CN112815178A - Pipeline rescue robot - Google Patents
Pipeline rescue robot Download PDFInfo
- Publication number
- CN112815178A CN112815178A CN202110158156.2A CN202110158156A CN112815178A CN 112815178 A CN112815178 A CN 112815178A CN 202110158156 A CN202110158156 A CN 202110158156A CN 112815178 A CN112815178 A CN 112815178A
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- rotating shaft
- arm
- motor
- gear
- connecting rod
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Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A pipeline rescue robot comprising: the arm-holding mechanism is used for standing trapped people on the arm-holding mechanism to bring the trapped people out of the pipeline; the moving mechanism is arranged on the arm-holding mechanism; the automatic safety air-drop rope mechanism is arranged in the moving mechanism; further, the arm embracing mechanism comprises: the arm-holding mechanism base plays a role in connection; the slideway plate is fixedly arranged below the arm-holding mechanism base; according to the pipeline of variation in size, drive the lead screw and then drive lead screw piece through the motor just anti-rotation and drive the position that the track was adjusted to the connecting rod under the drive of opening rod drive and adapt to different pipelines, make the machine adapt to different pipelines and then make the machine walk in more different pipelines.
Description
Technical Field
The invention relates to the technical field of rescue robots, in particular to a pipeline rescue robot.
Background
When workers work in the pipeline or fall into the pipeline carelessly and need rescue, the underground environment is complex, air is thin, and manual rescue is difficult generally; meanwhile, because the internal connection of pipelines is complex, pipelines with different pipe diameters are often connected together for use, a common rescue robot does not have the function of adjusting the self-propelled shape according to the pipe diameter, so that the rescue is not smooth, and because the underground search and rescue consumes long time and the environment is complex, the existing rescue robot can not return due to energy exhaustion easily;
therefore, there is a need for a robot that can help pipeline maintenance personnel go down the pipeline for maintenance and rescue trapped people who have fallen into the pipeline without worrying about energy exhaustion.
Disclosure of Invention
In order to solve the problems, the invention provides a pipeline rescue robot, according to pipelines with different sizes, a motor is used for driving a screw rod through forward and reverse rotation to drive a screw rod block to drive a stretching rod to drive a lower connecting rod to adjust the position of a crawler to adapt to different pipelines, so that the pipeline rescue robot adapts to different pipelines and further adapts to more different pipelines.
The technical scheme adopted by the invention is as follows: a pipeline rescue robot comprising:
the arm-holding mechanism is used for standing trapped people on the arm-holding mechanism to bring the trapped people out of the pipeline;
the moving mechanism is arranged on the arm-holding mechanism;
the automatic safety air-drop rope mechanism is arranged in the moving mechanism;
video control module installs on moving mechanism, and video control module includes: the high-definition night vision device comprises a high-definition night vision device, a wireless signal transmitting receiver, a storage battery and a controller; the high-definition night vision device is arranged around the moving mechanism in a circle, the environment around the whole robot is observed without dead angles, and the wireless signal transmitting and receiving device is communicated with the ground control center;
further, the arm embracing mechanism comprises:
the arm-holding mechanism base plays a role in connection;
the slideway plate is fixedly arranged below the arm-holding mechanism base;
the device comprises a motor, a bidirectional cylinder, a connecting arm and a sliding block, wherein the sliding block is slidably arranged below a slideway plate, the connecting arm is rotatably arranged on the sliding block, the motor is fixedly arranged on the sliding block, and a motor shaft of the motor is fixedly connected with the connecting arm; the bidirectional cylinder is arranged between the two connecting arms;
the bottom of the cylinder body is rotatably arranged on the rotating shaft of the connecting arm;
the pedal connecting rod is rotatably arranged on the rotating shaft below the connecting arm, and the rear end of the pedal connecting rod is rotatably connected with the end part of the electric cylinder piston rod;
the pedal is arranged on the side surface of the pedal connecting rod.
