CN113700975B - Automatic obstacle-crossing directional walking device - Google Patents

Automatic obstacle-crossing directional walking device Download PDF

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Publication number
CN113700975B
CN113700975B CN202110885868.4A CN202110885868A CN113700975B CN 113700975 B CN113700975 B CN 113700975B CN 202110885868 A CN202110885868 A CN 202110885868A CN 113700975 B CN113700975 B CN 113700975B
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CN
China
Prior art keywords
synchronous belt
obstacle
obstacle crossing
walking
driving
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CN202110885868.4A
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Chinese (zh)
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CN113700975A (en
Inventor
程传云
郑红海
沙如桥
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Hubei Sanjiang Space Xianfeng Electronic&information Co ltd
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Hubei Sanjiang Space Xianfeng Electronic&information Co ltd
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Publication of CN113700975A publication Critical patent/CN113700975A/en
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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
    • 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
    • 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses an automatic obstacle-crossing directional walking device which comprises a fixed support, a driving motor, a walking assembly, a supporting part and an obstacle-crossing directional mechanism, wherein the fixed support is fixedly connected with the driving motor; the walking assembly comprises a driving synchronous pulley, a driven synchronous pulley and a synchronous belt; the synchronous belt is sleeved on the driving synchronous belt wheel and the driven synchronous belt wheel and used for walking on a track in the pipeline; the obstacle crossing orientation mechanisms are provided with a plurality of obstacle crossing orientation mechanisms, and each obstacle crossing orientation mechanism is arranged on the fixed support; each obstacle crossing orientation mechanism comprises a roller, a positioning block and a return spring; the positioning block is installed on the fixing support through the first fixing shaft, the roller is installed on the positioning block through the second fixing shaft, one end of the reset spring is installed on the fixing support through the third fixing shaft, and the other end of the reset spring is installed on the second fixing shaft. The invention realizes the miniaturization and the lightening of the device by the synchronous belt transmission and the obstacle crossing directional mechanism with simple structure so as to meet the requirement of the walking obstacle crossing of the guide rail in the pipeline.

Description

Automatic obstacle-crossing directional walking device
Technical Field
The invention belongs to the technical field of travelling mechanisms, and particularly relates to an automatic obstacle-crossing directional travelling device.
Background
With the development of pipeline technology, special pipelines are involved in some fields, and operations are required to be performed in the pipelines regularly, so that the internal facilities of the pipelines are well maintained. The space in the pipeline is generally small and the environment is cluttered, so special devices are needed for maintaining and cleaning the pipeline.
In the prior art, a walking device enters a pipeline and performs corresponding operation inside the pipeline. The walking device generally has a basic walking function, but the walking device has a single function, a large size and a heavy weight, and cannot meet the requirement of portable operation in a narrow space.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides the automatic obstacle-crossing directional walking device, which can meet the walking requirement of the walking device in a pipeline, ensure the directional and obstacle-crossing functions of the walking device, reduce the weight of the device while reducing the size of the device, and further realize the stability and reliability of working in a narrow pipeline.
In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic obstacle-surmounting directional walking device, comprising a fixed bracket and a driving motor, and further comprising a walking assembly, a supporting member and an obstacle-surmounting directional mechanism;
the walking assembly comprises a driving synchronous pulley, a driven synchronous pulley and a synchronous belt;
the driving synchronous belt pulley is arranged on the fixed support through a first rotating shaft, and the driven synchronous belt pulley is arranged on the fixed support through a second rotating shaft; the synchronous belt is sleeved on the driving synchronous belt wheel and the driven synchronous belt wheel and used for walking on a track in a pipeline;
the driving motor is fixed on the fixed support and used for driving the driving synchronous belt pulley to rotate;
the supporting component is fixed on the fixed bracket and penetrates through the inner side of the synchronous belt so as to support the straight line section of the synchronous belt and maintain the straight line section in a tight state;
the obstacle crossing orientation mechanisms are divided into two rows, the fixed support is positioned between the two rows of obstacle crossing orientation mechanisms, and each obstacle crossing orientation mechanism is arranged on the fixed support; for each obstacle crossing orientation mechanism, the obstacle crossing orientation mechanism comprises a roller, a positioning block and a return spring; the positioning block is mounted on the fixing support through a first fixing shaft, the roller is mounted on the positioning block through a second fixing shaft, one end of the return spring is mounted on the fixing support through a third fixing shaft, and the other end of the return spring is mounted on the second fixing shaft, so that the roller can be reset after the roller passes over the watertight ring on the outer side of the track; the lowest position of the roller is lower than the lowest position of the synchronous belt.
