CN112944108B - Bionic creeping robot for inner wall of pipeline and using method thereof - Google Patents
Bionic creeping robot for inner wall of pipeline and using method thereof Download PDFInfo
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- CN112944108B CN112944108B CN202110094700.1A CN202110094700A CN112944108B CN 112944108 B CN112944108 B CN 112944108B CN 202110094700 A CN202110094700 A CN 202110094700A CN 112944108 B CN112944108 B CN 112944108B
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention provides a bionic peristaltic crawling robot for an inner wall of a pipeline and a using method thereof, and relates to the technical field of pipeline robots. According to the peristaltic rotation type pipeline device, the peristaltic rotation block rotates to enable the second connecting rod on the side face to do circular motion, the second connecting rod is rotatably installed on the peristaltic rotation block, and the first connecting rod connected with the second connecting rod forces the first connecting rod to do circular motion vertical to the peristaltic propulsion single bone ring around the peristaltic propulsion single bone ring, so that the whole device can be driven to wriggle in the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a bionic creeping robot for an inner wall of a pipeline and a using method thereof.
Background
At present, pipelines in production and life have wide application range, and leakage pollution is easy to cause once the pipelines are damaged, serious environmental protection problems are caused, even burning and explosion accidents are possibly caused, casualties are caused, and intolerable loss is caused. If the damage to the pipeline can be detected in advance, it is possible to avoid such a loss.
Similarly, similar problems exist in the fields of central air conditioning, nuclear industry, boiler piping, and the like. The core of avoiding accidents is to prevent the accidents in advance, and the prevention basis is to detect the damage condition of the pipeline regularly.
At present, pipeline detection devices and schemes are more, and the market also has more products, but most of these products have the problems of complex structure, insufficient obstacle crossing capability, single adaptive pipe diameter, inconvenient control, low reliability, high price, poor applicability and the like. Compared with other schemes, the invention has the outstanding advantages of adopting a modular design, having a turning function, being suitable for the variable diameter pipeline, having certain obstacle crossing capability and the like, and having various control modes such as remote control, automatic operation according to a preset program and the like. Wide application range and field and wide market application prospect. The pipeline robot is mainly applied to the interior or exterior of some pipelines inconvenient for manual operation, and the research of the pipeline robot relates to a plurality of technologies, and is one of the important development directions of the robot in the future. The traditional pipeline robot has many defects, such as insufficient obstacle crossing capability, single adaptive pipe diameter, inconvenience in control and the like.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the bionic peristaltic advancing pipeline detection robot with the active adaptation function is designed for the defects of the traditional pipeline robot. The active adaptation device adopts a structure combining gear transmission and a lead screw nut, can realize long pipeline detection, and can realize large inclination angle detection even vertical pipeline inner wall detection. The robot has good trafficability characteristic, simple structure, convenient operation and control and stable performance.
(II) technical scheme
In order to realize the purpose, the invention is realized by the following technical scheme: the utility model provides a bionical wriggling of pipeline inner wall robot of crawling, includes the detection head end, it has a plurality of wriggling propulsion single-section subassembly to survey head end rear end through a plurality of single-section subassembly connection ball swing joint, it is connected with the detection head end spliced pole to survey head end rear end integration, a detection head end connection ball chamber has been seted up to detection head end spliced pole tail end side surface, the detection head end is including surveying head end shell, rotating electrical machines, signal reception antenna, diversion subassembly and detection camera, fixed mounting has the battery on the detection head end shell inner wall, fixed mounting has the detection camera on the detection head end shell inner wall.
Preferably, survey head end shell head end surface and be located and survey camera week equidistance and install the probe head searchlight, battery one end fixed surface installs diversion subassembly, battery one end fixed surface installs signal reception antenna, diversion subassembly includes diversion subassembly bottom plate, diversion subassembly curb plate, rotating electrical machines, first gear, second gear, third gear and fourth gear.
