CN113357332A - Non-equal-diameter vertical pipeline robot with improved climbing performance - Google Patents
Non-equal-diameter vertical pipeline robot with improved climbing performance Download PDFInfo
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- CN113357332A CN113357332A CN202110610603.3A CN202110610603A CN113357332A CN 113357332 A CN113357332 A CN 113357332A CN 202110610603 A CN202110610603 A CN 202110610603A CN 113357332 A CN113357332 A CN 113357332A
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- 230000009194 climbing Effects 0.000 title claims abstract description 10
- 238000003825 pressing Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000010791 domestic waste Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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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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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种改善攀爬性能的非等径垂直管道机器人，包括机器人本体，机器人本体设置有驱动机构，驱动机构包括行走轮驱动电机、行走轮、压紧力调节电机、滚珠丝杠、丝母和压力传感器，滚珠丝杠中部旋转连接在机器人本体上，两端配合连接有相反旋合的两个丝母，行走轮驱动电机和压紧力调节电机均分别齿轮传动机构旋转连接到机器人本体上和滚珠丝杠上，齿轮传动机构外端的从动齿轮均通过万向节铰接有三根连杆一，每根连杆一另一端旋转连接有行走轮，中部通过连杆二铰接在轴套上，机器人本体两侧分别布置一套行走轮、连杆一和连杆二。本发明能实现行走轮径向尺寸变化调节，实现非等径垂直管道机器人行走更加稳定，不会出现卡住现象，整体结构简易。
The invention discloses a non-equal-diameter vertical pipeline robot with improved climbing performance, comprising a robot body, the robot body is provided with a driving mechanism, and the driving mechanism comprises a driving motor of a walking wheel, a walking wheel, a pressing force adjusting motor, a ball screw, The screw nut and the pressure sensor, the middle part of the ball screw is rotatably connected to the robot body, and the two ends are matched with two screw nuts that are screwed in opposite directions. On the main body and on the ball screw, the driven gear at the outer end of the gear transmission mechanism is hinged with three connecting rods through a universal joint, the other end of each connecting rod is rotatably connected with a traveling wheel, and the middle part is hinged on the shaft sleeve through the second connecting rod. On both sides of the robot body, a set of walking wheels, connecting rod 1 and connecting rod 2 are arranged respectively. The invention can realize the change and adjustment of the radial dimension of the walking wheel, realize that the non-equal-diameter vertical pipeline robot can walk more stably, the jamming phenomenon will not occur, and the overall structure is simple.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and relates to a non-isometric vertical pipeline robot capable of improving climbing performance.
Background
No matter building, urban construction, nuclear industry, chemical industry or municipal pipeline construction, all lay a large amount of pipelines, these pipelines often are invisible, for example the drainage pipe of city is mostly buried underground or because of the decoration reason invisible, especially those pass through the special pipeline of river, railway, road, these pipelines can cause the corruption, reveal, jam scheduling problem because of people's domestic waste, the waste liquid that discharges in the industry etc. if untimely clearance, mediation and maintenance, will make sewage flow leak, pollute living environment, cause the trouble for people's life. With the development of society, the arrangement of pipeline systems is increasing, so that the problem of exposure on the pipeline is also increasing, and great difficulties exist in cleaning, dredging, maintaining, repairing and managing the pipeline. The existing excavation and sampling inspection method increases labor intensity, has low benefit, low accuracy, is easy to leak, and the like, and in some special environments, such as chemical engineering, refrigeration, nuclear power stations, and the like, the conventional method wastes time and labor for detecting micro pipelines and has the dangers of poisoning, radiation, and the like, which has attracted the attention of related departments and becomes a considerable work of government departments.
Aiming at the problems in the work of cleaning, dredging, maintaining, repairing, managing and the like of the pipeline, when the important part of the pipeline is detected, the pipeline robot has certain advantages in the operation process, and has good application prospect. At this time, if manual operation is adopted, great potential safety hazards often exist, the labor intensity is high, and certain threats exist to the life safety of workers. Under the background, in order to ensure the life safety of workers and improve the working efficiency, the pipeline can be subjected to quality detection, fault diagnosis, cleaning, spraying, flaw detection, welding, pipeline maintenance and repair and the like in a mode of advancing by a pipeline robot, and great convenience is brought to the production and life of people.
The existing non-equal-diameter vertical pipeline robot mainly has the following problems:
1. the pipeline robot is generally single-drive or front-back single-drive, when the diameter is changed or a curve is met, mutual obstruction and interference are easy to generate between wheels and a pipeline, so that the pipeline robot is clamped in the pipeline;
2. the structure of the existing pipeline robot is complex, and time and economic cost are increased in the process of designing the pipeline robot and the process of manufacturing the pipeline robot;
3. because current pipeline robot structure is comparatively complicated, invisibly increased pipeline robot's weight for pipeline robot scrambles inefficiency.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the non-equal-diameter vertical pipeline robot with the improved climbing performance is provided to solve the technical problems in the prior art.
