CN113546933A - Alternate walking type long straight tubular structural member inner cavity operation robot - Google Patents
Alternate walking type long straight tubular structural member inner cavity operation robot Download PDFInfo
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- CN113546933A CN113546933A CN202110698431.XA CN202110698431A CN113546933A CN 113546933 A CN113546933 A CN 113546933A CN 202110698431 A CN202110698431 A CN 202110698431A CN 113546933 A CN113546933 A CN 113546933A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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Abstract
An alternating walking type long straight cylindrical structural member inner cavity operation robot comprises a front jacking mechanism, a rear jacking mechanism and a double-acting cylinder, wherein the front jacking mechanism is connected with the rear jacking mechanism through the double-acting cylinder, the rear end of the double-acting cylinder is fixedly installed on the rear jacking mechanism, and the front end of the double-acting cylinder is fixedly installed on the front jacking mechanism; the front top support mechanism and the rear top support mechanism respectively comprise a mounting support, a pneumatic three-jaw chuck, a driving motor, a motor mounting upright post, a coupler, a flange type guide shaft support and a bearing, the pneumatic three-jaw chuck is fixed at the tail end of the mounting support, the driving motor is fixed at the middle part of the mounting support through the motor mounting upright post, an output shaft of the driving motor is connected with the flange type guide shaft support through the coupler, and the flange type guide shaft support is connected with the mounting support through the bearing. The invention has compact structure, low cost, high automation degree and can work simultaneously by the double brush heads.
Description
Technical Field
The invention belongs to the field of robots, and relates to an alternate walking type robot for operation in an inner cavity of a long straight cylindrical structural member, in particular to a robot which can automatically advance on the inner wall of the straight cylindrical structural member and perform corresponding operation by installing devices with different functions.
Background
The long straight tubular structural member is widely used in industrial and civil aspects, and can be made into transportation pipelines and ventilation pipes for transporting liquid and gas. The long straight tubular structure part is usually narrow and small in space and long in distance, the inner wall used for transportation operation is easily corroded and rusted chemically, foreign matters such as dust and impurities are easily accumulated on the inner wall after long-time work, pipe blockage is caused, and working efficiency is affected, so that the inner wall of the long straight tubular structure part needs to be regularly detected, cleaned and maintained. However, the manual work is time-consuming and labor-consuming, and the inner wall has too small diameter and too long distance to be manually operated, so that the inner wall walking operation robot can move along the inner wall as soon as possible to replace manual work for operation. However, the existing inner wall walking operation robot has a complex structure and high cost, and is difficult to stably walk and operate on the inner walls of long straight cylindrical structural parts with different diameters.
Disclosure of Invention
In order to overcome the defects of complex structure and high cost of the existing inner-wall walking robot, the invention provides the alternate walking type long straight cylindrical structural member inner cavity operation robot which is compact in structure and low in cost.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an alternative walking long straight tube-shape structure inner chamber work robot, includes preceding shoring mechanism, back shoring mechanism and dual-purpose cylinder, preceding shoring mechanism is connected through double acting cylinder with back shoring mechanism centre, double acting cylinder rear end fixed mounting is at back shoring mechanism, double acting cylinder front end fixed mounting is in the front of the mechanism that shores.
Furthermore, the front supporting mechanism and the rear supporting mechanism respectively comprise a mounting support, a pneumatic three-jaw chuck, a driving motor, a motor mounting upright post, a coupler, a flange type guide shaft support and a bearing, the pneumatic three-jaw chuck is fixed at the tail end of the mounting support, the driving motor is fixed in the middle of the mounting support through the motor mounting upright post, an output shaft of the driving motor is connected with the flange type guide shaft support through the coupler, and the flange type guide shaft support is connected with the mounting support through the bearing.