As preferred, diversion subassembly bottom plate one end surface integration is connected with rather than two diversion subassembly curb plates of surface vertically, two all rotate in the diversion subassembly curb plate outside and install first carousel, two the diversion subassembly curb plate outside all rotates and installs the second carousel, and every all rotate on first carousel and the second carousel and install diversion drive belt, two the pivot other end of second carousel just is located two diversion subassembly curb plate inboards first gear of fixedly connected with and third gear respectively.
Preferably, two the pivot other end of first carousel just is located the both ends of the inboard equal fixed connection third carousel pivot of two diversion subassembly curb plates, third carousel pivot middle section integration is connected with the third carousel, one of them diversion subassembly curb plate outside fixed mounting has electric telescopic handle, just electric telescopic handle's output fixed connection is at the electric telescopic handle fixed plate, electric telescopic handle fixed plate one side just is located electric telescopic handle upper end fixedly connected with rotating electrical machines fixed plate.
Preferably, a rotating motor is fixedly mounted on the surface of the upper end of the rotating motor fixing plate, the output end of the rotating motor movably penetrates through the side plate of the direction changing assembly to the other side and is fixedly connected with a second gear, a fourth gear is rotatably mounted on the surface of the inner side of the other side plate of the direction changing assembly, and the second gear is visually meshed with the first gear and the fourth gear in the cross section angle.
As preferred, the wriggling impels the single section subassembly and includes wriggling impel single section bone circle, single section fixed block spliced pole, single section fixed block, wriggling rotatory piece and single section connection carousel, the wriggling impels the equidistance integration on the single section bone circle to be connected with the rotatory stopper of a plurality of groups, and every group rotatory stopper has two, per two all rotate between the rotatory stopper and install wriggling rotatory piece, just the rotatory piece of wriggling is hexagonal prism form such as.
Preferably, one side of each peristaltic rotation block is rotatably provided with two second connecting rods, each second connecting rod and the second connecting rod at the other end of the adjacent peristaltic rotation block are rotatably provided with a first connecting rod, and the upper end of each first connecting rod is integrally connected with an anti-skid propulsion block.
As preferred, wriggling impel single section bone circle inner circle surface integration be connected with rather than the surperficial vertically single section fixed block spliced pole, the other end of single section fixed block spliced pole just is located wriggling impel the centre of a circle department fixedly connected with single section fixed block of single section bone circle, just single section subassembly connection ball chamber, every have been seted up respectively at single section fixed block both ends wriggling impel the single section subassembly all to connect ball chamber and single section subassembly through the single section subassembly and connect ball bone and preceding section and the wriggling of one section back and impel single section subassembly swing joint.
Preferably, one of the peristaltic rotation block is integrally provided with a single section connecting turntable connecting block, two single section connecting turntables are integrally connected to two sides of the single section connecting turntable connecting block, the single section connecting turntable and the rear single section connecting turntable are connected in a rotating mode through a single section driving elastic belt, and the first section peristaltic propulsion single section assembly is connected with the third turntable on the detection head end in a rotating mode through the single section driving elastic belt.
Meanwhile, the invention also discloses a use method of the bionic peristaltic crawling robot for the inner wall of the pipeline, which comprises the following operation steps:
s1: firstly, a second gear is driven to be meshed with a first gear through a rotating motor, a second turntable at one end of the second turntable is driven to rotate through the first gear, the second turntable drives a first turntable to rotate through a direction-changing driving belt, so that a third turntable on a rotating shaft of the third turntable can be driven to rotate, a single section of driving elastic belt sleeved on the third turntable is driven, and rotating power can be provided for a peristaltic propulsion single-section assembly at the tail end;
s2: the rotating motor is pushed to move through the electric telescopic rod, the second gear is enabled to move towards one end until the second gear is disengaged from the first gear, the second gear is meshed with the fourth gear, the third gear on one side where the fourth gear is engaged drives the first rotary disc to rotate through the turning driving belt, and therefore the third rotary disc on the rotating shaft of the third rotary disc can be driven to rotate, the rotating direction of the whole body is opposite, and the effect of changing the moving direction of equipment under the condition that the rotating direction of the output shaft of the rotating motor is not changed can be achieved;
s3: the peristaltic rotating block rotates to enable the second connecting rod on the side face of the peristaltic rotating block to do circular motion, the second connecting rod is rotatably mounted on the peristaltic rotating block, and the first connecting rod connected with the second connecting rod forces the first connecting rod to do circular motion perpendicular to the peristaltic propelling single bone ring around the peristaltic propelling single bone ring, so that the whole device can be driven to move forwards in a peristaltic mode in the pipeline.
