CN114194309A - Outside-pipe real-time monitoring crawling robot capable of overturning at free angle - Google Patents
Outside-pipe real-time monitoring crawling robot capable of overturning at free angle Download PDFInfo
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- CN114194309A CN114194309A CN202111565735.5A CN202111565735A CN114194309A CN 114194309 A CN114194309 A CN 114194309A CN 202111565735 A CN202111565735 A CN 202111565735A CN 114194309 A CN114194309 A CN 114194309A
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- grabbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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
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Abstract
The invention discloses an outside-pipe real-time monitoring crawling robot capable of freely overturning at an angle, which comprises two driving mechanisms, two connecting pieces and an overturning mechanism, wherein the two driving mechanisms are connected with the two connecting pieces through connecting rods; the driving mechanism structure comprises a fixed plate, a grabbing component and a sensing component; two ends of the turnover mechanism are correspondingly connected with the two driving mechanisms through the two connecting pieces respectively, so that the two driving mechanisms are orthogonally arranged. During operation, the distance between its and the required pipeline of crawling is responded to the response subassembly through two actuating mechanism, then freely crawls on controlling two actuating mechanism and adsorbing the required pipeline of crawling, and makes the upset that the robot can carry out free angle again through tilting mechanism and first, second actuating mechanism's cooperation. The invention has simple structure and reliable movement, can realize the combined turnover in the horizontal and vertical directions outside the pipeline so as to adapt to complex pipeline lines, and can effectively monitor the circumferential surface of the whole pipeline through the sensor part.
Description
Technical Field
The invention relates to the field of maintenance of pipeline engineering mechanical equipment, in particular to an outside-pipe real-time monitoring crawling robot capable of overturning at a free angle.
Background
The robot crawling outside the pipe is a technology developed for replacing part of manpower, can deal with toxic and harmful environments or narrow and complex position environments, and has good safety and high efficiency. The crawling robot needs to perform monitoring, maintenance and other operations outside a pipeline, is complex in environment, is not suitable for designing a structure to be very complex, and can deal with complex pipeline lines, so that the flexibility is an important index in the design process; secondly, the state of the crawling robot in the moving process and the surrounding environment variables need to be detected in time, so that managers can be helped to know the operation state in time and make adjustments in time. Some pipeline crawling robots at present can be improved and perfected in the two aspects.
Disclosure of Invention
The invention aims to solve the technical problem of providing an extra-pipe real-time monitoring crawling robot capable of freely overturning at an angle, which can adapt to a complex pipeline route, can realize overturning or combined movement with variable angles in the horizontal and vertical directions and is convenient for monitoring the whole-cycle state of a pipeline.
The invention adopts the following technical scheme for solving the technical problems:
an outside-pipe real-time monitoring crawling robot capable of freely overturning at an angle comprises a first driving mechanism, a second driving mechanism, a first connecting piece, a second connecting piece and an overturning mechanism;
the first driving mechanism and the second driving mechanism have the same structure and respectively comprise a fixed plate, a grabbing component and an induction component;
the fixing plate is axially symmetrical in the length direction;
the grabbing and holding assembly comprises a supporting roller, a supporting bracket, a grabbing and holding motor, a lifting plate, a first hinging rod, a second hinging rod and a first grabbing and holding unit, a second grabbing and holding unit;
the supporting bracket is fixed on the lower end face of the fixing plate; the supporting roller is arranged on the supporting bracket and can freely rotate relative to the supporting bracket; a plane passing through the symmetry axis of the fixed plate and vertical to the fixed plate is a plane A, the supporting rollers are symmetrical about the plane A, and the axes of the supporting rollers are parallel to the fixed plate and vertical to the symmetry axis of the fixed plate;
the grabbing motor is fixed on the fixing plate, an output shaft of the grabbing motor faces downwards, an axis of the grabbing motor is located on the plane A and is perpendicular to the fixing plate, and external threads are arranged on the output shaft of the grabbing motor;