Furthermore, double-acting cylinder includes cylinder, piston rod, preceding cylinder cap, back cylinder cap, sealing member and fastener, fasten the locking through the nut between cylinder and preceding cylinder cap, the back cylinder cap, the piston rod passes through the piston with the cylinder and links to each other, is equipped with the sealing washer on the piston in order to prevent gas leakage and outside dust entering, preceding cylinder cap is equipped with the sealing member with the department that links to each other of piston rod, the tip of piston rod with the installing support connection of preceding shore mechanism, the back cylinder cap with the installing support connection of back shore mechanism.
Still further, the pneumatic three-jaw chuck comprises a cylinder body, air jaws and a cylinder cover, wherein the air jaws are uniformly distributed and fixedly installed in a guide groove of the cylinder body at 120 degrees, and the cylinder body and the cylinder cover are locked and fixed through nuts.
The invention also provides an inner wall scrubbing robot which comprises a peristaltic walking mechanism, a cleaning agent spraying device and a brush head and is applied to the dust removal and stain removal operation of the inner wall of the long straight cylindrical structural member, wherein the cleaning agent spraying device and the brush head are arranged on the outer surfaces of the flange type guide shaft supports of the front top support mechanism and the rear top support mechanism.
The invention also provides an inner wall rust prevention treatment robot which comprises a creeping type travelling mechanism, a rust prevention oil spraying device and a brush head and is applied to rust prevention treatment operation of the inner wall of the iron long straight cylindrical structural member, wherein the rust prevention oil spraying device and the brush head are arranged on the outer surfaces of the flange type guide shaft supports of the front top support mechanism and the rear top support mechanism.
The invention also provides an inner wall defect detection robot which comprises a creeping type walking mechanism, a camera and a light source and is applied to the internal defect detection of the long straight cylindrical structural part, wherein the camera and the light source are both arranged on the outer surface of the flange type guide shaft support of the front top supporting mechanism.
The invention also provides a foreign matter picking robot which comprises a creeping type walking mechanism, a camera, a light source and a clamping jaw and is applied to picking up foreign matters in the long straight cylindrical structural part, wherein the camera, the light source and the clamping jaw are all arranged on the outer surface of the flange type guide shaft support of the front top supporting mechanism.
The invention has the following beneficial effects: the robot for operating the inner cavity of the alternate walking type long and straight tubular structural member can realize efficient automatic operation on the inner wall of the long and straight tubular structural member, effectively solves the problems of high labor intensity, low efficiency and even incapability of performing inner wall operation and the like of manual operation, and greatly improves the automation degree and the walking stability due to the fact that the double-acting cylinder drives the front and rear jacking mechanisms to move forward and alternately.
Drawings
Fig. 1 is an overall structural view of the present invention.
FIG. 2 is a structural view of the jacking mechanism of the present invention.
Fig. 3 is a structural view of a double acting cylinder.
Fig. 4 is a structural view of the pneumatic three-jaw chuck.
Fig. 5 is a structural view of the inner wall scrubbing robot.
Fig. 6 is a structural diagram of the inner wall rust-proofing robot.
Fig. 7 is a structural view of an inner wall defect detecting robot.
Fig. 8 is a structural view of the foreign matter pickup robot.
In the figure: 1-front jacking mechanism, 2-double-acting air cylinder, 3-rear jacking mechanism, 4-flange type guide head support, 5-mounting bracket, 6-coupler, 7-driving motor, 8-pneumatic three-jaw chuck, 9-mounting upright post, 10-front cylinder cover, 11-piston rod, 12-cylinder barrel, 13-rear cylinder cover, 14-air jaw, 15-cylinder body, 16-cylinder cover, 17-cleaning solution spraying device, 18-cleaning brush head, 19-antirust oil spraying device, 20-brush head, 21-detection camera, 22-light source, 23-connecting seat, 24-clamping jaw, 25-illuminating lamp, 26-first connecting rod, 27-camera, 28-base and 29-second connecting rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1-4, a long straight tubular structure inner chamber work robot of walking in turn, including preceding shoring mechanism 1, back shoring mechanism 3 and double acting cylinder 2, preceding shoring mechanism 1 is connected through double acting cylinder 2 with back shoring mechanism 3 centre, double acting cylinder 2 rear end fixed mounting is at back shoring mechanism 3, double acting cylinder 2 front end fixed mounting is in the front shoring mechanism 1.