(III) advantageous effects
The invention provides a bionic creeping robot for the inner wall of a pipeline. The method has the following beneficial effects:
firstly, a second gear is driven by a rotating motor to be meshed with a first gear, a second turntable at one end of the second turntable is driven by the first gear to rotate, the second turntable drives a first turntable to rotate through a direction-changing driving belt, so that a third turntable on a rotating shaft of the third turntable can be driven to rotate, a single section of driving elastic belt sleeved on the third turntable is driven, and rotating power can be provided for a peristaltic propulsion single-section component at the tail end; the rotating motor is pushed to move through the electric telescopic rod, the second gear is enabled to move towards one end until the second gear is disengaged from the first gear, the second gear is meshed with the fourth gear, the third gear on one side where the fourth gear is engaged drives the first rotary disc to rotate through the turning driving belt, and therefore the third rotary disc on the rotating shaft of the third rotary disc can be driven to rotate, the rotating direction of the whole body is opposite, and the effect of changing the moving direction of equipment under the condition that the rotating direction of the output shaft of the rotating motor is not changed can be achieved; the peristaltic rotating block rotates to enable the second connecting rod on the side face of the peristaltic rotating block to do circular motion, the second connecting rod is rotatably mounted on the peristaltic rotating block, and the first connecting rod connected with the second connecting rod forces the first connecting rod to do circular motion perpendicular to the peristaltic propelling single bone ring around the peristaltic propelling single bone ring, so that the whole device can be driven to move forwards in a peristaltic mode in the pipeline.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the peristaltic propulsion single-section assembly of the present invention;
FIG. 3 is a schematic view of a direction changing assembly of the present invention;
FIG. 4 is a schematic top view of the structure of FIG. 3 according to the present invention;
FIG. 5 is a schematic structural diagram of a probe head according to the present invention;
FIG. 6 is a schematic diagram of the internal structure of the probe head according to the present invention;
FIG. 7 is a schematic diagram of the overall front end structure of the probe head of the present invention;
fig. 8 is a schematic diagram of a circuit connection structure of each electrical appliance of the present invention.
Wherein, 1, detecting a head end; 2. peristaltic propulsion of the single-section assembly; 3. the single-section component is connected with the ball bone; 4. a rotating electric machine; 5. a direction changing component; 6. a battery; 7. a signal receiving antenna; 8. detecting a head end connecting column; 9. the detection head end is connected with the ball cavity; 10. a direction-changing assembly bottom plate; 11. a side plate of the direction changing assembly; 12. a rotating motor fixing plate; 13. a direction-changing driving belt; 14. a first turntable; 15. a second turntable; 16. a first gear; 17. a second gear; 18. a third gear; 19. a fourth gear; 20. an electric telescopic rod; 21. an electric telescopic rod fixing plate; 22. a third turntable rotating shaft; 23. a third turntable; 24. detecting a head-end searchlight; 25. propelling the single bone loop in a creeping manner; 26. a single-section fixed block connecting column; 27. a single section of fixed block; 28. the single-section component is connected with the ball cavity; 29. a single section of connecting turntable; 30. the single section is connected with a turntable connecting block; 31. a single section of drive elastic belt; 32. an anti-skid propulsion block; 33. a first connecting rod; 34. a second connecting rod; 35. rotating the limiting block; 36. a peristaltic rotation block; 37. detecting a head end housing; 38. a camera is detected.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, a bionic creeping robot for pipeline inner wall, including detection head end 1, detection head end 1 rear end has a plurality of wriggling propulsion single-section subassembly 2 through 3 swing joints of a plurality of single-section subassembly connection ball, detection head end 1 rear end integration is connected with detection head end spliced pole 8, detection head end connection ball chamber 9 has been seted up to detection head end connection ball chamber 8 tail end side surface, detection head end 1 is including detection head end shell 37, rotating electrical machines 4, signal reception antenna 7, diversion subassembly 5 and detection camera 38, fixed mounting has battery 6 on the detection head end shell 37 inner wall, fixed mounting has detection camera 38 on the detection head end shell 37 head end inner wall.
