 23 and second elastic support arm 33 support fixedly with the pipeline pipe wall in turn, utilize the linkage of flexible connecting rod 4 and first elastic support arm 23 simultaneously, and then realize radial support and axial displacement under same driving motor 1 drives, simple structure, and the motion harmony is good, realizes the quick travel of robot.
Further to the present invention, the first elastic supporting arm 23 and the second elastic supporting arm 33 each comprise a sliding arm 10, a floating arm 20, a transition spring 30 and a U-shaped swinging contact block 40, one end of the floating arm 20 is slidably inserted into the sliding arm 10, the transition spring 30 is arranged in the sliding arm 10, and two ends of the transition spring are respectively abutted against the floating arm 20 and the sliding arm 10, the middle part of the bottom end of the swing contact block 40 is hinged at the other end of the floating arm 20, the sliding arm 10 of the first elastic supporting arm 23 is connected on the first sliding groove arm 211 in a sliding way, the end of the sliding arm 10 of the first elastic supporting arm 23 far away from the swinging contact block 40 is connected with the driving crankshaft 22 through a first connecting rod 24, the sliding arm 10 of the second elastic supporting arm 33 is slidably connected to the second chute arm 311, the end of the sliding arm 10 of the second elastic supporting arm 33 away from the swinging contact block 40 is connected to the driven crankshaft 32 through a second connecting rod 34.
In practical use, when the first elastic supporting arms 23 support and fix the pipe wall of the pipeline, the swing contact block 40 of the first elastic supporting arms 23 contact with the pipe wall of the pipeline and compress the transition spring 30, along with the operation of the driving motor 1, the driving crankshaft 22 drives the three first elastic supporting arms 23 to gradually retract through the first connecting rod 24, at this time, the first connecting rod 24 pulls the sliding arm 10 of the first elastic supporting arms 23 to retract, the swing contact block 40 keeps contacting with the pipe wall of the pipeline due to the elastic force of the transition spring 30, meanwhile, the sliding arm 10 of the first elastic supporting arms 23 drives the flexible connecting rod 4 to swing inwards, at this time, due to the flexible action of the flexible connecting rod 4, the first elastic supporting arms 23 do not generate acting force on the driven mechanism 3, and the second elastic supporting arms 33 synchronously and gradually extend outwards under the driving of the driven crankshaft 32, that is, the driven crankshaft 32 pushes the sliding arm 10 of the second elastic supporting arms 33 to extend outwards through the second connecting, the sliding arm 10 of the second elastic supporting arm 33 drives the swing contact block 40 of the second elastic supporting arm 33 to extend outwards until the swing contact block 40 of the second elastic supporting arm 33 is supported and fixed on the pipe wall of the pipeline, and when the flexible connecting rod 4 is changed from a flexible state to a rigid state and the transition spring 30 of the first elastic supporting arm 23 recovers to be elastically deformed, the swing contact block 40 of the first elastic supporting arm 23 is retracted along with the sliding arm 10 of the first elastic supporting arm 23, meanwhile, the whole driving mechanism 2 generates mutual thrust through the flexible connecting rod 4 and the driven mechanism 3, and the driven mechanism 3 is radially supported and fixed, so that the driving mechanism 2 is subjected to the reverse thrust of the driven mechanism 3 to creep relative to the driven mechanism 3;
after the peristalsis of the driving mechanism 2 is finished, the driven crankshaft 32 drives the second supporting arm to retract inwards, synchronously, the driving crankshaft 22 drives the first elastic supporting arm 23 to extend outwards, the flexible connecting rod 4 synchronously swings outwards along with the sliding arm 10 of the first elastic supporting arm 23, and is changed into a flexible state from a rigid state until the swinging contact block 40 of the first elastic supporting arm 23 is contacted with the pipe wall of the pipeline and supported and fixed under the action of the elastic force of the transition spring 30, and as the sliding arm 10 of the first elastic supporting arm 23 continues to extend outwards, causing transition spring 30 to be further compressed, while flexible link 4 is again changed from the flexible state to the rigid state, and the driven crankshaft 32 drives the second elastic supporting arms 33 to retract inwards, at this time, because the flexible connecting rod 4 is in a rigid state, the sliding arm 10 of the first elastic supporting arm 23 pulls the whole driven mechanism 3 to creep towards the driving mechanism 2 through the flexible connecting rod 4 when continuing to extend outwards;
so repeat above-mentioned process, whole robot drives external work piece and carries out the wriggling in the pipeline, and the first elastic support arm 23 of initiative mechanism 2 and the second elastic support arm 33 of follower 3 support in turn simultaneously and fix on the pipeline pipe wall, guarantee the radial support of whole robot to realize that the robot radially supports and go on with axial wriggling coordination, realize the robot and quick travel in the pipeline.
