CN115076518A - Flexible pipeline robot - Google Patents
Flexible pipeline robot Download PDFInfo
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- CN115076518A CN115076518A CN202210790770.5A CN202210790770A CN115076518A CN 115076518 A CN115076518 A CN 115076518A CN 202210790770 A CN202210790770 A CN 202210790770A CN 115076518 A CN115076518 A CN 115076518A
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- loading platform
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- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000012545 processing Methods 0.000 claims description 31
- 238000009423 ventilation Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 238000005498 polishing Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/40—Single-purpose machines or devices for grinding tubes internally
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a flexible pipeline robot which comprises a travelling mechanism, a universal connecting mechanism and a working mechanism, wherein the travelling mechanism is arranged at two ends of the working mechanism, the working mechanism is connected with the travelling mechanism through the universal connecting mechanism, and the travelling mechanism can be folded or unfolded; the operating mechanism includes loading platform, the fixed bolster, slewing bearing, function platform and telescopic self-adaptation gasbag mechanism, loading platform's both ends all are equipped with the fixed bolster, driving motor two is installed to one side of fixed bolster, the opposite side is equipped with self-adaptation gasbag mechanism, driving motor two's output is equipped with gear two, gear two and slewing bearing meshing, slewing bearing is connected with loading platform and drives loading platform rotatory around its axis, be equipped with the holding tank on loading platform's the lateral wall, function platform slidable mounting is in the holding tank, be equipped with the treatment facility that is used for handling the pipeline inner wall on the function platform. The invention can meet the treatment requirements of different pipe diameters and lengths and improve the working efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible pipeline robot.
Background
In the fields of general industry, nuclear facilities, petroleum and natural gas, military equipment and the like, pipelines are widely applied as an effective material conveying means. In order to prolong the service life of the pipeline and prevent accidents such as leakage, the pipeline needs to be effectively detected and maintained. When the diameter of the pipeline is large, personnel can enter the pipeline to perform detection and maintenance, and when the inner diameter of the pipeline is small, such as the inner diameter of 200mm-450mm, the personnel cannot enter the pipeline, and the inner wall of the pipeline is difficult to perform operations such as polishing, welding and the like. The extension polishing rod can only be used for pipelines with small length and cannot be suitable for longer pipelines, the treatment efficiency is low, the polishing rod needs to be held by hands to operate, the labor intensity is high, the extension polishing rod cannot be operated accurately, the precision of polishing, welding and cleaning in the pipelines is influenced, when an elbow of the pipeline occurs, a treatment dead angle occurs at the elbow, and the normal use of the pipeline is influenced.
Disclosure of Invention
The invention provides a flexible pipeline robot aiming at the technical problems in the prior art.
The technical scheme for solving the technical problems is as follows: a flexible pipeline robot comprises a travelling mechanism, a universal connecting mechanism and a working mechanism, wherein the travelling mechanism is arranged at each of two ends of the working mechanism, the working mechanism is connected with the travelling mechanism through the universal connecting mechanism, and the travelling mechanism can be folded or unfolded;
work mechanism includes loading platform, fixed bolster, slewing bearing, function platform and telescopic self-adaptation gasbag mechanism, loading platform's both ends all are equipped with the fixed bolster, driving motor two is installed to one side of fixed bolster, and the opposite side is equipped with self-adaptation gasbag mechanism, the output of driving motor two is equipped with gear two, gear two with the slewing bearing meshing, slewing bearing with loading platform connects and drives loading platform is rotatory around its axis, be equipped with the holding tank on loading platform's the lateral wall, function platform slidable mounting is in the holding tank, be equipped with the treatment facility that is used for handling the pipeline inner wall on the function platform.
On the basis of the technical scheme, in order to achieve the convenience of use and the stability of equipment, the invention can also make the following improvements on the technical scheme:
the loading platform is characterized by further comprising a third driving motor, the third driving motor is installed in the loading platform, a third gear is arranged at the output end of the third driving motor, a rack is arranged at the lower end of the functional platform, and the third gear is meshed with the rack.
Further, still include arc tooth and rotor, the function platform is L shape backup pad, L shape backup pad is including the mainboard and the turn-ups board of connecting, processing apparatus passes through the rotor is installed on the mainboard, the arc tooth sets up on the turn-ups board, be equipped with on the processing apparatus with the gear of arc tooth meshing, the radian of arc tooth is 30-60.
Furthermore, the universal connecting mechanism comprises a quick-change connector and universal shaft joints positioned at two ends of the quick-change connector, one end of the universal connecting mechanism is connected with the traveling mechanism through a first connecting shaft, and the other end of the universal connecting mechanism is connected with the fixed support through a second connecting shaft.
Further, self-adaptation gasbag mechanism includes cam disc, driving motor one and a plurality of gasbag subassembly, driving motor one is installed on the fixed bolster, driving motor one's output is connected with gear one, gear one with gear engagement on the outer circumference of cam disc, the cam disc rotates to be installed on the connecting axle two, be equipped with a plurality of arc walls on the terminal surface of cam disc, the arc wall is along the radial extension of cam disc is a plurality of the gasbag subassembly is located between the fixed bolster with along cam disc circumference evenly sets up, the gasbag subassembly includes the gasbag support and installs self-adaptation gasbag on the gasbag support, still be equipped with the guide post on the gasbag support, the guide post plug-in dress is in the arc wall.