Through the technical scheme, the rotating motor 4 drives the second gear 17 to be meshed with the first gear 16, the first gear 16 drives the second turntable 15 at one end of the second turntable to rotate, so that the second turntable 15 drives the first turntable 14 to rotate through the direction-changing driving belt 13, and the third turntable 23 on the third turntable rotating shaft 22 can be driven to rotate, so that the single-section driving elastic belt 31 sleeved on the third turntable can be driven, and the rotating power can be provided for the peristaltic propulsion single-section component 2 at the tail end; the electric telescopic rod 20 is used for pushing the rotating motor 4 to move, the second gear 17 is moved towards one end until the second gear is disengaged from the first gear 16 and is meshed with the fourth gear 19, the third gear 18 on one side meshed with the fourth gear 19 drives the first turntable 14 to rotate through the second turntable 15 and the turning driving belt 13, so that the third turntable 23 on the rotating shaft 22 of the third turntable can be driven to rotate, the rotating direction of the whole is opposite, and the effect of changing the moving direction of the equipment under the condition that the rotating direction of the output shaft of the rotating motor 4 is not changed can be achieved; the peristaltic rotation block 36 rotates to enable the second connecting rod 34 on the side surface to do circular motion, because the second connecting rod 34 is rotatably installed on the peristaltic rotation block 36, the first connecting rod 33 connected with the second connecting rod 34 forces the first connecting rod 33 to do circular motion perpendicular to the peristaltic propulsion single bone ring 25 around the peristaltic propulsion single bone ring, and therefore the whole device can be driven to advance in a peristaltic mode in the pipeline.
In the embodiment, the detection head searchlights 24 are equidistantly arranged on the outer surface of the head end of the detection head end shell 37 and around the detection camera 38, the direction changing component 5 is fixedly arranged on the surface of one end of the storage battery 6, the signal receiving antenna 7 is fixedly arranged on the surface of one end of the storage battery 6, and the direction changing component 5 comprises a direction changing component bottom plate 10, a direction changing component side plate 11, a rotating motor 4, a first gear 16, a second gear 17, a third gear 18 and a fourth gear 19; the surface of one end of the direction changing assembly bottom plate 10 is integrally connected with two direction changing assembly side plates 11 vertical to the surface of the direction changing assembly bottom plate, the outer sides of the two direction changing assembly side plates 11 are respectively rotatably provided with a first rotating disc 14, the outer sides of the two direction changing assembly side plates 11 are respectively rotatably provided with a second rotating disc 15, each of the first rotating discs 14 and each of the second rotating discs 15 is respectively rotatably provided with a direction changing driving belt 13, the other ends of rotating shafts of the two second rotating discs 15 are respectively and fixedly connected with a first gear 16 and a third gear 18 which are positioned at the inner sides of the two direction changing assembly side plates 11, the rotating motors 4 drive the second gears 17 to be meshed with the first gears 16, the second rotating discs 15 which drive one ends of the second rotating discs are driven to rotate by the first gears 16 through the direction changing driving belts 13, so as to drive the third rotating discs 23 on a rotating shaft 22 of the third rotating discs to rotate, so as to drive the single-section driving elastic belts 31 sleeved on the second rotating discs, and can provide rotating power for the propelling single-section assembly 2 at the tail end.