Further, the moving mechanism includes:
the moving mechanism base is arranged below the main box body;
the crawler belt comprises a crawler belt and crawler belt side plates, wherein the crawler belt is arranged on the crawler belt side plates;
one end of the upper connecting rod is rotatably arranged on the main box body, and the other end of the upper connecting rod is rotatably arranged on the crawler side plate;
one end of the lower connecting rod is rotatably arranged on the main box body, the other end of the lower connecting rod is rotatably arranged on the crawler side plate, and the lower connecting rod is arranged below the upper connecting rod;
the screw rod block is arranged on the screw rod, one end of the opening rod is rotatably connected with the screw rod block, and the other end of the opening rod is rotatably connected with the lower connecting rod;
the motor, side fixed mounting are in the main tank body, and its motor shaft and lead screw one end fixed connection.
Further, the automatic safe airborne rope mechanism includes:
the stepping motor is fixedly arranged on the motor support, and a motor shaft of the stepping motor is fixedly connected with the stepping motor gear;
the gear of the rotating shaft A and the gear of the rotating shaft A are fixedly arranged on the rotating shaft A, and the gear of the rotating shaft A is meshed with the gear of the stepping motor;
the side gear of the rotating shaft B, the middle gear of the rotating shaft B and the middle gear of the rotating shaft B are fixedly arranged on the rotating shaft B, and the middle gear of the rotating shaft B is meshed with the side gear of the rotating shaft A;
pivot C gear, bearing, connection rope, link, pivot C gear fixed mounting is on pivot C, connects rope one end and pivot C fixed connection, the other end and link fixed connection, pivot C gear and pivot B side gear intermeshing.
The invention has the beneficial effects that:
(1) according to the pipeline rescue device, the screw rod is driven by the forward and reverse rotation of the motor to drive the screw rod and further drive the screw rod block to drive the opening rod to drive the lower connecting rod to adjust the position of the crawler belt to adapt to different pipelines according to pipelines with different sizes, so that the machine can adapt to different pipelines and further can rescue in more different pipelines;
(2) when the robot rescue system works, the hanging ring is fixedly arranged on the mechanism above the pipeline, the connecting rope is released through the stepping motor, after people are rescued, the stepping motor rotates to drive the rotating shaft C to drive the connecting rope to wind to pull the robot with the people, the robot is pulled up through double assistance of the automatic safe air-drop rope mechanism and the moving mechanism, and the problem that the robot cannot return when the energy is exhausted during rescue is avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of another embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the whole arm embracing mechanism of the present invention.
Fig. 4 is a schematic structural view of another angle of the arm embracing mechanism of the present invention.
Fig. 5 is a schematic view of the overall structure of the moving mechanism of the present invention.
Fig. 6 is another angle structure diagram of the moving mechanism of the present invention.
Fig. 7 is a schematic structural diagram of the interior of the moving mechanism of the present invention.
Fig. 8 is a schematic structural view of the automatic safety airborne rope mechanism of the present invention.
Fig. 9 is another angle structure diagram of the automatic safety airborne rope mechanism of the invention.
Reference numerals: 1-arm-embracing mechanism, 2-moving mechanism, 3-automatic safe airborne rope mechanism, 101-arm-embracing mechanism base, 102-slideway plate, 103-motor, 104-bidirectional cylinder, 105-connecting arm, 106-sliding block, 107-electric cylinder, 108-pedal connecting rod, 109-pedal, 201-main box body, 202-upper connecting rod, 203-crawler, 204-crawler side plate, 205-lower connecting rod, 206-opening rod, 207-moving mechanism base, 208-motor, 209-lead screw block, 210-lead screw, 301-step motor, 302-motor bracket, 303-step motor gear, 304-rotating shaft A, 305-rotating shaft A side gear, 306-rotating shaft A middle gear, 307-rotating shaft B side gear, 308-rotating shaft B middle gear, 309-rotating shaft B, 310-rotating shaft C gear, 311-bearing, 312-connecting rope, 313-hanging ring and 314-rotating shaft C.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In an embodiment, referring to fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, a pipeline rescue robot includes: the arm embracing mechanism 1 is used for standing trapped people on the arm embracing mechanism 1 to bring out a pipeline; specifically, a person steps on the pedal 109 with his foot to hold the arm embracing mechanism base 101;