Preferably, the fixing bracket comprises a first supporting plate and a second supporting plate which are oppositely arranged and connected together, and two ends of the first rotating shaft are respectively installed on the first supporting plate and the second supporting plate; the first support plate and the second support plate are provided with elongated holes which are arranged along the horizontal direction, and the elongated holes are arranged oppositely so as to facilitate the installation of the second rotating shaft through a fastening adjusting piece;
preferably, the fastening adjusting member is a screw;
preferably, the distance between the first support plate and the second support plate is the same as the bandwidth of the synchronous belt;
preferably, the supporting component comprises a fixed block and a tensioning structure flat plate which are connected together; the fixed block is fixed on the fixed support and attached to the inner side of the non-walking surface of the synchronous belt, and the tensioning structure flat plate is attached to the inner side of the walking surface of the synchronous belt so as to maintain the tight state of the synchronous belt; the straight line section of the synchronous belt, which is attached to the guide rail in the pipeline, is a walking surface, and the straight line section of the synchronous belt, which is not attached to the guide rail in the pipeline, is a non-walking surface;
preferably, the obstacle crossing orientation mechanisms are four;
preferably, the motor assembly comprises a driving motor and a motor gear connected to the driving motor, the first rotating shaft is exposed out of the fixing bracket, a driving gear is fixedly sleeved on the first rotating shaft, and the motor gear is engaged with the driving gear to drive the driving synchronous pulley to rotate;
preferably, the motor gear and the driving gear are in transmission through an idler gear.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) The invention realizes obstacle-crossing reset of the walking device by utilizing the roller reset structures arranged on the two sides of the walking device, and can be clamped on the two sides of the track when no obstacle exists on the two sides of the track to provide a directional effect for the walking device, thereby ensuring the running stability of the walking device. And the supporting component is arranged on the inner side of the synchronous belt, so that the tightness of the synchronous belt can be adjusted, the running state of the synchronous belt is improved, and the running device runs more stably.
(2) According to the invention, the horizontal position of the driven synchronous pulley is adjusted by the fastening adjusting piece arranged on the second rotating shaft, so that the tightness of the synchronous belt is adjusted, the synchronous belt runs more stably, and meanwhile, the installation and the disassembly of the synchronous belt are facilitated.
(3) According to the invention, by adding gear transmission, the output stability of the driving motor is improved, so that the running stability of the synchronous belt is ensured, the size of the transmission assembly is effectively reduced, the whole walking device has smaller volume and lighter weight, and the walking device is more favorable for walking operation in a pipeline.
Drawings
FIG. 1 is a schematic view of the walking device of the present invention;
FIG. 2 is a schematic view of the running assembly of the present invention;
fig. 3 is a schematic view of the obstacle crossing orientation mechanism of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
According to the drawings of fig. 1-3, an automatic obstacle-crossing directional walking device comprises a fixed support 1, a driving motor 21, a walking assembly 3, a supporting component 4 and an obstacle-crossing directional mechanism 5; the running assembly 3 comprises a driving timing pulley 31, a driven timing pulley 32 and a timing belt 33.