a threaded hole matched with the external thread on the output shaft of the grabbing motor is formed in the center of the lifting plate, and a first hinge seat and a second hinge seat are symmetrically arranged on two sides of the lifting plate;
the first grabbing unit, the second grabbing unit and the third grabbing unit are identical in structure and respectively comprise a grabbing arm, a translation bracket, a translation motor and a driving roller;
the holding arm is H-shaped and comprises a first side rod, a second side rod and a connecting rod, wherein the first side rod and the second side rod are arranged in parallel; two ends of the connecting rod are respectively and vertically fixedly connected with the first side rod and the second side rod;
the translational support is fixedly connected with the lower ends of the first side rod and the second side rod; the driving roller is arranged on the translational support and can freely rotate relative to the translational support; the translation motor is fixed on the translation bracket, and an output shaft of the translation motor is coaxially and fixedly connected with a rotating shaft of the driving roller and is used for driving the driving roller to rotate;
the lifting plate is arranged below the fixed plate in parallel, and a threaded hole in the lifting plate is in threaded connection with an output shaft of the grabbing motor;
the first grabbing unit, the second grabbing unit, the lifting plate and the holding unit are arranged on the two sides of the lifting plate respectively, and the first grabbing unit and the second grabbing unit are symmetrically arranged around a plane A, wherein the upper ends of a first side rod and a second side rod of a holding arm in the first grabbing unit and the second grabbing unit are hinged with the fixed plate, so that the holding arms of the first grabbing unit and the second grabbing unit can freely rotate relative to the fixed plate; one end of the first hinge rod is hinged with the first hinge seat on the lifting plate, and the other end of the first hinge rod is hinged with a connecting rod of a holding arm in the first grabbing unit; one end of the second connecting rod is hinged with a second hinge seat on the lifting plate, and the other end of the second connecting rod is hinged with a connecting rod of a holding arm in the second grabbing unit;
the grabbing motor is used for controlling the lifting plate to lift and further driving the first grabbing unit and the second grabbing unit to be opened or closed through the first hinge rod and the second hinge rod, and when the first grabbing unit and the second grabbing unit are closed, the driving roller of the first grabbing unit, the driving roller of the second grabbing unit and the supporting roller can be attached to a pipeline to be crawled and form triangular enclosure on the pipeline; when the first grabbing unit and the second grabbing unit are opened, the shortest distance between the driving roller of the first grabbing unit and the driving roller of the second grabbing unit is larger than the diameter of the pipeline to be crawled;
the induction component comprises an induction bracket, an induction motor, a driving gear, an induction semi-ring and M distance sensors, wherein M is a natural number more than or equal to 3;
the induction semi-ring is in a semicircular shape, an arc-shaped rack matched with the driving gear is arranged on the outer wall of the induction semi-ring, and a first slide rail and a second slide rail which are protruded are symmetrically arranged on the side walls of the two sides of the induction semi-ring; the first sliding rail and the second sliding rail are in a semicircular shape and are concentric with the induction semi-ring;
the induction bracket is fixed on the lower end surface of the fixed plate, and a first sliding chute and a second sliding chute which correspond to the first sliding rail and the second sliding rail are respectively arranged on the induction bracket; the first sliding rail and the second sliding rail of the induction semi-ring are respectively matched with the first sliding groove and the second sliding groove on the induction bracket correspondingly, so that the induction semi-ring can freely slide relative to the induction bracket; the induction semi-ring is vertical to the plane A and the circle center of the induction semi-ring is positioned on the plane A;
the induction motor is fixed on the induction bracket, and an output shaft of the induction motor is coaxially and fixedly connected with a rotating shaft of the driving gear; the driving gear is meshed with the arc-shaped rack on the outer wall of the induction semi-ring; the induction motor is used for driving the induction semi-ring to slide on the first sliding groove and the second sliding groove of the induction bracket;