This embodiment is through the floating arm 20 at first elastic support arm 23 and the floating arm 20 of second elastic support arm 33 articulated swing contact block 40 respectively, when meetting the pipe wall and having protruding barrier, swing through swing contact block 40 atress and cross the barrier, if the barrier size exceeds swing stroke back of swing contact block 40, swing contact block 40 atress back is through floating arm 20 extrusion transition spring 30, make transition spring 30 compress, and then make swing contact block 40 cross the barrier, thereby improve the obstacle crossing ability of whole robot wriggling in-process greatly, difficult emergence jamming, it is more reliable to work, compare in the mode that adopts the gyro wheel simultaneously, swing contact block 40's holding power is stronger.
Further, the two ends of the swinging contact block 40 are both semicircular structures. The arrangement is such that the supporting force of the swinging contact block 40 is ensured, and the swinging contact block 40 can pass over an obstacle more conveniently.
Further to the present invention, said flexible link 4 comprises a first segment 41 and a second segment 42, one end of the first section of connecting rod 41 is hinged on the first elastic supporting arm 23, one end of the second section of connecting rod 42 is hinged on the second shell 31, the other end of the first section of connecting rod 41 is provided with an axial blind hole and a strip-shaped bayonet 411 communicated with the axial blind hole, the other end of the second section of connecting rod 42 is provided with a buckle 421, the other end of the second section of connecting rod 42 movably extends into the axial blind hole of the first section of connecting rod 41, the buckle 421 is movably clamped in the strip-shaped bayonet 411, the first chute arm 211 is provided with an opening corresponding to the first section of the connecting rod 41 for facilitating the swinging of the flexible connecting rod 4, the sliding stroke of the sliding arm 10 of the first elastic supporting arm 23 and the sliding stroke of the sliding arm 10 of the second elastic supporting arm 33 are both greater than the sliding stroke of the buckle 421.
In practical use, when the first elastic support arm 23 extends outward from a contracted state, the sliding arm 10 of the first elastic support arm 23 drives the first section of the connecting rod 41 to swing outward, because the first section of the connecting rod 41 is in sliding engagement with the second section of the connecting rod 42, the first section of the connecting rod 41 slides relative to the second section of the connecting rod 42 at this time, the buckle 421 slides relative to the strip-shaped bayonet 411, that is, the flexible connecting rod 4 is in a flexible state, no axial acting force is generated between the first elastic support arm 23 and the second housing 31 of the driven mechanism 3, and the sliding arm 10 of the first elastic support arm 23 continues to extend out along with the first elastic support arm 23, so that the swinging contact block 40 of the first elastic support arm 23 is supported and fixed on the pipe wall under the elastic action of the transition spring 30, in this process, the sliding stroke of the buckle 421 relative to the strip-shaped bayonet 411 is completed, the flexible connecting rod 4 is in a rigid state at this time, and meanwhile, the sliding The pipe walls are contacted, then when the first elastic supporting arm 23 continues to extend, the sliding arm 10 of the first elastic supporting arm 23 pulls the whole driven mechanism 3 to creep relative to the driving mechanism 2 through the flexible connecting rod 4, and the driven mechanism 3 drives an external working part to move; along with the rotation of the driving crankshaft 22, the first elastic supporting arm 23 is gradually retracted from the extended state, at this time, the sliding arm 10 of the first elastic supporting arm 23 drives the first section of connecting rod 41 to slide relative to the second connecting rod 34, the buckle 421 slides relative to the strip-shaped bayonet 411 again, that is, at this time, the flexible connecting rod 4 is in the flexible state, and the second elastic supporting arm 33 is synchronously and gradually extended, when the swinging contact block 40 of the second elastic supporting arm 33 is supported and fixed on the pipe wall of the pipeline, the swinging contact block 40 of the first elastic supporting arm 23 is separated from contact with the pipeline, in this process, the sliding stroke of the buckle 421 relative to the strip-shaped bayonet 411 is completed, the flexible connecting rod 4 is changed from the flexible state to the rigid state, as the sliding arm 10 of the first elastic supporting arm 23 is continuously retracted and applies a thrust force on the flexible connecting rod 4, because the driven mechanism 3 is supported and fixed on the pipeline, the driven mechanism 3, further pushing the driving mechanism 2 to move away from the driven mechanism 3; the above steps are repeated, and the external working part is continuously driven to rapidly move in the pipeline.