The front top bracing mechanism 1 is fixedly connected with a piston rod 11 of the double-acting cylinder 2, and the rear end of the double-acting cylinder 2 is fixedly connected with a mounting bracket of the rear top bracing mechanism 3.
Referring to fig. 2, the front supporting mechanism 1 and the rear supporting mechanism 3 are respectively composed of a flange-type guide shaft support 4, a mounting bracket 5, a coupling 6, a driving motor 7, a pneumatic three-jaw chuck 8, a motor mounting column 9 and the like. The pneumatic three-jaw chuck 8 is mounted on the mounting bracket 5 through an inner hexagonal countersunk head screw, the driving motor 7 is fixed on the mounting bracket 5 through a motor mounting upright post 9, an output shaft of the driving motor 7 is connected with the flange type guide shaft support 4 through a coupler 6, and the flange type guide shaft support 4 is connected with the mounting bracket 5 through a double deep groove ball bearing.
Referring to fig. 3, the double-acting cylinder mainly comprises a front cylinder cover 10, a piston rod 11, a cylinder barrel 12, a rear cylinder cover 13, a sealing element, a fastening piece and other parts. The cylinder barrel 12 is fastened and locked with the front cylinder cover 10 and the rear cylinder cover 13 through nuts, the piston rod 11 is connected with the cylinder barrel 12 through a piston, a sealing ring is arranged on the piston to prevent air leakage and external dust from entering, and sealing parts such as the sealing ring and a dust ring are arranged at the connecting position of the front cylinder cover and the piston rod.
Referring to fig. 4, the pneumatic three-jaw chuck comprises air jaws 14, a cylinder body 15 and a cylinder cover 16, wherein the air jaws 14 are uniformly distributed at 120 degrees and fixedly installed in a guide groove of the cylinder body 15, and the cylinder cover 16 and the cylinder body 15 are locked and fixed through nuts.
Referring to fig. 5, the inner wall scrubbing robot includes a peristaltic type traveling mechanism, a cleaning liquid spray device 17, and a cleaning brush head 18, the cleaning liquid spray device 17 being fixed to the flange type guide shaft support 4 by bolts, the cleaning brush head 18 being connected to the flange type guide shaft support 4 by bolts.
Referring to fig. 6, the inner wall rust prevention robot includes a peristaltic type traveling mechanism, a rust prevention oil spraying device 19, and a brush head 20, the rust prevention oil spraying device 19 is fixed to the flange-type guide shaft support 4 by bolts, and the brush head 20 and the flange-type guide shaft support 4 are connected by bolts.
Referring to fig. 7, the inner wall defect detecting robot includes a creeping type traveling mechanism, a detecting camera 21, a light source 22 and a connecting seat 23, the connecting seat 23 is connected with a flange type guiding shaft support 4 through a bolt, the detecting camera 21 is fixed in the connecting seat 23 through a bolt, and the 4 light sources 22 are uniformly and fixedly installed at the front end of the connecting seat 23 through threads.
Referring to fig. 8, the foreign object pickup robot is composed of a peristaltic type traveling mechanism, a jaw 24, a light source 25 (e.g., an illumination lamp), a first link 26, a camera 27, a base 28, and a second link 29. The clamping jaw 24 is arranged at the front end of a first connecting rod 26 through a shaft pin and is driven by a motor to open and close, the light source 25 is fixedly arranged at the front end of the first connecting rod 26 through threads, the camera 27 is fixed on the side surface of the first connecting rod 26 through a bolt, the rear end of the first connecting rod 26 is connected with the front end of a second connecting rod 29, the rear end of the second connecting rod 29 is connected with a base 28, and the base 28 is connected with a flange-type guide shaft support through a bolt.