the moving mechanism 2 is arranged on the arm embracing mechanism 1, and particularly, a driving mechanism is arranged on the moving mechanism 2 to assist in driving the machine to move;
the automatic safe airborne rope mechanism 3 is arranged in the moving mechanism 2; specifically, by hanging the hanging ring 313 on the fixture above the pipeline;
video control module installs on moving mechanism 2, and video control module includes: the high-definition night vision device comprises a high-definition night vision device, a wireless signal transmitting receiver, a storage battery and a controller; the high-definition night vision device is arranged around the moving mechanism 2 in a circle, the environment around the whole robot is observed without dead angles, the wireless signal transmitting and receiving device is communicated with the ground control center and used for transmitting pictures in a pipeline in real time and realizing ground control of the whole robot, the storage battery supplies power to the robot, a corresponding execution program is written in the controller in advance through the single chip microcomputer, and after the wireless signal transmitting and receiving device receives corresponding instructions, the controller controls corresponding execution mechanisms to act;
the arm embracing mechanism 1 includes:
the arm-embracing mechanism base 101 plays a role in connection;
the slideway plate 102 is fixedly arranged below the arm-embracing mechanism base 101, specifically plays a role in connection, and is provided with a groove on the slideway plate and a slide rail on the slideway plate;
the device comprises a motor 103, a bidirectional cylinder 104, a connecting arm 105 and a sliding block 106, wherein the sliding block 106 is slidably arranged below a slideway plate 102, the connecting arm 105 is rotatably arranged on the sliding block 106, the motor 103 is fixedly arranged on the sliding block 106, and a motor shaft of the motor is fixedly connected with the connecting arm 105; the bidirectional cylinder 104 is arranged between the two connecting arms 105; specifically, the position of the pedal 109 is adjusted through the motor 103 and the bidirectional cylinder 104 so as to adapt to the stepping on the pedal 109 by different people;
the bottom of the electric cylinder 107 is rotatably arranged on the rotating shaft of the connecting arm 105; specifically, the pedal connecting rod 108 is adjusted through the electric cylinder 107 so as to adjust the angle of the pedal 109 to adapt to different people;
a pedal connecting rod 108 which is rotatably mounted on the rotating shaft below the connecting arm 105, and the rear end of the pedal connecting rod is rotatably connected with the end part of the piston rod of the electric cylinder 107;
a pedal 109 installed at a side of the pedal connecting rod 108, and specifically, a person stands on the pedal 109.
In an alternative embodiment of the present embodiment, the moving mechanism 2 includes, in addition to the same structure as the previous embodiment:
the main box 201, the moving mechanism base 207, there is base 207 of moving mechanism under the main box 201; specifically, the main box 201 is hollow, and an automatic safe airborne rope mechanism 3 is installed in the main box;
the crawler-type pipeline climbing device comprises a crawler 203 and crawler side plates 204, wherein the crawler 203 is installed on the crawler side plates 204, and specifically, a motor is arranged in the crawler side plates 204 to drive the crawler 203 to climb a pipeline;
an upper link 202 having one end rotatably mounted on the main body 201 and the other end rotatably mounted on the track side plate 204;
a lower link 205 having one end rotatably mounted on the main body 201 and the other end rotatably mounted on the track side plate 204, and positioned below the upper link 202; two tracks 203 are connected by three upper links 202 and three lower links 205;
the device comprises an opening rod 206, a screw block 209 and a screw 210, wherein the screw block 209 is installed on the screw 210, one end of the opening rod 206 is rotatably connected with the screw block 209, and the other end of the opening rod 206 is rotatably connected with a lower connecting rod 205;
the motor 208 is fixedly mounted on the main box 201 on the side, and a motor shaft of the motor is fixedly connected with one end of the screw 210, specifically, the motor 208 is rotated forward and backward to drive the screw 210 and further drive the screw block 209 to drive the opening rod 206 to drive the lower connecting rod 205 to adjust the position of the crawler 203 to adapt to different pipelines according to different pipelines.