Further, a first guide part 212 axially extends from one side of the first housing 21 close to the second housing 31, a second guide part 312 axially extends from one side of the second housing 31 close to the first housing 21, the first guide part 212 slidably extends into the second guide part 312 and is in transmission connection with the second guide part 312, a journal of the driving crankshaft 22 close to the driven crankshaft 32 extends into the first guide part 212, a journal of the driven crankshaft 32 close to the driving crankshaft 22 extends into the second guide part 312, and a journal of the driven crankshaft 32 close to the driving crankshaft 22 extends into a journal of the driving crankshaft 22 close to the driven crankshaft 32 and is in transmission connection with the driving crankshaft 22. The arrangement is that the relative sliding between the driving mechanism 2 and the driven mechanism 3 is realized, and the transmission of the rotation torque of the driving mechanism 2 to the driven mechanism 3 is ensured.
Further, the first guide part 212 and the second guide part 312 are both in a hexagonal prism structure, the shaft neck of the driving crankshaft 22 is provided with a shaft hole in a hexagonal prism structure, and the shaft neck of the driven crankshaft 32 is in a hexagonal prism structure. So set up, simple structure, the processing cost is low.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (7)
1. A peristaltic connecting rod driving pipeline robot is characterized by comprising a driving motor (1), a driving mechanism (2) and a driven mechanism (3);
the driving mechanism (2) comprises a first shell (21) and a driving crankshaft (22), the driving crankshaft (22) is rotatably connected in the first shell (21), three first sliding groove arms (211) extend outwards on the peripheral wall of the first shell (21) at equal intervals, the three first sliding groove arms (211) are connected with first elastic supporting arms (23) in a sliding mode, and one ends of the three first elastic supporting arms (23) are connected with the driving crankshaft (22) through first connecting rods (24);
the driven mechanism (3) comprises a second shell (31) and a driven crankshaft (32), the driven crankshaft (32) is rotatably connected in the second shell (31), the phase difference between the driven crankshaft (32) and the driving crankshaft (22) is 180 degrees, three second sliding groove arms (311) extend outwards at equal intervals on the peripheral wall of the second shell (31), the three second sliding groove arms (311) are all connected with second elastic supporting arms (33) in a sliding mode, and one ends of the three second elastic supporting arms (33) are connected with the driven crankshaft (32) through second connecting rods (34);
the driving motor (1) is fixed on one side, back to the second shell (31), of the first shell (21), the output end of the driving motor is connected with a journal, far away from the driven crankshaft (32), of the driving crankshaft (22), one adjacent side between the first shell (21) and the second shell (31) is in sliding sleeve joint, one adjacent end between the driving crankshaft (22) and the driven crankshaft (32) is in transmission sleeve joint, the driving crankshaft and the driven crankshaft can slide relative to each other, the three first elastic supporting arms (23) and the second shell (31) are hinged to form a flexible connecting rod (4), one end, hinged to the first elastic supporting arms (23), of the flexible connecting rod (4) can swing along with the sliding of the first elastic supporting arms (23), and the flexible connecting rod and the rigid connecting rod can change between a flexible state and a rigid state.
2. The peristaltic connecting rod driving pipeline robot as claimed in claim 1, wherein the first elastic supporting arm (23) and the second elastic supporting arm (33) each comprise a sliding arm (10), a floating arm (20), a transition spring (30) and a U-shaped swinging contact block (40), one end of the floating arm (20) is slidably inserted into the sliding arm (10), the transition spring (30) is arranged in the sliding arm (10) and two ends of the transition spring are respectively abutted against the floating arm (20) and the sliding arm (10), the middle part of the bottom end of the swinging contact block (40) is hinged at the other end of the floating arm (20), the sliding arm (10) of the first elastic supporting arm (23) is slidably connected onto a first sliding groove arm (211), one end of the sliding arm (10) of the first elastic supporting arm (23), which is far away from the swinging contact block (40), is connected with the driving crankshaft (22) through a first connecting rod (24), the sliding arm (10) of the second elastic supporting arm (33) is connected to the second sliding groove arm (311) in a sliding mode, and one end, far away from the swinging contact block (40), of the sliding arm (10) of the second elastic supporting arm (33) is connected with the driven crankshaft (32) through a second connecting rod (34).