the M distance sensors are uniformly arranged on the inner wall of the induction semi-ring at equal intervals and used for measuring the distance between the induction semi-ring and the outer wall of the pipeline to be crawled;
the first connecting piece, the second connecting piece and the third connecting piece are all U-shaped and comprise two side plates and a bottom plate; two ends of the bottom plate are respectively and fixedly connected with the first side plate and the second side plate in a vertical mode;
the turnover mechanism comprises a shell, a first turnover motor, a second turnover motor, a first active turnover gear, a second active turnover gear, a first passive turnover gear, a second passive turnover gear and a third passive turnover gear;
the shell is hollow;
the first driven overturning gear and the second driven overturning gear are arranged in the shell and can freely rotate relative to the shell; two ends of the rotating shaft of the first passive turnover gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the first connecting piece, so that the first connecting piece can freely rotate relative to the shell; two ends of the rotating shaft of the second driven overturning gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the second connecting piece in a vertical mode, so that the second connecting piece can freely rotate relative to the shell; the rotating shafts of the first driven overturning gear and the second driven overturning gear are vertical to each other;
the first overturning motor and the second overturning motor are fixed on the shell, wherein an output shaft of the first overturning motor is coaxially and fixedly connected with a rotating shaft of the first driving overturning gear, the first driving overturning gear is meshed with the first driven overturning gear, and the first overturning motor is used for driving the first connecting piece to rotate through the first driving overturning gear and the first driven overturning gear; an output shaft of the second turnover motor is coaxially and fixedly connected with a rotating shaft of the second driving turnover gear, the second driving turnover gear is meshed with the second driven turnover gear, and the second turnover motor is used for driving the second connecting piece to rotate through the second driving turnover gear and the second driven turnover gear;
the bottom plate of the first connecting piece is fixedly connected with the fixing plate of the first driving mechanism, the first connecting piece is coplanar with a plane which passes through the symmetry axis of the fixing plate of the first driving mechanism and is perpendicular to the fixing plate of the first driving mechanism, and the first connecting piece is symmetrical about the plane where the fixing plate of the first driving mechanism is located;
the bottom plate of the second connecting piece is fixedly connected with the fixing plate of the second driving mechanism, the second connecting piece is coplanar with the fixing plate of the second driving mechanism, and the second connecting piece is symmetrical about the symmetry axis of the fixing plate of the second driving mechanism.
As a further optimization scheme of the pipe outside real-time monitoring crawling robot capable of overturning at free angles, a plurality of through grooves are formed in fixing plates of the first driving mechanism and the second driving mechanism respectively, so that the weight is reduced.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the robot can freely crawl on the pipeline by sensing the distance between the sensing assembly of the first driving mechanism and the pipeline to be crawled and controlling the grabbing assembly of the first driving mechanism and the grabbing assembly of the second driving mechanism to work after conversion, so that the pipeline to be crawled is firmly grabbed, and meanwhile, the robot can turn over on the pipeline at a free angle by matching the turnover mechanism with the first driving mechanism and the second driving mechanism by driving the translational motors of the grabbing units in the first driving mechanism and the second driving mechanism to work. The pipeline monitoring device can adapt to a relatively complex pipeline line, realizes the conversion of different horizontal and vertical angles, has a simple structure, and comprises an external pipe sensor monitoring mechanism, and can realize the monitoring of the whole circumference of the pipeline, thereby improving the operation capacity and efficiency of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the first driving mechanism of the present invention with the holding assembly removed from the supporting roller and the supporting bracket;
FIG. 3 is a schematic view of a first drive mechanism sensing assembly according to the present invention;
FIG. 4 is a schematic structural view of the flip assembly of the present invention;
FIG. 5 is a schematic diagram of the movement of the present invention for horizontal flipping;
fig. 6 is a schematic diagram of the movement of the present invention for vertical flipping.