In an optional implementation manner of the embodiment of the present invention, the automatic safe airborne rope mechanism 3 includes, in addition to the same structure as the previous embodiment:
the stepping motor 301, the motor bracket 302 and the stepping motor gear 303, wherein the motor bracket 302 is fixedly arranged in the main box body 201, the stepping motor 301 is fixedly arranged on the motor bracket 302, and a motor shaft of the stepping motor is fixedly connected with the stepping motor gear 303; the automatic safe airborne rope mechanism 3 is powered by the stepping motor 301;
the stepping motor comprises a rotating shaft A304, a rotating shaft A side gear 305 and a rotating shaft A middle gear 306, wherein the rotating shaft A side gear 305 and the rotating shaft A middle gear 306 are fixedly arranged on the rotating shaft A304, and the rotating shaft A middle gear 306 is meshed with a stepping motor gear 303;
a rotating shaft B side gear 307, a rotating shaft B middle gear 308 and a rotating shaft B309, wherein the rotating shaft B side gear 307 and the rotating shaft B middle gear 308 are fixedly arranged on the rotating shaft B309, and the rotating shaft B middle gear 308 is meshed with the rotating shaft A side gear 305;
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (4)
1. A pipeline rescue robot, comprising:
the arm embracing mechanism (1) is used for standing trapped people on the arm embracing mechanism (1) to bring out a pipeline;
the moving mechanism (2) is arranged on the arm-holding mechanism (1);
the automatic safety air-drop rope mechanism (3) is arranged in the moving mechanism (2);
the video control module is arranged on the moving mechanism (2);
the arm embracing mechanism (1) comprises: the device comprises an arm embracing mechanism base (101), a slide way plate (102), a motor (103), a bidirectional cylinder (104), a connecting arm (105), a sliding block (106), an electric cylinder (107), a pedal connecting rod (108) and a pedal (109);
the arm-embracing mechanism base (101) plays a connecting role; the slideway plate (102) is fixedly arranged below the arm-embracing mechanism base (101); the sliding block (106) is slidably arranged below the sliding track plate (102), the connecting arm (105) is rotatably arranged on the sliding block (106), the motor (103) is fixedly arranged on the sliding block (106), and a motor shaft of the motor is fixedly connected with the connecting arm (105); the bidirectional cylinder (104) is arranged between the two connecting arms (105); the bottom of the electric cylinder (107) is rotatably arranged on the rotating shaft of the connecting arm (105); the pedal connecting rod (108) is rotatably arranged on the rotating shaft below the connecting arm (105), and the rear end of the pedal connecting rod is rotatably connected with the end part of the piston rod of the electric cylinder (107); the pedal (109) is arranged on the side surface of the pedal connecting rod (108).
2. A pipeline rescue robot as claimed in claim 1, characterized in that the moving mechanism (2) comprises: the device comprises a main box body (201), an upper connecting rod (202), a crawler (203), a crawler side plate (204), a lower connecting rod (205), an opening rod (206), a moving mechanism base (207), a motor (208), a lead screw block (209) and a lead screw (210);
a moving mechanism base (207) is arranged below the main box body (201); a crawler (203) is arranged on the crawler side plate (204); one end of an upper connecting rod (202) is rotatably arranged on the main box body (201), and the other end of the upper connecting rod is rotatably arranged on the crawler side plate (204); one end of a lower connecting rod (205) is rotatably arranged on the main box body (201), the other end of the lower connecting rod is rotatably arranged on a track side plate (204) and is positioned below the upper connecting rod (202);
the screw rod block (209) is arranged on the screw rod (210), one end of the opening rod (206) is rotatably connected with the screw rod block (209), and the other end of the opening rod is rotatably connected with the lower connecting rod (205); the side surface of the motor (208) is fixedly arranged on the main box body (201), and the motor shaft of the motor is fixedly connected with one end of the screw rod (210).