The driving synchronous pulley 31 is mounted on the fixed bracket 1 through a first rotating shaft 34, and the driven synchronous pulley 32 is mounted on the fixed bracket 1 through a second rotating shaft 35; the synchronous belt 33 is sleeved on the driving synchronous pulley 31 and the driven synchronous pulley 32 and used for walking on a track in a pipeline; the synchronous belt 33 has larger width and is tightly attached to the track, so that the walking device can walk on the track in the pipeline more stably; further, the fixed bracket 1 comprises a first supporting plate 11 and a second supporting plate 12 which are oppositely arranged and connected together, and the distance between the first supporting plate 11 and the second supporting plate 12 is the same as the bandwidth of a synchronous belt 33, so that the synchronous belt 33 is matched with the sizes of the driving synchronous pulley 31 and the driven synchronous pulley 32, the synchronous belt 33 is prevented from moving along the axial direction of the synchronous pulleys, and the directionality and the running stability of the synchronous belt 33 are ensured; two ends of the first rotating shaft 34 are respectively installed on the first supporting plate 11 and the second supporting plate 12; the first support plate 11 and the second support plate 12 are each provided with a horizontally arranged elongated hole, and the elongated holes are oppositely arranged for mounting the second rotating shaft 35 by a fastening adjusting member 36, and the fastening adjusting member 36 is preferably a screw. Because the synchronous belt 33 has smaller elasticity, the distance between the driving synchronous pulley 31 and the driven synchronous pulley 32 needs to be adjusted during installation, so that the synchronous pulleys can be normally installed and used; in addition, the timing belt 33 is also deformed or extended to some extent due to long-term use and wear, and thus a fastening operation is required; the fastening adjusting member 36 is used for facilitating the installation of the timing belt 33, and adjusting the tightness of the timing belt 33 during operation.
The motor assembly 2 includes a driving motor 21 and a motor gear 22 connected to the driving motor 21, the first rotating shaft 34 is exposed out of the fixed bracket 1, a driving gear 24 is further fixedly sleeved on the first rotating shaft, and the motor gear 22 is externally engaged with the driving gear 24 to drive the driving synchronous pulley 31 to rotate. The motor gear 22 and the driving gear 24 are driven by the idler gear 23, so that the output stability of the driving motor 21 is improved, the stable operation of the synchronous belt 33 is prevented from being influenced, the size of the transmission part is further reduced, and the size and the weight of the whole walking device are reduced. The driving motor 21 is fixed on the fixed bracket 1 and is used for driving the driving synchronous pulley 31 to rotate.
The supporting component 4 is fixed on the fixing bracket 1 and penetrates through the inner side of the synchronous belt 33, so as to support the straight line segment of the synchronous belt 33 and maintain the tight state; further, the supporting member 4 includes a fixing block 41 and a tension structure plate 42 connected together by a long screw 43; the fixed block 41 is fixed on the fixed bracket 1 and is attached to the inner side of the non-running surface of the synchronous belt 33, and the tensioning structure flat plate 42 is attached to the inner side of the running surface of the synchronous belt 33 to maintain the tight state of the synchronous belt 33; the linear section of the synchronous belt 33, which is attached to the guide rail in the pipeline, is a walking surface, and the linear section of the synchronous belt 33, which is not attached to the guide rail in the pipeline, is a non-walking surface. The supporting part 4 has a simple structure and light weight, can effectively solve the operation problem caused by the collapse or deformation of the middle part of the synchronous belt 33, improves the stability of the synchronous belt 33, and prolongs the service life of the synchronous belt.