In the embodiment, the other ends of the rotating shafts of the two first rotating discs 14 and the inner sides of the two direction-changing component side plates 11 are fixedly connected with the two ends of a third rotating disc rotating shaft 22, the middle section of the third rotating disc rotating shaft 22 is integrally connected with a third rotating disc 23, an electric telescopic rod 20 is fixedly installed on the outer side of one direction-changing component side plate 11, the output end of the electric telescopic rod 20 is fixedly connected with an electric telescopic rod fixing plate 21, and a rotating motor fixing plate 12 is fixedly connected with one side of the electric telescopic rod fixing plate 21 and the upper end of the electric telescopic rod 20; the rotary motor 4 is fixedly arranged on the surface of the upper end of the rotary motor fixing plate 12, the output end of the rotary motor 4 movably penetrates through the direction-changing assembly side plate 11 to the other side and is fixedly connected with a second gear 17, a fourth gear 19 is rotatably arranged on the surface of the inner side of the other direction-changing assembly side plate 11, the second gear 17 is in visual meshing connection with the first gear 16 and the fourth gear 19 in the cross section angle, and rotary power can be provided for each rear peristaltic propulsion single-section assembly 2 through the third rotary disc 23.
According to the embodiment, the peristaltic propulsion single-section component 2 comprises a peristaltic propulsion single-section bone ring 25, a single-section fixed block connecting column 26, a single-section fixed block 27, a peristaltic rotation block 36 and a single-section connecting turntable 29, a plurality of groups of rotation limiting blocks 35 are integrally connected to the peristaltic propulsion single-section bone ring 25 at equal intervals, two rotation limiting blocks 35 are arranged in each group, the peristaltic rotation block 36 is rotatably arranged between every two rotation limiting blocks 35, and the peristaltic rotation block 36 is in an equihexagonal prism shape; two second connecting rods 34 are rotatably mounted on one surface of each peristaltic rotation block 36, a first connecting rod 33 is rotatably mounted on each second connecting rod 34 and the second connecting rod 34 at the other end of the adjacent peristaltic rotation block 36, and an anti-skid propulsion block 32 is integrally connected to the upper end of each first connecting rod 33, so that the peristaltic rotation blocks 36 can convert the driving force to each part on the peristaltic propulsion single-joint bone ring 25.
In the embodiment, a single-section fixing block connecting column 26 vertical to the surface of the inner ring surface of the peristaltic propulsion single-section bone ring 25 is integrally connected to the surface of the inner ring surface of the peristaltic propulsion single-section bone ring 25, a single-section fixing block 27 is fixedly connected to the other end of the single-section fixing block connecting column 26 and is positioned at the circle center of the peristaltic propulsion single-section bone ring 25, single-section component connecting ball cavities 28 are respectively formed in two ends of the single-section fixing block 27, and each peristaltic propulsion single-section component 2 is movably connected with the peristaltic propulsion single-section component 2 of the previous section and the subsequent section through the single-section component connecting ball cavity 28 and the single-section component connecting ball 3; a single section of connecting turntable connecting block 30 is integrally arranged on one peristaltic rotation block 36, two single sections of connecting turntables 29 are integrally connected to two sides of the single section of connecting turntable connecting block 30, the single section of connecting turntables 29 and the single section of connecting turntables 29 of the next section are rotatably connected through a single section of driving elastic belt 31, and the first section of peristaltic propulsion single section assembly 2 is rotatably connected with the third turntables 23 on the detection head end 1 through the single section of driving elastic belt 31.