The technical scheme adopted by the invention is as follows: a non-isometric vertical pipeline robot for improving climbing performance comprises a robot body, wherein the robot body is provided with a driving mechanism, the driving mechanism comprises a walking wheel driving motor, a walking wheel, a pressing force adjusting motor, a ball screw, nuts and pressure sensors, the middle part of the ball screw is rotatably connected to the robot body, two ends of the ball screw are in matched connection with two nuts which are oppositely screwed, the outer side of each nut is provided with the pressure sensor, the outer side of the pressure sensor is abutted against a shaft sleeve movably sleeved on the ball screw, the walking wheel driving motor and the pressing force adjusting motor are fixedly connected to the robot body, motor shafts of the walking wheel driving motor and the pressing force adjusting motor are respectively connected with a first gear and a fifth gear, a second gear meshed with the first gear is rotatably connected to the robot body and is coaxial with the ball screw, and a sixth gear meshed with the fifth gear is fixedly connected to the ball screw, the third gear, the fourth gear and the first gear which are meshed with the second gear are uniformly distributed along the circumferential direction of the second gear and are rotatably connected to the robot body, three first connecting rods are hinged to the outer sides of the first gear, the third gear and the fourth gear through universal joints, the other end of each first connecting rod is rotatably connected with a traveling wheel, the middle of each first connecting rod is hinged with a second connecting rod, the other ends of the second connecting rods are hinged to the shaft sleeve, the traveling wheels, the first connecting rods and the second connecting rods are oppositely installed, the other sets of the traveling wheels, the first connecting rods and the second connecting rods are installed on the other side of the robot body, and the first connecting rods are hinged to the robot body.
Preferably, the pressure sensor is connected to a controller, and the controller is connected to the road wheel drive motor and the pressing force adjustment motor.
Preferably, the gear bi-pass is connected to the robot body through a quill.
The invention has the beneficial effects that: compared with the prior art, the driving walking structure in the umbrella structure form is composed of the first connecting rod, the second connecting rod, the shaft sleeve and the lead screw, so that the driving walking structure can not only drive the walking wheels to walk, but also realize the radial size change adjustment of the walking wheels, realize the walking of the non-equal-diameter vertical pipeline robot to be more stable, avoid the phenomenon of clamping, have simple integral structure and high working reliability, and is light and convenient after the equipment structure is optimized, and the walking working efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a non-equal-diameter vertical pipeline robot;
FIG. 2 is a schematic distribution diagram of three walking wheels on one side in a pipeline;
fig. 3 is a schematic view of the arrangement structure of a first gear, a second gear, a third gear and a fourth gear.
In the drawings: 1. a traveling wheel driving motor; 2. a traveling wheel; 3. a universal joint; 4. a pressing force adjusting motor; 5. a ball screw; 6. a feed screw nut; 7. a pressure sensor; 8. a shaft sleeve; 9. a sixth gear; 10. a fifth gear; 11. a third gear; 12, gear four; 13. a first gear; 14. a second gear; 15. a first connecting rod; 16. and a second connecting rod.
Detailed Description
The invention is further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-3, a non-equal diameter vertical pipeline robot for improving climbing performance, comprising a robot body, wherein the robot body is provided with a driving mechanism, the driving mechanism comprises a walking wheel driving motor 1, walking wheels 2, a pressing force adjusting motor 4, a ball screw 5, a screw nut 6 and a pressure sensor 7, the middle part of the ball screw 5 is rotatably connected to the robot body, two ends of the ball screw 5 are connected with two screw nuts 6 which are oppositely screwed, the outer side of each screw nut 6 is provided with the pressure sensor 7, the outer side of the pressure sensor 7 is abutted against a shaft sleeve 8 which is movably sleeved on the ball screw 5, the walking wheel driving motor 1 and the pressing force adjusting motor 4 are fixedly connected to the robot body, motor shafts of the walking wheel driving motor 1 and the pressing force adjusting motor 4 are respectively connected with a first gear 13 and a fifth gear 10, a second gear 14 which is meshed with the first gear 13 is rotatably connected to the robot body and is coaxial with the ball screw 5, six 9 fixed connection on ball 5 with five 10 meshed gears of gear, gear three 11 and gear four 12 and gear one 13 with two 14 meshed gears along two 14 circumference equipartitions, and swivelling joint is on the robot body, gear one 13, three 11 and gear four 12 outside all articulates through universal joint 3 has three connecting rod one 15, every connecting rod one 15 other end swivelling joint has walking wheel 2, the middle part articulates there is connecting rod two 16, the connecting rod two 16 other end articulates on axle sleeve 8, walking wheel 2, connecting rod one 15 and connecting rod two 16 adopt two sets to install relatively, another set is installed the opposite side on the robot body and connecting rod one 15 articulates on the robot body.