3. The peristaltic linkage driven pipeline robot according to claim 2, wherein both end portions of the swing contact block (40) are of a semicircular structure.
4. The peristaltic connecting rod driving pipeline robot as claimed in claim 1, wherein the flexible connecting rod (4) comprises a first section connecting rod (41) and a second section connecting rod (42), one end of the first section connecting rod (41) is hinged on the first elastic supporting arm (23), one end of the second section connecting rod (42) is hinged on the second shell (31), the other end of the first section connecting rod (41) is provided with an axial blind hole and a strip-shaped bayonet (411) communicated with the axial blind hole, the other end of the second section connecting rod (42) is provided with a buckle (421), the other end of the second section connecting rod (42) movably extends into the axial blind hole of the first section connecting rod (41), the buckle (421) is movably clamped in the strip-shaped bayonet (411), the first chute arm (211) is provided with an opening facilitating the flexible connecting rod (4) to swing corresponding to the first section connecting rod (41), the sliding strokes of the sliding arm (10) of the first elastic supporting arm (23) and the sliding arm (10) of the second elastic supporting arm (33) are both larger than the sliding stroke of the buckle (421).
5. The peristaltic linkage driven pipeline robot of claim 1, a first guide part (212) axially extends from one side of the first shell (21) close to the second shell (31), a second guide part (312) axially extends from one side of the second shell (31) close to the first shell (21), the first guide part (212) extends into the second guide part (312) in a sliding way and is connected with the second guide part (312) in a transmission way, the journal of the driving crankshaft (22) close to the driven crankshaft (32) extends into the first guide (212), the journal of the driven crankshaft (32) close to the driving crankshaft (22) extends into the second guide (312), the journal of the driven crankshaft (32) close to the driving crankshaft (22) extends into the journal of the driving crankshaft (22) close to the driven crankshaft (32) and is in transmission connection with the driving crankshaft (22).
6. The peristaltic connecting rod driving pipeline robot as claimed in claim 1, wherein the first guide part (212) and the second guide part (312) are each in a hexagonal prism structure, the shaft neck of the driving crankshaft (22) is provided with a shaft hole in a hexagonal prism structure, and the shaft neck of the driven crankshaft (32) is in a hexagonal prism structure.
7. The peristaltic connecting rod driving pipeline robot as claimed in claims 1 to 5, wherein the first guide part (212) and the second guide part (312) are each in a hexagonal prism structure, the shaft neck of the driving crankshaft (22) is provided with a shaft hole in a hexagonal prism structure, and the shaft neck of the driven crankshaft (32) is in a hexagonal prism structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011081497.6A CN112228699A (en) | 2020-10-12 | 2020-10-12 | Peristaltic connecting rod driving pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011081497.6A CN112228699A (en) | 2020-10-12 | 2020-10-12 | Peristaltic connecting rod driving pipeline robot |
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| CN112228699A true CN112228699A (en) | 2021-01-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116480356A (en) * | 2023-04-07 | 2023-07-25 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
| CN116518835A (en) * | 2023-07-03 | 2023-08-01 | 太原市水利勘测设计院 | Water conservancy pipeline facilities deformation check out test set |
-
2020
- 2020-10-12 CN CN202011081497.6A patent/CN112228699A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116480356A (en) * | 2023-04-07 | 2023-07-25 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
| CN116480356B (en) * | 2023-04-07 | 2024-01-26 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
| CN116518835A (en) * | 2023-07-03 | 2023-08-01 | 太原市水利勘测设计院 | Water conservancy pipeline facilities deformation check out test set |
| CN116518835B (en) * | 2023-07-03 | 2023-08-25 | 太原市水利勘测设计院 | Water conservancy pipeline facilities deformation check out test set |
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Application publication date: 20210115 |
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