3. The pipeline rescue robot as claimed in claim 2, wherein the automatic safety airborne rope mechanism (3) comprises: the device comprises a stepping motor (301), a motor bracket (302), a stepping motor gear (303), a rotating shaft A (304), a rotating shaft A side gear (305), a rotating shaft A middle gear (306), a rotating shaft B side gear (307), a rotating shaft B middle gear (308), a rotating shaft B (309), a rotating shaft C gear (310), a bearing (311), a connecting rope (312), a hanging ring (313) and a rotating shaft C (314);
the motor support (302) is fixedly arranged in the main box body (201), the stepping motor (301) is fixedly arranged on the motor support (302), and a motor shaft of the stepping motor is fixedly connected with the stepping motor gear (303); a side gear (305) of the rotating shaft A and a middle gear (306) of the rotating shaft A are fixedly arranged on the rotating shaft A (304), and the middle gear (306) of the rotating shaft A is meshed with a gear (303) of the stepping motor;
the rotating shaft B side gear (307) and the rotating shaft B middle gear (308) are fixedly arranged on the rotating shaft B (309), and the rotating shaft B middle gear (308) is meshed with the rotating shaft A side gear (305); the rotating shaft C gear (310) is fixedly arranged on the rotating shaft C (314), one end of the connecting rope (312) is fixedly connected with the rotating shaft C (314), the other end of the connecting rope is fixedly connected with the hanging ring (313), and the rotating shaft C gear (301) is meshed with the rotating shaft B side gear (307).
4. A pipeline rescue robot as claimed in any one of claims 1 to 3, wherein the video control module comprises: the high-definition night vision device comprises a high-definition night vision device, a wireless signal transmitting receiver, a storage battery and a controller; the high-definition night vision device is arranged around the moving mechanism (2) in a circle, the environment around the whole robot is observed without dead angles, and the wireless signal transmitting and receiving device is communicated with the ground control center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110158156.2A CN112815178A (en) | 2021-02-05 | 2021-02-05 | Pipeline rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110158156.2A CN112815178A (en) | 2021-02-05 | 2021-02-05 | Pipeline rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112815178A true CN112815178A (en) | 2021-05-18 |
Family
ID=75861583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110158156.2A Withdrawn CN112815178A (en) | 2021-02-05 | 2021-02-05 | Pipeline rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112815178A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101507865A (en) * | 2009-03-24 | 2009-08-19 | 山东科技大学 | Rescue robot capable of falling into well |
| CN102913715A (en) * | 2012-09-14 | 2013-02-06 | 北京信息科技大学 | Robot for detecting small pipeline |
| CN103272347A (en) * | 2013-06-28 | 2013-09-04 | 秦利明 | Rescue device for small-bore deep well |
| CN204823965U (en) * | 2015-06-19 | 2015-12-02 | 济南大学 | Wire rope winding displacement device based on gear switching -over |
| WO2017215810A1 (en) * | 2016-06-13 | 2017-12-21 | Battakarst | Robot for renovating penstocks, provided with an anti-twisting moving system |
| CN207609913U (en) * | 2017-11-21 | 2018-07-13 | 王宗涛 | A kind of Multifunctional pipeline robot that adaptive different tube diameters are spirally advanced |
| CN108612957A (en) * | 2018-07-26 | 2018-10-02 | 邱爱玲 | A kind of pipeline detection cleaning robot |
-
2021
- 2021-02-05 CN CN202110158156.2A patent/CN112815178A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101507865A (en) * | 2009-03-24 | 2009-08-19 | 山东科技大学 | Rescue robot capable of falling into well |
| CN102913715A (en) * | 2012-09-14 | 2013-02-06 | 北京信息科技大学 | Robot for detecting small pipeline |
| CN103272347A (en) * | 2013-06-28 | 2013-09-04 | 秦利明 | Rescue device for small-bore deep well |
| CN204823965U (en) * | 2015-06-19 | 2015-12-02 | 济南大学 | Wire rope winding displacement device based on gear switching -over |
| WO2017215810A1 (en) * | 2016-06-13 | 2017-12-21 | Battakarst | Robot for renovating penstocks, provided with an anti-twisting moving system |
| CN207609913U (en) * | 2017-11-21 | 2018-07-13 | 王宗涛 | A kind of Multifunctional pipeline robot that adaptive different tube diameters are spirally advanced |
| CN108612957A (en) * | 2018-07-26 | 2018-10-02 | 邱爱玲 | A kind of pipeline detection cleaning robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210518 |
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| WW01 | Invention patent application withdrawn after publication |