In the figure, 1-a fixing plate of a first driving mechanism, 2-a supporting bracket of the first driving mechanism, 3-a supporting roller of the first driving mechanism, 4-a holding motor of the first driving mechanism, 5-a holding arm of the first holding unit of the first driving mechanism, 6-a translation motor of the first holding unit of the first driving mechanism, 7-a driving roller of the first holding unit of the first driving mechanism, 8-a translation bracket of the first holding unit of the first driving mechanism, 9-a sensing bracket of a sensing component of the first driving mechanism, 10-a sensing half ring of the sensing component of the first driving mechanism, 11-a sensing motor of the sensing component of the first driving mechanism, 12-a first connecting piece, 13-a turnover mechanism, 14-a second connecting piece, 15-a lifting plate and 16-a driving gear, 17-a first slide rail of the induction semi-ring, 18-a first slide groove of the induction bracket, 19-a distance sensor, 20-a shell of the turnover mechanism, 21-a first turnover motor, 22-a first driving turnover gear, 23-a first driven turnover gear, 24-a second turnover motor, 25-a second driven turnover gear and 26-a second driving turnover gear.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the invention discloses an outside-pipe real-time monitoring crawling robot capable of freely overturning at an angle, which comprises a first driving mechanism, a second driving mechanism, a first connecting piece, a second connecting piece and an overturning mechanism, wherein the first driving mechanism, the second driving mechanism, the first connecting piece, the second connecting piece and the overturning mechanism are arranged on the outside of the pipe;
the first driving mechanism and the second driving mechanism have the same structure and respectively comprise a fixed plate, a grabbing component and an induction component;
the fixing plate is axially symmetrical in the length direction;
the grabbing and holding assembly comprises a supporting roller, a supporting bracket, a grabbing and holding motor, a lifting plate, a first hinging rod, a second hinging rod and a first grabbing and holding unit, a second grabbing and holding unit;
the supporting bracket is fixed on the lower end face of the fixing plate; the supporting roller is arranged on the supporting bracket and can freely rotate relative to the supporting bracket; a plane passing through the symmetry axis of the fixed plate and vertical to the fixed plate is a plane A, the supporting rollers are symmetrical about the plane A, and the axes of the supporting rollers are parallel to the fixed plate and vertical to the symmetry axis of the fixed plate;
the grabbing motor is fixed on the fixing plate, an output shaft of the grabbing motor faces downwards, an axis of the grabbing motor is located on the plane A and is perpendicular to the fixing plate, and external threads are arranged on the output shaft of the grabbing motor;
a threaded hole matched with the external thread on the output shaft of the grabbing motor is formed in the center of the lifting plate, and a first hinge seat and a second hinge seat are symmetrically arranged on two sides of the lifting plate;
as shown in fig. 2, the first to second grabbing units have the same structure and each include a grabbing arm, a translational support, a translational motor and a driving roller;
the holding arm is H-shaped and comprises a first side rod, a second side rod and a connecting rod, wherein the first side rod and the second side rod are arranged in parallel; two ends of the connecting rod are respectively and vertically fixedly connected with the first side rod and the second side rod;
the translational support is fixedly connected with the lower ends of the first side rod and the second side rod; the driving roller is arranged on the translational support and can freely rotate relative to the translational support; the translation motor is fixed on the translation bracket, and an output shaft of the translation motor is coaxially and fixedly connected with a rotating shaft of the driving roller and is used for driving the driving roller to rotate;
the lifting plate is arranged below the fixed plate in parallel, and a threaded hole in the lifting plate is in threaded connection with an output shaft of the grabbing motor;
the first grabbing unit, the second grabbing unit, the lifting plate and the holding unit are arranged on the two sides of the lifting plate respectively, and the first grabbing unit and the second grabbing unit are symmetrically arranged around a plane A, wherein the upper ends of a first side rod and a second side rod of a holding arm in the first grabbing unit and the second grabbing unit are hinged with the fixed plate, so that the holding arms of the first grabbing unit and the second grabbing unit can freely rotate relative to the fixed plate; one end of the first hinge rod is hinged with the first hinge seat on the lifting plate, and the other end of the first hinge rod is hinged with a connecting rod of a holding arm in the first grabbing unit; one end of the second connecting rod is hinged with a second hinge seat on the lifting plate, and the other end of the second connecting rod is hinged with a connecting rod of a holding arm in the second grabbing unit;
the grabbing motor is used for controlling the lifting plate to lift and further driving the first grabbing unit and the second grabbing unit to be opened or closed through the first hinge rod and the second hinge rod, and when the first grabbing unit and the second grabbing unit are closed, the driving roller of the first grabbing unit, the driving roller of the second grabbing unit and the supporting roller can be attached to a pipeline to be crawled and form triangular enclosure on the pipeline; when the first grabbing unit and the second grabbing unit are opened, the shortest distance between the driving roller of the first grabbing unit and the driving roller of the second grabbing unit is larger than the diameter of the pipeline to be crawled;