Meanwhile, the invention also discloses a use method of the bionic creeping robot for the inner wall of the pipeline, which comprises the following operation steps:
s1: firstly, a rotating motor 4 drives a second gear 17 to be meshed with a first gear 16, the first gear 16 drives a second turntable 15 at one end of the second turntable to rotate, so that the second turntable 15 drives a first turntable 14 to rotate through a direction-changing driving belt 13, and a third turntable 23 on a third turntable rotating shaft 22 can be driven to rotate, so that a single-section driving elastic belt 31 sleeved on the third turntable can be driven, and the rotating power can be provided for the wriggling propulsion single-section component 2 at the tail end;
s2: the electric telescopic rod 20 is used for pushing the rotating motor 4 to move, the second gear 17 is moved towards one end until the second gear is disengaged from the first gear 16 and is meshed with the fourth gear 19, the third gear 18 on one side meshed with the fourth gear 19 drives the first turntable 14 to rotate through the second turntable 15 and the turning driving belt 13, so that the third turntable 23 on the rotating shaft 22 of the third turntable can be driven to rotate, the rotating direction of the whole is opposite, and the effect of changing the moving direction of the equipment under the condition that the rotating direction of the output shaft of the rotating motor 4 is not changed can be achieved;
s3: the peristaltic rotation block 36 rotates to enable the second connecting rod 34 on the side surface to do circular motion, because the second connecting rod 34 is rotatably installed on the peristaltic rotation block 36, the first connecting rod 33 connected with the second connecting rod 34 forces the first connecting rod 33 to do circular motion perpendicular to the peristaltic propulsion single bone ring 25 around the peristaltic propulsion single bone ring, and therefore the whole device can be driven to advance in a peristaltic mode in the pipeline.
The working principle is as follows:
firstly, a rotating motor 4 drives a second gear 17 to be meshed with a first gear 16, the first gear 16 drives a second turntable 15 at one end of the second turntable to rotate, so that the second turntable 15 drives a first turntable 14 to rotate through a direction-changing driving belt 13, and a third turntable 23 on a third turntable rotating shaft 22 can be driven to rotate, so that a single-section driving elastic belt 31 sleeved on the third turntable can be driven, and the rotating power can be provided for the wriggling propulsion single-section component 2 at the tail end; the electric telescopic rod 20 is used for pushing the rotating motor 4 to move, so that the second gear 17 moves towards one end until the second gear 17 is separated from the meshing of the first gear 16 and is meshed with the fourth gear 19, the third gear 18 on one side meshed with the fourth gear 19 drives the first turntable 14 to rotate through the turning driving belt 13 by the second turntable 15, and therefore the third turntable 23 on the third turntable rotating shaft 22 can be driven to rotate, the overall rotating direction is opposite, and the effect of changing the moving direction of the equipment under the condition that the rotating direction of the output shaft of the rotating motor 4 is not changed can be achieved; the peristalsis rotating block 36 rotates to enable the second connecting rod 34 on the side face to do circular motion, and the second connecting rod 34 is rotatably installed on the peristalsis rotating block 36, and the first connecting rod 33 connected through the second connecting rod 34 forces the first connecting rod 33 to do circular motion perpendicular to the peristalsis propelling single-section bone ring 25 around the peristalsis propelling single-section bone ring, so that the whole device can be driven to wriggle and advance in the pipeline.
The specific type of the rotating electrical machine 4 is: Y112M-44KWB3, the specific model of electric telescopic link 20 is: 5-1500, the specific types of the detection camera 38 are: exmor R CMOS.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a bionic wriggling of pipeline inner wall robot of crawling, includes detection head end (1), its characterized in that: the rear end of the detection head end (1) is movably connected with a plurality of peristaltic propulsion single-joint components (2) through a plurality of single-joint component connecting ball bones (3), the rear end of the detection head end (1) is integrally connected with a detection head end connecting column (8), a detection head end connecting ball cavity (9) is formed in one side surface of the tail end of the detection head end connecting column (8), the detection head end (1) comprises a detection head end shell (37), a rotating motor (4), a signal receiving antenna (7), a turning component (5) and a detection camera (38), a storage battery (6) is fixedly mounted on the inner wall of the detection head end shell (37), and a detection camera (38) is fixedly mounted on the inner wall of the head end of the detection head end shell (37);