The obstacle crossing orientation mechanisms 5 are provided with a plurality of, preferably four, and are symmetrically arranged on two sides of the walking device, so that the walking device has good stability. The obstacle crossing orientation mechanisms 5 are divided into two rows, the fixed support 1 is positioned between the two rows of obstacle crossing orientation mechanisms 5, and each obstacle crossing orientation mechanism 5 is installed on the fixed support 1; for each obstacle crossing orientation mechanism 5, it comprises a roller 51, a positioning block 52 and a return spring 53; the positioning block 52 is mounted on the fixing bracket 1 through a first fixing shaft 54, the roller 51 is mounted on the positioning block 52 through a second fixing shaft 55, one end of the return spring 53 is mounted on the fixing bracket 1 through a third fixing shaft 56, and the other end of the return spring 53 is mounted on the second fixing shaft 55; when the obstacle crossing and orienting mechanism 5 meets obstacles such as watertight rings and the like positioned at two sides of the track, the obstacle crossing and orienting mechanism 5 moves towards the direction opposite to the moving direction of the walking device under the action of the obstacles, and the obstacles are crossed by the roller 51; after the obstacle is passed, the roller 51 is reset to the original position under the action of a reset spring 53; the lowest position of the roller 51 is lower than that of the synchronous belt 33, so that the obstacle crossing and orienting mechanism 5 limits the movement of the walking device along the transverse direction of the track, namely, the orienting function is realized.
The running process of the running gear is as follows: the walking device runs on a track in the pipeline through a synchronous belt 33, and obstacle crossing orientation mechanisms 5 arranged on two sides of a fixed support 1 of the walking device are clamped on two sides of the track, so that the moving direction of the walking device is limited; when the walking device encounters an obstacle on two sides of the track, the obstacle crossing orientation mechanism 5 rotates around a fixed point on the fixed bracket 1 and crosses the obstacle through the roller 51; when the running gear passes over the obstacle, the roller 51 returns to the initial position under the action of the return spring 53 due to the barrier function of no obstacle, thereby performing the orientation function on the running gear again.
The automatic obstacle-crossing directional walking device provided by the invention realizes dual functions of obstacle crossing and direction by taking the synchronous belt 33 as the walking device and matching with the obstacle-crossing directional mechanism 5 arranged on the fixed support 1, has the advantages of simple structure, small volume, light weight and the like, can meet the requirements of special walking environment in a pipeline on the walking device, realizes stable operation on a track, automatically crosses obstacles in the pipeline and realizes multiple functions of automatic obstacle-crossing directional walking.
It is to be understood that the foregoing are many different embodiments or examples of the different features of the present embodiments. Specific examples of components and arrangements are described above to simplify the illustrative embodiments.
These are, of course, merely examples and are not intended to limit the embodiments, and for example, device dimensions are not limited to the ranges or values disclosed, but may depend on processing conditions and/or desired properties of the device.
Moreover, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed interposing the first and second features, such that the first and second features may not be in direct contact, although the various features may be drawn arbitrarily to varying proportions for simplicity and clarity of illustration.
Spatially relative terms, such as "under," "below," "lower," "above," "upper," and the like, may be used herein to describe one element or feature's relationship to another element or feature(s) as illustrated in the figures. These spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be oriented in different ways (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. An automatic obstacle-crossing directional walking device comprises a fixed support and a driving motor, and is characterized by further comprising a walking assembly, a supporting part and an obstacle-crossing directional mechanism;
the walking assembly comprises a driving synchronous pulley, a driven synchronous pulley and a synchronous belt;
the driving synchronous belt pulley is arranged on the fixed support through a first rotating shaft, and the driven synchronous belt pulley is arranged on the fixed support through a second rotating shaft; the synchronous belt is sleeved on the driving synchronous belt wheel and the driven synchronous belt wheel and used for walking on a track in a pipeline;
the driving motor is fixed on the fixed support and used for driving the driving synchronous belt pulley to rotate;
the supporting component is fixed on the fixed support and attached to the inner side of the synchronous belt so as to support the straight line section of the synchronous belt and keep the synchronous belt in a tight state;
the obstacle crossing orientation mechanisms are divided into two rows, the fixed support is positioned between the two rows of obstacle crossing orientation mechanisms, and each obstacle crossing orientation mechanism is arranged on the fixed support; for each obstacle crossing orientation mechanism, the obstacle crossing orientation mechanism comprises a roller, a positioning block and a return spring; the positioning block is mounted on the fixing support through a first fixing shaft, the roller is mounted on the positioning block through a second fixing shaft, one end of the return spring is mounted on the fixing support through a third fixing shaft, the other end of the return spring is mounted on the second fixing shaft, and when the obstacle crossing directional mechanism meets an obstacle, the obstacle crossing directional mechanism moves towards the direction opposite to the moving direction of the walking device, so that the roller is reset after the roller crosses the obstacle; the lowest position of the roller is lower than the lowest position of the synchronous belt.