as shown in fig. 3, the sensing assembly includes a sensing bracket, a sensing motor, a driving gear, a sensing half ring, and M distance sensors, where M is a natural number greater than or equal to 3;
the induction semi-ring is in a semicircular shape, an arc-shaped rack matched with the driving gear is arranged on the outer wall of the induction semi-ring, and a first slide rail and a second slide rail which are protruded are symmetrically arranged on the side walls of the two sides of the induction semi-ring; the first sliding rail and the second sliding rail are in a semicircular shape and are concentric with the induction semi-ring;
the induction bracket is fixed on the lower end surface of the fixed plate, and a first sliding chute and a second sliding chute which correspond to the first sliding rail and the second sliding rail are respectively arranged on the induction bracket; the first sliding rail and the second sliding rail of the induction semi-ring are respectively matched with the first sliding groove and the second sliding groove on the induction bracket correspondingly, so that the induction semi-ring can freely slide relative to the induction bracket; the induction semi-ring is vertical to the plane A and the circle center of the induction semi-ring is positioned on the plane A;
the induction motor is fixed on the induction bracket, and an output shaft of the induction motor is coaxially and fixedly connected with a rotating shaft of the driving gear; the driving gear is meshed with the arc-shaped rack on the outer wall of the induction semi-ring; the induction motor is used for driving the induction semi-ring to slide on the first sliding groove and the second sliding groove of the induction bracket;
the M distance sensors are uniformly arranged on the inner wall of the induction semi-ring at equal intervals and used for measuring the distance between the induction semi-ring and the outer wall of the pipeline to be crawled;
the first connecting piece, the second connecting piece and the third connecting piece are all U-shaped and comprise two side plates and a bottom plate; two ends of the bottom plate are respectively and fixedly connected with the first side plate and the second side plate in a vertical mode;
as shown in fig. 4, the turnover mechanism includes a housing, first to second turnover motors, first to second active turnover gears, and first to second passive turnover gears;
the shell is hollow;
the first driven overturning gear and the second driven overturning gear are arranged in the shell and can freely rotate relative to the shell; two ends of the rotating shaft of the first passive turnover gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the first connecting piece, so that the first connecting piece can freely rotate relative to the shell; two ends of the rotating shaft of the second driven overturning gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the second connecting piece in a vertical mode, so that the second connecting piece can freely rotate relative to the shell; the rotating shafts of the first driven overturning gear and the second driven overturning gear are vertical to each other;
the first overturning motor and the second overturning motor are fixed on the shell, wherein an output shaft of the first overturning motor is coaxially and fixedly connected with a rotating shaft of the first driving overturning gear, the first driving overturning gear is meshed with the first driven overturning gear, and the first overturning motor is used for driving the first connecting piece to rotate through the first driving overturning gear and the first driven overturning gear; an output shaft of the second turnover motor is coaxially and fixedly connected with a rotating shaft of the second driving turnover gear, the second driving turnover gear is meshed with the second driven turnover gear, and the second turnover motor is used for driving the second connecting piece to rotate through the second driving turnover gear and the second driven turnover gear;
the bottom plate of the first connecting piece is fixedly connected with the fixing plate of the first driving mechanism, the first connecting piece is coplanar with a plane which passes through the symmetry axis of the fixing plate of the first driving mechanism and is perpendicular to the fixing plate of the first driving mechanism, and the first connecting piece is symmetrical about the plane where the fixing plate of the first driving mechanism is located;
the bottom plate of the second connecting piece is fixedly connected with the fixing plate of the second driving mechanism, the second connecting piece is coplanar with the fixing plate of the second driving mechanism, and the second connecting piece is symmetrical about the symmetry axis of the fixing plate of the second driving mechanism.
As a further optimization scheme of the pipe outside real-time monitoring crawling robot capable of overturning at free angles, a plurality of through grooves are formed in fixing plates of the first driving mechanism and the second driving mechanism respectively, so that the weight is reduced.
As shown in fig. 5 and 6, the robot for crawling outside the pipe has the capability of moving horizontally and vertically in a turning manner, and is attached to the pipe through a first driving mechanism and a second driving mechanism in an initial state as shown in fig. 1. The turnover mechanism can realize the turnover in the horizontal or vertical direction at a specific angle at the line change position of the travelling pipeline.