the peristaltic propulsion single-section component (2) comprises a peristaltic propulsion single-section bone ring (25), a single-section fixed block connecting column (26), a single-section fixed block (27), peristaltic rotating blocks (36) and a single-section connecting turntable (29), wherein a plurality of groups of rotating limiting blocks (35) are integrally connected with the peristaltic propulsion single-section bone ring (25) at equal intervals, two rotating limiting blocks (35) are arranged in each group, the peristaltic rotating blocks (36) are rotatably arranged between every two rotating limiting blocks (35), and the peristaltic rotating blocks (36) are in an equihexagonal prism shape;
one side of each peristaltic rotation block (36) is rotatably provided with two second connecting rods (34), each second connecting rod (34) and the second connecting rod (34) at the other end of the adjacent peristaltic rotation block (36) are rotatably provided with a first connecting rod (33), and the upper end of each first connecting rod (33) is integrally connected with an anti-skid propulsion block (32);
the surface of the inner ring of the peristaltic propulsion single-joint bone ring (25) is integrally connected with a single-joint fixed block connecting column (26) vertical to the surface of the peristaltic propulsion single-joint bone ring, the other end of the single-joint fixed block connecting column (26) is fixedly connected with a single-joint fixed block (27) at the circle center of the peristaltic propulsion single-joint bone ring (25), two ends of the single-joint fixed block (27) are respectively provided with a single-joint component connecting ball cavity (28), and each peristaltic propulsion single-joint component (2) is movably connected with a previous peristaltic propulsion single-joint component (2) and a next peristaltic propulsion single-joint component (2) through a single-joint component connecting ball cavity (28) and a single-joint component connecting ball (3);
one of them the integration is equipped with single section connection carousel connecting block (30) on the rotatory piece of wriggling (36), just single section connection carousel connecting block (30) both sides integration is connected with two single sections and connects carousel (29), single section connection carousel (29) go up with the single section of back and connect carousel (29) and rotate through single section drive elastic belt (31) and be connected, and first section wriggling impel third carousel (23) on single section subassembly (2) and the detection head end (1) to rotate through single section drive elastic belt (31) and be connected.
2. The bionic peristaltic crawling robot for the inner wall of the pipeline as claimed in claim 1, wherein: the detection head end shell (37) head end surface just is located detection camera (38) a week equidistance and installs detection head end searchlight (24), battery (6) one end fixed surface installs diversion subassembly (5), battery (6) one end fixed surface installs signal reception antenna (7), diversion subassembly (5) include diversion subassembly bottom plate (10), diversion subassembly curb plate (11), rotating electrical machines (4), first gear (16), second gear (17), third gear (18) and fourth gear (19).
3. The bionic peristaltic crawling robot for the inner wall of the pipeline as claimed in claim 2, wherein: diversion subassembly bottom plate (10) one end surface integration is connected with rather than two diversion subassembly curb plates (11), two of surface vertically diversion subassembly curb plate (11) outside all rotates and installs first carousel (14), two diversion subassembly curb plate (11) outside all rotates and installs second carousel (15), and every all rotate on first carousel (14) and second carousel (15) and install diversion drive belt (13), two the pivot other end of second carousel (15) just is located two diversion subassembly curb plate (11) inboard fixedly connected with first gear (16) and third gear (18) respectively.
4. The bionic peristaltic crawling robot for the inner wall of the pipeline as claimed in claim 3, wherein: two the pivot other end of first carousel (14) just is located the both ends of two equal fixed connection third carousel pivots (22) of diversion subassembly curb plate (11) inboard, third carousel pivot (22) middle section integration is connected with third carousel (23), one of them diversion subassembly curb plate (11) outside fixed mounting has electric telescopic handle (20), just the output fixed connection of electric telescopic handle (20) is at electric telescopic handle fixed plate (21), electric telescopic handle fixed plate (21) one side just is located electric telescopic handle (20) upper end fixedly connected with rotating electrical machines fixed plate (12).