2. The automatic obstacle crossing directional walking device according to claim 1, wherein the fixed support comprises a first support plate and a second support plate which are oppositely arranged and connected together, and two ends of the first rotating shaft are respectively arranged on the first support plate and the second support plate; the first supporting plate and the second supporting plate are provided with strip holes arranged in the horizontal direction, and the strip holes are arranged oppositely so as to facilitate installation of the second rotating shaft through a fastening adjusting piece.
3. The automated obstacle crossing directional walking device of claim 2, wherein the fastening adjustment member is a screw.
4. The automatic obstacle crossing directional walking device according to claim 2, wherein the distance between the first support plate and the second support plate is the same as the bandwidth of the synchronous belt.
5. The automatic obstacle-surmounting directional walking device of claim 1, wherein the supporting component comprises a fixed block and a tension structure plate which are connected together; the fixed block is fixed on the fixed support and attached to the inner side of the non-walking surface of the synchronous belt, and the tensioning structure flat plate is attached to the inner side of the walking surface of the synchronous belt so as to maintain the tight state of the synchronous belt; the linear section of the synchronous belt, which is attached to the guide rail in the pipeline, is a walking surface, and the linear section of the synchronous belt, which is not attached to the guide rail in the pipeline, is a non-walking surface.
6. The automated obstacle crossing directional walking device of claim 1, wherein there are four obstacle crossing directional mechanisms.
7. The automatic obstacle crossing directional walking device according to claim 1, wherein the motor assembly comprises a driving motor and a motor gear connected to the driving motor, and the first rotating shaft is exposed out of the fixed bracket, and is further fixedly sleeved with a driving gear, and the motor gear is externally engaged with the driving gear to drive the driving synchronous pulley to rotate.
8. The automated obstacle crossing directional walking device of claim 7, wherein the motor gear and the driving gear are driven by an idler gear.
CN202110885868.4A 2021-08-03 2021-08-03 Automatic obstacle-crossing directional walking device Active CN113700975B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH111102A (en) * 1997-06-13 1999-01-06 Kunio Kumamoto Step difference running-over wheel
FR3046397A3 (en) * 2016-01-06 2017-07-07 Franck Andre-Marie Guigan OBSTACLE CROSSING DEVICE FOR ROLLING MACHINE
CN108327809A (en) * 2018-02-13 2018-07-27 洛阳理工学院 Double-track robot mobile platform
CN208325447U (en) * 2018-06-21 2019-01-04 江苏迪伦智能科技有限公司 A kind of robot differential gear device for aiding overpass obstacle
CN110056742A (en) * 2019-03-14 2019-07-26 山东大学 Pipe robot and its control system with scalable running gear
CN111409713A (en) * 2020-04-30 2020-07-14 南昌大学 Metal surface wall-climbing robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH111102A (en) * 1997-06-13 1999-01-06 Kunio Kumamoto Step difference running-over wheel
FR3046397A3 (en) * 2016-01-06 2017-07-07 Franck Andre-Marie Guigan OBSTACLE CROSSING DEVICE FOR ROLLING MACHINE
CN108327809A (en) * 2018-02-13 2018-07-27 洛阳理工学院 Double-track robot mobile platform
CN208325447U (en) * 2018-06-21 2019-01-04 江苏迪伦智能科技有限公司 A kind of robot differential gear device for aiding overpass obstacle
CN110056742A (en) * 2019-03-14 2019-07-26 山东大学 Pipe robot and its control system with scalable running gear
CN111409713A (en) * 2020-04-30 2020-07-14 南昌大学 Metal surface wall-climbing robot

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