CN112325050B - Pipeline robot capable of adapting to pipe diameter change - Google Patents
Pipeline robot capable of adapting to pipe diameter change Download PDFInfo
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- CN112325050B CN112325050B CN202011331525.5A CN202011331525A CN112325050B CN 112325050 B CN112325050 B CN 112325050B CN 202011331525 A CN202011331525 A CN 202011331525A CN 112325050 B CN112325050 B CN 112325050B
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- 238000001514 detection method Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000003466 welding Methods 0.000 abstract description 3
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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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline robot capable of adapting to pipe diameter change, which comprises three driving support legs connected with a rack, wherein the rack is the trunk of a robot system and can be used for installing structural units such as a camera, a detection sensor, a detector, a control board card, a battery module, a sewage disposal device and the like; the system driving part adopts a form of combining a link mechanism, a gear mechanism and a belt transmission mechanism, six driving support legs are arranged in the robot system, each driving support leg comprises a five-rod and gear mixing mechanism, a two-stage belt transmission mechanism, an extension spring, a motor, a support, wheels and the like, the motion capability of pipeline diameter-changing self-adaption is realized, and the driving flexibility and the motion stability of the pipeline robot are improved. The support leg has the advantages of adjustable height, good driving flexibility, high motion stability and the like, can be applied to the working occasions of welding, detection, monitoring, maintenance, cleaning, dredging and the like of common pipeline operation, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pipeline robot capable of adapting to pipe diameter changes.
Background
The robot is a representative high and new technology with multi-disciplinary intersection since the twentieth century, is an important scientific field which is developing vigorously, and is widely concerned by scholars, enterprises and public institutions and national leadership at home and abroad. The pipeline is widely applied as an important material conveying or structure mode in industries such as petroleum, chemical industry, natural gas, water supply and drainage, mining industry, nuclear industry and the like. However, due to the factors of narrow inside of the pipeline, special materials, severe environment and the like, the dismounting and welding, state monitoring, pipeline dredging, pipe wall detection and maintenance and the like of the inside of the pipeline are extremely troublesome. Since the eighties, the research and application of pipeline robots has brought about eosin to effectively solve the aforementioned problems. Therefore, as one of the important branches in the robot field, the pipeline robot develops and applies a new pipeline robot and a related driving technology thereof, and has very important significance for promoting social progress, safe production, economic development, improving life quality of people and the like.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, disassembly, assembly and welding, state monitoring, pipeline dredging, pipe wall detection and maintenance and the like are difficult to realize in a pipeline, and provides a pipeline robot adaptive to pipe diameter change.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pipeline robot adaptive to pipe diameter changes comprises at least two continuous frame leg units, wherein each frame leg unit comprises a frame and at least three driving legs arranged around the frame, and the driving legs are equally divided into a circle of the frame;
the driving support leg comprises a support, a motor, a first belt wheel, a first synchronous belt, a double belt wheel, a middle shaft, a second synchronous belt, a wheel shaft, a first lower connecting rod, a tension spring, a connecting plate, a first upper connecting rod, a first shaft, a first gear, a second upper connecting rod, a pin shaft, a second lower connecting rod, a second belt wheel and a second shaft;
the support is fixed on the rack, the first gear and the second gear are arranged on the rack and meshed with each other, the distances between the first gear and the second gear and the rack are the same, the first gear is rotatably connected to the support through the first shaft, and the second gear is rotatably connected to the support through the second shaft;
one end of the upper connecting rod I is movably connected to the first shaft I, the other end of the upper connecting rod I is rotatably connected with one end of the lower connecting rod I through the intermediate shaft, and the wheel shaft is arranged at the other end of the lower connecting rod I;
the belt wheel I and the motor are arranged on the support, and the motor drives the belt wheel I to rotate;
the duplex belt wheel is positioned on the intermediate shaft, the belt wheel II is positioned on the wheel shaft, and the wheel is positioned on the wheel shaft to rotate;
the synchronous belt I is wound between the belt wheel I and one belt wheel of the duplex belt wheel, and the synchronous belt II is wound between the other belt wheel of the duplex belt wheel and the belt wheel II;
one end of the upper connecting rod II is movably connected to the second shaft, the other end of the upper connecting rod II is rotatably connected with one end of the lower connecting rod II through a pin shaft, and the wheel shaft is arranged at the other end of the lower connecting rod II;
the upper connecting rod I and the upper connecting rod II are respectively provided with a connecting plate, and the extension spring is positioned between the two connecting plates;
and the two adjacent frame leg units are flexibly connected.