The robot can freely crawl on the pipeline by sensing the distance between the sensing assembly of the first driving mechanism and the pipeline to be crawled and controlling the grabbing assembly of the first driving mechanism and the grabbing assembly of the second driving mechanism to work after conversion, so that the pipeline to be crawled is firmly grabbed, and meanwhile, the robot can turn over on the pipeline at a free angle by matching the turnover mechanism with the first driving mechanism and the second driving mechanism by driving the translational motors of the grabbing units in the first driving mechanism and the second driving mechanism to work.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An outside-pipe real-time monitoring crawling robot capable of freely overturning at an angle is characterized by comprising a first driving mechanism, a second driving mechanism, a first connecting piece, a second connecting piece and an overturning mechanism;
the first driving mechanism and the second driving mechanism have the same structure and respectively comprise a fixed plate, a grabbing component and an induction component;
the fixing plate is axially symmetrical in the length direction;
the grabbing and holding assembly comprises a supporting roller, a supporting bracket, a grabbing and holding motor, a lifting plate, a first hinging rod, a second hinging rod and a first grabbing and holding unit, a second grabbing and holding unit;
the supporting bracket is fixed on the lower end face of the fixing plate; the supporting roller is arranged on the supporting bracket and can freely rotate relative to the supporting bracket; a plane passing through the symmetry axis of the fixed plate and vertical to the fixed plate is a plane A, the supporting rollers are symmetrical about the plane A, and the axes of the supporting rollers are parallel to the fixed plate and vertical to the symmetry axis of the fixed plate;
the grabbing motor is fixed on the fixing plate, an output shaft of the grabbing motor faces downwards, an axis of the grabbing motor is located on the plane A and is perpendicular to the fixing plate, and external threads are arranged on the output shaft of the grabbing motor;
a threaded hole matched with the external thread on the output shaft of the grabbing motor is formed in the center of the lifting plate, and a first hinge seat and a second hinge seat are symmetrically arranged on two sides of the lifting plate;
the first grabbing unit, the second grabbing unit and the third grabbing unit are identical in structure and respectively comprise a grabbing arm, a translation bracket, a translation motor and a driving roller;
the holding arm is H-shaped and comprises a first side rod, a second side rod and a connecting rod, wherein the first side rod and the second side rod are arranged in parallel; two ends of the connecting rod are respectively and vertically fixedly connected with the first side rod and the second side rod;
the translational support is fixedly connected with the lower ends of the first side rod and the second side rod; the driving roller is arranged on the translational support and can freely rotate relative to the translational support; the translation motor is fixed on the translation bracket, and an output shaft of the translation motor is coaxially and fixedly connected with a rotating shaft of the driving roller and is used for driving the driving roller to rotate;
the lifting plate is arranged below the fixed plate in parallel, and a threaded hole in the lifting plate is in threaded connection with an output shaft of the grabbing motor;
the first grabbing unit, the second grabbing unit, the lifting plate and the holding unit are arranged on the two sides of the lifting plate respectively, and the first grabbing unit and the second grabbing unit are symmetrically arranged around a plane A, wherein the upper ends of a first side rod and a second side rod of a holding arm in the first grabbing unit and the second grabbing unit are hinged with the fixed plate, so that the holding arms of the first grabbing unit and the second grabbing unit can freely rotate relative to the fixed plate; one end of the first hinge rod is hinged with the first hinge seat on the lifting plate, and the other end of the first hinge rod is hinged with a connecting rod of a holding arm in the first grabbing unit; one end of the second connecting rod is hinged with a second hinge seat on the lifting plate, and the other end of the second connecting rod is hinged with a connecting rod of a holding arm in the second grabbing unit;
the grabbing motor is used for controlling the lifting plate to lift and further driving the first grabbing unit and the second grabbing unit to be opened or closed through the first hinge rod and the second hinge rod, and when the first grabbing unit and the second grabbing unit are closed, the driving roller of the first grabbing unit, the driving roller of the second grabbing unit and the supporting roller can be attached to a pipeline to be crawled and form triangular enclosure on the pipeline; when the first grabbing unit and the second grabbing unit are opened, the shortest distance between the driving roller of the first grabbing unit and the driving roller of the second grabbing unit is larger than the diameter of the pipeline to be crawled;
the induction component comprises an induction bracket, an induction motor, a driving gear, an induction semi-ring and M distance sensors, wherein M is a natural number more than or equal to 3;