The working process of the embodiment is as follows: before the robot works, the inner cavity working robot of the alternately walking type long and straight cylindrical structural part is placed into the inner wall of the long and straight cylindrical structural part, when the robot enters a working state, the electromagnetic valve controls the pneumatic three-jaw chuck of the rear jacking mechanism to move, the three-jaw clamp of the rear jacking mechanism extends out to clamp the inner wall of the structural part, the piston rod of the double-acting air cylinder slowly extends forwards, when the robot moves to a limit position, the travel switch moves, the electromagnetic valve controls the pneumatic three-jaw chuck of the front jacking mechanism to move, the three-jaw clamp of the front jacking mechanism extends out to clamp the inner wall of the structural part, the three jaws of the rear jacking mechanism return to an initial state, the double-acting air cylinder slowly returns to push the rear jacking mechanism forwards, after the position is reached, the three-jaw clamp of the rear jacking mechanism extends out to clamp the inner wall of the structural part, and the alternate walking motion of the inner wall cleaning robot is realized.
When this robot is used for the inner wall to clean, will clean the device and install in alternating walking robot both ends, start the operation of both ends brush head driving motor, the clean brush head in both ends begins to rotate simultaneously, and the cleaner is imported atomizer by the outer pipeline and is sprayed to the inner wall, and the clean brush head of cooperation cleans the inner wall, removes in the pipeline through the motion of above-mentioned alternating walking, accomplishes the inner wall and cleans work.
When the robot is used for inner wall rust prevention treatment, the rust prevention oil spraying device is installed at two ends of the alternating type walking robot, the brush head driving motors at two ends are started to operate, the cleaning brush heads at two ends start to rotate simultaneously, rust prevention oil is input into the spraying device from an outer pipeline and is sprayed to the inner wall, the brush head is matched to evenly coat the rust prevention oil on the inner wall, and the rust prevention treatment work of the inner wall is completed by moving in the pipeline through the alternating walking motion.
When the robot is used for detecting the defects of the inner wall, the defect detection device is arranged at two ends of the alternative walking robot, the condition of the inner wall of the pipeline is detected in real time by the camera and the light source, and the inner wall defect detection work is completed by moving in the pipeline through the alternative walking motion.
When this robot is used for the foreign matter to pick up, install foreign matter pickup apparatus in alternative walking robot both ends, inside with the help of camera and light source real-time detection pipeline, remove in the pipeline through above-mentioned walking motion in turn, get the foreign matter through motor drive connecting rod and clamping jaw action clamp during the discovery foreign matter, accomplish the foreign matter and pick up work.
The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, which are intended for purposes of illustration only. The scope of the present invention should not be construed as being limited to the particular forms set forth in the examples, but rather as being defined by the claims and the equivalents thereof which can occur to those skilled in the art upon consideration of the present inventive concept.
Claims (8)
1. The utility model provides an alternative walking type long straight tube-shape structure inner chamber work robot, a serial communication port, the robot includes the formula of wriggling running gear, the formula of wriggling running gear includes preceding shore mechanism, back shore mechanism and dual-action cylinder, preceding shore mechanism is connected through dual-action cylinder with the centre of back shore mechanism, dual-action cylinder rear end fixed mounting is at back shore mechanism, dual-action cylinder front end fixed mounting is shore mechanism in the front.
2. The alternate walking type long straight tubular structural member inner cavity working robot as claimed in claim 1, wherein the front and rear jacking mechanisms each comprise a mounting bracket, a pneumatic three-jaw chuck, a driving motor, a motor mounting column, a coupler, a flange type guiding shaft support and a bearing, the pneumatic three-jaw chuck is fixed at the tail end of the mounting bracket, the driving motor is fixed at the middle part of the mounting bracket through the motor mounting column, the output shaft of the driving motor is connected with the flange type guiding shaft support through the coupler, and the flange type guiding shaft support is connected with the mounting bracket through the bearing.