Preferably, the above-mentioned pressure sensor 7 is connected to a controller, which is connected to the traction motor 1 and the pressing force adjusting motor 4.
Preferably, the second gear 14 is connected to the robot body through a quill.
The travel of the traveling wheels is realized by arranging three pinions on the ring gear.
The annular gear II is driven by a gear I driven by a traveling wheel driving motor, and the gear II drives a gear III and a gear IV after obtaining moment. The first gear transmits torque to the travelling wheels through universal joints, so that the travelling wheels can drive the whole pipeline robot; the universal joint plays a role in adjusting and adapting to non-equal diameters besides transmitting torque. The non-equal-diameter vertical pipeline robot can stably walk in the pipeline through the design of an umbrella structure consisting of a connecting rod I, a connecting rod II, a shaft sleeve and a lead screw; the umbrella structure realizes synchronous expansion or contraction through the ball screw and the nut which are screwed to different directions at the two ends of the robot body; the pressure generated when the walking wheel changes the diameter is received by a pressure sensor arranged on the ball screw; the pressure sensor feeds the received pressure signal back to the pressing force adjusting motor; the pressing force adjusting motor makes corresponding rotation amount after receiving the signal so as to adapt to stable walking of the walking wheel on different pipe diameters.
When the pipeline robot moves vertically in the axial direction, the motion state of the mechanism can be changed under the comprehensive action of the force. The driving wheel of the pipeline robot and the inner wall of the pipeline can generate axial friction force and radial friction force, the driving motor overcomes the axial friction force, the axial friction force provides advancing power, and the radial friction force provides circumferential force. When the front end load is too big, through the force sensor feedback adjustment motor of installation, ball starts, adjusts the friction force that can increase walking wheel and pipe wall through the umbrella structure.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (3)
1. The utility model provides an improve perpendicular pipeline robot of non-isodiametric of climbing performance which characterized in that: the robot comprises a robot body, the robot body is provided with a driving mechanism, the driving mechanism comprises a walking wheel driving motor (1), walking wheels (2), pressing force adjusting motors (4), a ball screw (5), nuts (6) and a pressure sensor (7), the middle part of the ball screw (5) is rotatably connected onto the robot body, two ends of the ball screw are connected with two nuts (6) which are oppositely screwed in a matching manner, the outer side of each nut (6) is provided with the pressure sensor (7), the outer side of the pressure sensor (7) is abutted against a shaft sleeve (8) which is movably sleeved on the ball screw (5), the walking wheel driving motor (1) and the pressing force adjusting motors (4) are fixedly connected onto the robot body, motor shafts of the walking wheel driving motor (1) and the pressing force adjusting motors (4) are respectively connected with a first gear (13) and a fifth gear (10), and a second gear (14) meshed with the first gear (13) is rotatably connected onto the robot body and is connected with the ball screw (5) The robot is coaxial, six (9) gears meshed with five (10) gears are fixedly connected to a ball screw (5), three (11) gears and four (12) gears meshed with two (14) gears are uniformly distributed with one (13) gear along the circumferential direction of the two (14) gears and are rotatably connected to a robot body, three first connecting rods (15) are hinged to the outer sides of the first (13) gears, the third (11) gears and the fourth (12) gears through universal joints (3), the other end of each first connecting rod (15) is rotatably connected with a traveling wheel (2), the middle of each first connecting rod is hinged with a second connecting rod (16), the other end of each second connecting rod (16) is hinged to a shaft sleeve (8), the traveling wheels (2), the first connecting rods (15) and the second connecting rods (16) are installed in two sets in a relative mode, the other sets of the first connecting rods are installed on the other side of the robot body, and the first connecting rods (15) are hinged to the robot body.
2. The non-equal-diameter vertical pipe robot with the improved climbing performance according to claim 1, wherein: the pressure sensor (7) is connected to a controller, and the controller is connected to the traveling wheel driving motor (1) and the pressing force adjusting motor (4).
3. The non-equal-diameter vertical pipe robot with the improved climbing performance according to claim 1, wherein: and the second gear (14) is connected to the robot body through a sleeve shaft.
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| CN202110610603.3A CN113357332B (en) | 2021-06-01 | 2021-06-01 | Non-equal-diameter vertical pipeline robot with improved climbing performance |
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| CN202110610603.3A CN113357332B (en) | 2021-06-01 | 2021-06-01 | Non-equal-diameter vertical pipeline robot with improved climbing performance |
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| CN113357332A true CN113357332A (en) | 2021-09-07 |
| CN113357332B CN113357332B (en) | 2023-03-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114075968A (en) * | 2021-11-16 | 2022-02-22 | 泰安泰烁岩层控制科技有限公司 | Drilling peeping instrument |
| CN114460171A (en) * | 2022-01-21 | 2022-05-10 | 浙江省疾病预防控制中心 | Equipment based on ultrasonic wave and radiographic inspection combine together |
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