As a further preferred embodiment, one end of the power bar is connected to the end of the intermediate shaft near the double pulley, and the other end of the power bar is connected to the end of the wheel shaft near the second pulley.
As a further preferred scheme, the frame is a hollow hexagonal tubular structure, and three driving legs are arranged on the circumference of the frame.
As a further preferable scheme, in two continuous frame leg units, the frame tail part of the front frame leg unit is provided with a first clamping plate shaft, the frame head part of the rear frame leg unit is provided with a second clamping plate shaft, and a steering spring is arranged between the first clamping plate shaft and the second clamping plate shaft.
As a further preferable scheme, the length of the first upper connecting rod and the length of the first lower connecting rod are the same, and the length of the second upper connecting rod and the length of the second lower connecting rod are the same.
Compared with the prior art, the pipeline robot adaptive to pipe diameter change fully integrates the transmission characteristics of the five-rod mechanism, the belt transmission mechanism and the gear mechanism, and develops an innovative design, so that the pipeline robot has the advantages of simple and compact structure, low economic cost, good maneuvering performance, strong movement adaptability and the like. The robot has outstanding advantages in the aspects of driving flexibility and motion stability, especially in the aspect of self-adaptive motion capability of pipeline reducing (such as pipeline joint, damage, distortion, deformation and the like), can effectively solve the problem of robot jamming caused by pipeline bending, pipe wall deformation fluctuation, pipe wall adhesion barriers and the like in the moving process of a pipeline robot, improves the working performance of the robot, and has wide application prospects in the occasions of petroleum, chemical engineering, natural gas, water supply and drainage, mining, nuclear industry, municipal engineering and the like.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a view partially in the direction of A of the present invention;
FIG. 3 is a view of the flexible connection between the front and rear frames of the present invention;
in the figure: the device comprises a frame 1, a support 2, a motor 3, a first belt wheel 4, a first synchronous belt 5, a duplex belt wheel 6, a middle shaft 7, a second synchronous belt 8, a strong force rod 9, wheels 10, a wheel axle 11, a first lower connecting rod 12, a tension spring 13, a connecting plate 14, a first upper connecting rod 15, a first 16 shaft, a first gear 17, a second gear 18, a second upper connecting rod 19, a pin shaft 20, a second lower connecting rod 21, a steering spring 22, a first clamping plate shaft 23, a second clamping plate 24, a second belt wheel 25 and a second 26 shaft.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 and 2, the invention relates to a pipeline robot adaptive to pipe diameter change, which structurally comprises a front frame, three driving legs connected with the front frame, a rear frame, three driving legs connected with the rear frame, and a spring steering structure.
The structure size of the front frame 1 is the same as that of the rear frame 1, the front frame 1 can be made of regular hexagonal sectional materials, the front frame is simple and easy, the cost is low, and according to the specific operation task of a pipeline robot, required units such as a camera, a detection sensor, a detector, a control board card, a battery module and a decontamination device are arranged on the front frame 1 and the rear frame 1.
The three driving legs of the pipeline robot have the same structural size, and each driving leg comprises a mixing mechanism of a five-rod mechanism and a gear mechanism, a two-stage belt transmission mechanism and the like, as shown in fig. 1 and fig. 2, and specifically comprises a motor 3, a support 2, a belt wheel I4, a synchronous belt I5, a duplex belt wheel 6, an intermediate shaft 7, a synchronous belt II 8, a belt wheel II 25, a strong rod 9, a shaft I16, a gear I17, a shaft II 26, a gear II 18, an upper connecting rod I15, a lower connecting rod I12, an upper connecting rod II 19, a pin shaft 20, a lower connecting rod II 21, a connecting plate 14, a tension spring 13, a wheel shaft 11, wheels 10 and the like, and the front and the rear three driving legs of the pipeline robot have the same structural size, so as to facilitate the walking and the control of the robot.
When the three driving legs on the front frame 1 and the rear frame 1 are assembled, the three driving legs can be assembled respectively in a Y-shaped or inverted Y-shaped structural form according to the requirements of motion stability or application occasions.
The support 2 is of a U-shaped structure, one side of the support is fixed with the motor 3, the other side of the support supports a first gear 17 and a second gear 18 which are meshed with each other, and the support 2 is fixedly connected to the front machine frame 1 through screws.
The motor 3, the belt wheel I4, the synchronous belt I5, the duplex belt wheel 6, the synchronous belt II 8 and the belt wheel II 25 form a secondary belt transmission mechanism system for providing power for the wheels 10.