3. The robot for the operation in the inner cavity of the alternately walking type long and straight cylindrical structural member as claimed in claim 1 or 2, wherein the double-acting cylinder comprises a cylinder barrel, a piston rod, a front cylinder cover, a rear cylinder cover, a sealing member and a fastening member, the cylinder barrel, the front cylinder cover and the rear cylinder cover are fastened and locked through nuts, the piston rod is connected with the cylinder barrel through a piston, a sealing ring is arranged on the piston to prevent air leakage and external dust from entering, the sealing member is arranged at the joint of the front cylinder cover and the piston rod, the end part of the piston rod is connected with the mounting bracket of the front jacking mechanism, and the rear cylinder cover is connected with the mounting bracket of the rear jacking mechanism.
4. The robot for the inner cavity operation of the alternately walking type long and straight cylindrical structural member as claimed in claim 2, wherein the pneumatic three-jaw chuck comprises a cylinder body, air jaws and a cylinder cover, wherein the air jaws are uniformly distributed at 120 degrees and fixedly installed in a guide groove of the cylinder body, and the cylinder body and the cylinder cover are locked and fixed through nuts.
5. The inner wall scrubbing robot realized by the operation robot in the inner cavity of the alternately walking type long and straight cylindrical structural part as claimed in any one of claims 1 to 4, wherein the inner wall scrubbing robot comprises a peristaltic walking mechanism, a cleaning agent spraying device and a brush head, and is applied to the dust removal and stain removal operation of the inner wall of the long and straight cylindrical structural part, and the cleaning agent spraying device and the brush head are arranged on the outer surfaces of flange type guide shaft supports of the front jacking mechanism and the rear jacking mechanism.
6. The inner wall rust prevention treatment robot realized by the operation robot for the inner cavity of the alternately walking type long and straight cylindrical structural member according to any one of claims 1 to 4, wherein the inner wall rust prevention treatment robot comprises a creeping type walking mechanism, a rust prevention oil spraying device and a brush head, and is applied to rust prevention treatment operation for the inner wall of the iron long and straight cylindrical structural member, and the rust prevention oil spraying device and the brush head are installed on the outer surfaces of flange type guide shaft supports of the front jacking mechanism and the rear jacking mechanism.
7. An alternate walking type inner wall defect detection robot realized by an inner cavity operation robot of a long and straight cylindrical structural part according to any one of claims 1 to 4, wherein the inner wall defect detection robot comprises a peristaltic walking mechanism, a camera and a light source, and is applied to the inner defect detection of the long and straight cylindrical structural part, and the camera and the light source are both arranged on the outer surface of a flange type guide shaft support of the front jacking mechanism.
8. An alternate walking type foreign matter picking robot realized by an operation robot in an inner cavity of a long and straight cylindrical structural member according to any one of claims 1 to 4, wherein the foreign matter picking robot comprises a creeping type walking mechanism, a camera, a light source and a clamping jaw, and is applied to picking up foreign matters in the long and straight cylindrical structural member, and the camera, the light source and the clamping jaw are all arranged on the outer surface of a flange type guide shaft seat of the front jacking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698431.XA CN113546933A (en) | 2021-06-23 | 2021-06-23 | Alternate walking type long straight tubular structural member inner cavity operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698431.XA CN113546933A (en) | 2021-06-23 | 2021-06-23 | Alternate walking type long straight tubular structural member inner cavity operation robot |
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| CN113546933A true CN113546933A (en) | 2021-10-26 |
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| CN202110698431.XA Pending CN113546933A (en) | 2021-06-23 | 2021-06-23 | Alternate walking type long straight tubular structural member inner cavity operation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114054443A (en) * | 2021-11-04 | 2022-02-18 | 北京锐速嘉科技有限公司 | Electric vibration pipeline cleaning device |
| CN117463538A (en) * | 2023-10-26 | 2024-01-30 | 甘肃省景泰川电力提灌水资源利用中心 | Anticorrosive treatment spraying equipment for inner wall of large-caliber water conveying pipeline |
| CN117600186A (en) * | 2024-01-23 | 2024-02-27 | 成都理工大学 | Pipeline dredging robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20211026 |
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