the induction semi-ring is in a semicircular shape, an arc-shaped rack matched with the driving gear is arranged on the outer wall of the induction semi-ring, and a first slide rail and a second slide rail which are protruded are symmetrically arranged on the side walls of the two sides of the induction semi-ring; the first sliding rail and the second sliding rail are in a semicircular shape and are concentric with the induction semi-ring;
the induction bracket is fixed on the lower end surface of the fixed plate, and a first sliding chute and a second sliding chute which correspond to the first sliding rail and the second sliding rail are respectively arranged on the induction bracket; the first sliding rail and the second sliding rail of the induction semi-ring are respectively matched with the first sliding groove and the second sliding groove on the induction bracket correspondingly, so that the induction semi-ring can freely slide relative to the induction bracket; the induction semi-ring is vertical to the plane A and the circle center of the induction semi-ring is positioned on the plane A;
the induction motor is fixed on the induction bracket, and an output shaft of the induction motor is coaxially and fixedly connected with a rotating shaft of the driving gear; the driving gear is meshed with the arc-shaped rack on the outer wall of the induction semi-ring; the induction motor is used for driving the induction semi-ring to slide on the first sliding groove and the second sliding groove of the induction bracket;
the M distance sensors are uniformly arranged on the inner wall of the induction semi-ring at equal intervals and used for measuring the distance between the induction semi-ring and the outer wall of the pipeline to be crawled;
the first connecting piece, the second connecting piece and the third connecting piece are all U-shaped and comprise two side plates and a bottom plate; two ends of the bottom plate are respectively and fixedly connected with the first side plate and the second side plate in a vertical mode;
the turnover mechanism comprises a shell, a first turnover motor, a second turnover motor, a first active turnover gear, a second active turnover gear, a first passive turnover gear, a second passive turnover gear and a third passive turnover gear;
the shell is hollow;
the first driven overturning gear and the second driven overturning gear are arranged in the shell and can freely rotate relative to the shell; two ends of the rotating shaft of the first passive turnover gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the first connecting piece, so that the first connecting piece can freely rotate relative to the shell; two ends of the rotating shaft of the second driven overturning gear extend out of the shell and are respectively and fixedly connected with the inner walls of the first side plate and the second side plate of the second connecting piece in a vertical mode, so that the second connecting piece can freely rotate relative to the shell; the rotating shafts of the first driven overturning gear and the second driven overturning gear are vertical to each other;
the first overturning motor and the second overturning motor are fixed on the shell, wherein an output shaft of the first overturning motor is coaxially and fixedly connected with a rotating shaft of the first driving overturning gear, the first driving overturning gear is meshed with the first driven overturning gear, and the first overturning motor is used for driving the first connecting piece to rotate through the first driving overturning gear and the first driven overturning gear; an output shaft of the second turnover motor is coaxially and fixedly connected with a rotating shaft of the second driving turnover gear, the second driving turnover gear is meshed with the second driven turnover gear, and the second turnover motor is used for driving the second connecting piece to rotate through the second driving turnover gear and the second driven turnover gear;
the bottom plate of the first connecting piece is fixedly connected with the fixing plate of the first driving mechanism, the first connecting piece is coplanar with a plane which passes through the symmetry axis of the fixing plate of the first driving mechanism and is perpendicular to the fixing plate of the first driving mechanism, and the first connecting piece is symmetrical about the plane where the fixing plate of the first driving mechanism is located;
the bottom plate of the second connecting piece is fixedly connected with the fixing plate of the second driving mechanism, the second connecting piece is coplanar with the fixing plate of the second driving mechanism, and the second connecting piece is symmetrical about the symmetry axis of the fixing plate of the second driving mechanism.
2. The pipe external real-time monitoring crawling robot capable of overturning at free angles as claimed in claim 1, wherein a plurality of through grooves are formed in fixing plates of the first driving mechanism and the second driving mechanism respectively so as to reduce weight.
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| CN202111565735.5A CN114194309A (en) | 2021-12-20 | 2021-12-20 | Outside-pipe real-time monitoring crawling robot capable of overturning at free angle |
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Application publication date: 20220318 |