The motor 3 is connected with the first belt wheel 4 through a flat key.
The duplex belt wheel 6 is supported on the intermediate shaft 7 through a rolling bearing, and the rotation flexibility of the duplex belt wheel 6 around the intermediate shaft 7 is debugged during installation.
The second belt wheel 25 and the wheel 10 are fixedly connected together through bolts and supported on the wheel shaft 11 through a rolling bearing and an elastic check ring so as to ensure that the second belt wheel 25 and the wheel 10 can rotate around the wheel shaft 11 at the same speed.
The support 2, the upper connecting rod I15, the lower connecting rod I12, the upper connecting rod II 19 and the lower connecting rod II 21 form a five-rod mechanism.
The first gear 17 and the second gear 18 are meshed to form a gear mechanism.
A strength bar 9 is connected between the intermediate shaft 7 and the wheel shaft 11 to improve the force on the drive leg portions.
The first shaft 16 and the second shaft 26 are both supported on the support 2 through rolling bearings or copper sleeves.
The axis of the first shaft 16 is horizontally parallel to the axis of the second shaft 26.
The first gear 17 is fixedly connected with the first shaft 16 through a flat key and an elastic retainer ring.
The second gear 18 is fixedly connected with the second shaft 26 through a flat key and an elastic retainer ring.
The number of teeth and the structural size of the first gear 17 are the same as those of the second gear 18.
The upper end part of the upper connecting rod I15 is fixedly connected with the shaft I16 through a flat key and an elastic retainer ring.
The upper connecting rod I15 and the gear I17 rotate coaxially.
The lower end part of the upper connecting rod I15 is in a U shape and is in convex fit with the upper end part of the lower connecting rod I12, and a rotating pair is formed by connecting the intermediate shaft 7.
The upper end part of the second upper connecting rod 19 is fixedly connected with the second shaft 26 through a flat key and an elastic retainer ring.
The second upper connecting rod 19 and the second gear 18 rotate coaxially.
The lower end part of the upper connecting rod II 19 is in a U shape and is matched with the upper end part of the lower connecting rod II 21 in a convex shape, and a rotating pair is formed by the connection of a pin shaft 20.
The lower end part of the lower connecting rod I12 is in convex shape and is matched with the lower end part of the lower connecting rod II 21 in U shape, and a rotating pair is formed by connecting the wheel shafts 11.
The length of the first lower connecting rod 12 is equal to that of the second lower connecting rod 21.
The axis of the first shaft 16 coincides with the axis of the motor 3.
The axes of the first shaft 16, the second shaft 26, the intermediate shaft 7, the wheel shaft 11, the pin shaft 20 and the motor 3 are parallel to each other.
The first upper connecting rod 15 and the second upper connecting rod 19 are both provided with connecting plates 14 and fixed together through screws.
The extension spring 13 pulls the upper connecting rod I15 and the upper connecting rod II 19 together through the two connecting plates 14, the inner side and the outer side of each extension spring are respectively provided with one extension spring, when the robot is in a working state in a pipeline, the extension spring 13 is in a tension state, proper pressing force is ensured to exist between the wheels 10 and the pipeline wall, and the pipe diameter adaptability and the motion reliability of the robot are improved.
Four spring coupling's the structure that turns to is provided with between the anterior frame 1 of robot and the rear portion frame 1, as figure 3, by four group's cardboard axle one 23, steering spring 22 and two 24 constitutions of cardboard axle, the spring turns to the structure, can effectively solve the crooked, the pipe internal diameter irregularity scheduling problem of pipeline that appear when the pipeline robot moves, prevents the card of pipeline robot during operation and dies.
The first chuck shaft 23 is of a Y-shaped structure, one end of the first chuck shaft is U-shaped and fixed on the front frame 1 through a screw, and the other end of the first chuck shaft is cylindrical and fixedly connected with the steering spring 22.
The second chuck shaft 24 and the first chuck shaft 23 have the same structural size.