5. The bionic peristaltic crawling robot for the inner wall of the pipeline as claimed in claim 4, wherein: the surface of the upper end of the rotating motor fixing plate (12) is fixedly provided with a rotating motor (4), the output end of the rotating motor (4) movably penetrates through the direction-changing component side plate (11) to the other side and is fixedly connected with a second gear (17), the inner side surface of the direction-changing component side plate (11) is rotatably provided with a fourth gear (19), and the second gear (17) is meshed and connected with the first gear (16) and the fourth gear (19) in the visual aspect of the cross section angle.
6. The use method of the bionic creeping robot for the inner wall of the pipeline according to any one of claims 1 to 5, is characterized in that: the method comprises the following operation steps: s1: firstly, a rotating motor (4) is used for driving a second gear (17) to be meshed with a first gear (16), a second turntable (15) at one end of the rotating motor is driven to rotate by the first gear (16), so that the second turntable (15) drives a first turntable (14) to rotate by a turning driving belt (13), and a third turntable (23) on a third turntable rotating shaft (22) can be driven to rotate, a single-section driving elastic belt (31) sleeved on the third turntable rotating shaft is driven, and rotating power can be provided for a wriggling propulsion single-section component (2) at the tail end; s2: the rotating motor (4) is pushed to move through the electric telescopic rod (20), the second gear (17) moves towards one end until the second gear is disengaged from the first gear (16) and is meshed with the fourth gear (19), the second rotary disc (15) drives the first rotary disc (14) to rotate through the third gear (18) on the meshed side of the fourth gear (19) and the turning driving belt (13), so that the third rotary disc (23) on the rotary shaft (22) of the third rotary disc can be driven to rotate, the integral rotating direction is opposite, and the effect of changing the moving direction of equipment under the condition that the rotating direction of an output shaft of the rotating motor (4) is not changed can be achieved; s3: the peristaltic rotation block (36) rotates to enable the second connecting rod (34) on the side face of the peristaltic rotation block to do circular motion, the second connecting rod (34) is rotatably installed on the peristaltic rotation block (36), and the first connecting rod (33) connected through the second connecting rod (34) forces the first connecting rod (33) to do circular motion perpendicular to the peristaltic propulsion single bone ring (25) around the peristaltic propulsion single bone ring, so that the whole device can be driven to wriggle and advance in the pipeline.
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| CN113374988B (en) * | 2021-06-29 | 2022-12-09 | 西北大学 | Detection robot in industrial pipeline of self-adaptation pipe diameter |
| CN116379258B (en) * | 2023-06-05 | 2024-01-26 | 德阳市生产力促进中心 | Serpentine robot with nuclear equipment pipeline detection function |
| CN116481741B (en) * | 2023-06-21 | 2023-09-26 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
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| AU2006203774B2 (en) * | 2006-08-30 | 2013-09-26 | Olex Australia Pty Limited | Pipe inspection robot |
| CN102190021A (en) * | 2010-03-05 | 2011-09-21 | 上海未来伙伴机器人有限公司 | Robot creating peristaltic motion |
| CN104214523A (en) * | 2014-08-21 | 2014-12-17 | 沙洲职业工学院 | Pipeline crawling robot |
| AT517856B1 (en) * | 2016-05-20 | 2017-05-15 | Manuel Müller Matthias | robot |
| CN106903120B (en) * | 2017-05-11 | 2018-09-14 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
| CN109882680B (en) * | 2019-03-18 | 2023-09-26 | 厦门理工学院 | Peristaltic pipeline robot and control method thereof |
| CN110508572B (en) * | 2019-08-26 | 2024-07-09 | 安徽工程大学 | Multi-support wheel type peristaltic pipeline cleaning robot |
| CN210998713U (en) * | 2019-11-29 | 2020-07-14 | 吉林大学 | Wriggling type multi-step robot |
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Effective date of registration: 20230724 Address after: Room 4F401-06, Building 1, No. 800 Naxian Road, China (Shanghai) Pilot Free Trade Zone, Pudong New Area, Shanghai, 201210 Patentee after: Shanghai Bangding Smart Technology Co.,Ltd. Address before: No.1, Jinan Road, Dongying District, Dongying City, Shandong Province 257100 Patentee before: Shengli College China University of Petroleum |
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