The U-shaped end of the second chuck shaft 24 is fixed on the rear frame 14 through a screw, and the cylindrical end of the second chuck shaft is fixedly connected with the steering spring 22.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The utility model provides a pipeline robot that self-adaptation pipe diameter changes which characterized in that: the support leg unit comprises a frame (1) and at least three driving support legs arranged around the frame (1), wherein the driving support legs are equally distributed on the frame (1) for one circle;
the driving support leg comprises a support (2), a motor (3), a first belt wheel (4), a first synchronous belt (5), a duplex belt wheel (6), a middle shaft (7), a second synchronous belt (8), a wheel (10), a wheel shaft (11), a first lower connecting rod (12), an extension spring (13), a connecting plate (14), a first upper connecting rod (15), a first shaft (16), a first gear (17), a second gear (18), a second upper connecting rod (19), a pin shaft (20), a second lower connecting rod (21), a second belt wheel (25) and a second shaft (26);
the support (2) is fixed on the rack (1), the first gear (17) and the second gear (18) are arranged on the rack (1), the first gear (17) and the second gear (18) are meshed with each other, the distances between the first gear (17) and the second gear (18) and the rack (1) are the same, the first gear (17) is rotatably connected to the support (2) through the first shaft (16), and the second gear (18) is rotatably connected to the support (2) through the second shaft (26);
one end of the upper connecting rod I (15) is movably connected to the shaft I (16), the other end of the upper connecting rod I (15) is rotatably connected with one end of the lower connecting rod I (12) through the intermediate shaft (7), and the wheel shaft (11) is installed at the other end of the lower connecting rod I (12);
the belt wheel I (4) and the motor (3) are arranged on the support (2), and the motor (3) drives the belt wheel I (4) to rotate;
the duplex belt wheel (6) is positioned on the intermediate shaft (7), the belt wheel II (25) is positioned on the wheel shaft (11), and the wheels (10) are positioned on the wheel shaft (11) to rotate;
a synchronous belt I (5) is wound between the belt wheel I (4) and one belt wheel of the duplex belt wheel (6), and a synchronous belt II (8) is wound between the other belt wheel of the duplex belt wheel (6) and a belt wheel II (25);
one end of the upper connecting rod II (19) is movably connected to the shaft II (26), the other end of the upper connecting rod II (19) is rotatably connected with one end of the lower connecting rod II (21) through a pin shaft (20), and the wheel shaft (11) is installed at the other end of the lower connecting rod II (21);
the upper connecting rod I (15) and the upper connecting rod II (19) are respectively provided with a connecting plate (14), and the extension spring (13) is positioned between the two connecting plates (14);
and the two adjacent frame leg units are flexibly connected.
2. The pipeline robot capable of adapting to pipe diameter change according to claim 1, wherein: one end of the strong rod (9) is connected to the end part of the intermediate shaft (7) close to the duplex belt wheel (6), and the other end of the strong rod (9) is connected to the end part of the wheel shaft (11) close to the second belt wheel (25).
3. The pipeline robot capable of adapting to pipe diameter change according to claim 1, wherein: the frame (1) is a hollow hexagonal tubular structure, and three driving support legs are arranged on the periphery of the frame (1).
4. The pipeline robot capable of adapting to pipe diameter change according to claim 1, wherein: in two continuous frame landing leg units, a first clamping plate shaft (23) is arranged at the tail part of a frame (1) of the front frame landing leg unit, a second clamping plate shaft (24) is arranged at the head part of the frame (1) of the rear frame landing leg unit, and a steering spring (22) is arranged between the first clamping plate shaft (23) and the second clamping plate shaft (24).
5. The pipeline robot capable of adapting to pipe diameter change according to claim 1, wherein: the length of the upper connecting rod I (15) is the same as that of the lower connecting rod I (12), and the length of the upper connecting rod II (19) is the same as that of the lower connecting rod II (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331525.5A CN112325050B (en) | 2020-11-24 | 2020-11-24 | Pipeline robot capable of adapting to pipe diameter change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331525.5A CN112325050B (en) | 2020-11-24 | 2020-11-24 | Pipeline robot capable of adapting to pipe diameter change |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112325050A CN112325050A (en) | 2021-02-05 |
| CN112325050B true CN112325050B (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011331525.5A Active CN112325050B (en) | 2020-11-24 | 2020-11-24 | Pipeline robot capable of adapting to pipe diameter change |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101453976B1 (en) * | 2012-09-14 | 2014-10-30 | 성균관대학교산학협력단 | Independent suspension type in-pipe robot |
| CN107990083A (en) * | 2016-10-26 | 2018-05-04 | 湘潭宏远电子科技有限公司 | A kind of detecting robot of pipe with transfer |
| CN207990007U (en) * | 2018-01-11 | 2018-10-19 | 燕山大学 | A kind of auxiliary Wheels group arrangement for pipeline inspection |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN210822515U (en) * | 2019-09-25 | 2020-06-23 | 郑州九泰科技有限公司 | Electric centering reducing polishing crawling robot |
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