Further, the air bag support comprises a support rod and an arc-shaped groove, the guide column is installed on the support rod, the arc-shaped groove is formed in the end portion of the support rod, the self-adaptive air bag is installed in the arc-shaped groove, the support rod is provided with a guide protrusion, the fixed support is provided with a guide groove, and the guide protrusion is inserted into the guide groove.
Further, running gear includes the even running assembly who sets up of fixed plate, screw axle, drive arrangement and three group circumference, the connecting axle is first to pass the fixed plate with the screw hub connection, the drive arrangement drive the connecting axle is first with the screw axle rotates, running assembly includes motor wheel one, sliding sleeve, fixed cover one, connecting rod three and push rod, the sliding sleeve is installed the screw is epaxial and can be along the screw axle removes, fixed cover one is installed connecting axle is first, the one end of connecting rod three with fixed cover one is articulated, the other end with motor wheel one is articulated, the one end of push rod with the sliding sleeve is articulated, the other end with the middle part of connecting rod three is articulated.
Furthermore, the driving device comprises a driving motor IV and a bevel gear I, the driving motor IV is installed on the fixing plate, a bevel gear II is arranged at the output end of the driving motor IV, the bevel gear I is installed on the connecting shaft I, and the bevel gear II is meshed with the bevel gear I.
Further, the walking assembly further comprises a motor wheel II, a first connecting rod, a second connecting rod and a second fixing sleeve, one end of the first connecting rod is hinged to the first motor wheel, the other end of the first connecting rod is hinged to the second motor wheel, one end of the second connecting rod is hinged to the second motor wheel, the other end of the second connecting rod is hinged to the second fixing sleeve, the second fixing sleeve is installed on the fixing plate, and the second fixing sleeve is connected with the first fixing sleeve through a connecting support.
Further, the fixed plate is triangular, three vertex angles of the triangle are arc angles, and the fixed plate is provided with a ventilation fan.
The invention has the beneficial effects that: according to the invention, the rotatable loading platform is arranged, so that the loading platform can perform 360-degree circular motion in the pipeline, and the processing equipment can perform 360-degree processing on a certain position in the pipeline, thereby reducing the rotating deployment time and improving the working efficiency; the pipeline can be polished, welded, cleaned, detected and the like by arranging the processing equipment on the functional platform, and multiple functions can be realized by adopting one pipeline robot, so that the user cost is reduced, the convenience of operation is improved, and the labor intensity is reduced; the functional platform is arranged in the accommodating groove in a sliding manner, so that the processing equipment on the functional platform can move to a specified position, and the processing requirements of different pipelines are met; the pipeline robot can move to the specified position of the pipeline by arranging the travelling mechanism, so that the use requirements of pipelines with different lengths are met, the use requirements of pipelines with different inner diameters are met by folding or unfolding the travelling mechanism, and the use range of the pipeline robot is enlarged; through setting up universal connection mechanism, realize the rotation of running gear arbitrary angle, make this robot walk in return bend or other special-shaped pipeline, guarantee to carry out effective processing to the corner department, avoid appearing the dead angle, improve the treatment accuracy of pipeline, guarantee pipeline normal use.
Drawings
FIG. 1 is a schematic structural view of a flexible pipeline robot of the present invention;
FIG. 2 is a schematic view of the working mechanism of the present invention;
FIG. 3 is a schematic view of the working mechanism of the present invention at another angle with the mounting bracket removed;
FIG. 4 is a schematic view of a loading platform according to the present invention;
FIG. 5 is a schematic diagram of a functional platform of the present invention;
fig. 6 is a schematic view of the traveling mechanism of the present invention.
The reference numbers are recorded as follows: 1. a traveling mechanism; 1-1, a motor wheel I; 1-2, a motor wheel II; 1-3, fixing plates; 1-4, connecting the shaft I; 1-5, a ventilation fan; 1-6, a screw shaft; 1-7, a sliding sleeve; 1-8, driving a motor IV; 1-9, a first bevel gear; 1-10, fixing the sleeve I; 1-11, fixing the sleeve II; 1-12, a first connecting rod; 1-13 and a second connecting rod; 1-14, connecting rod III; 1-15, connecting a bracket; 1-16, push rod;
2. a universal connection mechanism; 2-1, universal shaft joints; 2-2, quick-change connector;
3. a working mechanism; 3-1, fixing a bracket; 3-2, loading a platform; 3-3, self-adaptive air bags; 3-4, an air bag bracket; 3-5, cam disc; 3-6, connecting a second shaft; 3-7, processing equipment; 3-8, a functional platform; 3-9, a guide post; 3-10, driving a first motor; 3-11, driving a motor II; 3-12, slewing bearing; 3-13, driving a motor III; 3-14, a rack; 3-15, arc-shaped teeth; 3-16, a rotor.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 6, the present invention discloses a flexible pipeline robot, which comprises a traveling mechanism 1, a universal connecting mechanism 2 and a working mechanism 3, wherein both ends of the working mechanism 3 are provided with the traveling mechanism 1, the working mechanism 3 is connected with the traveling mechanism 1 through the universal connecting mechanism 2, and the traveling mechanism 1 can be folded or unfolded;
the working mechanism 3 comprises a loading platform 3-2, a fixed support 3-1, a slewing bearing 3-12, a functional platform 3-8 and a telescopic self-adaptive air bag mechanism, wherein the fixed support 3-1 is arranged at each of two ends of the loading platform 3-2, a driving motor II 3-11 is installed at one side of the fixed support 3-1, the self-adaptive air bag mechanism is arranged at the other side of the fixed support 3-1, a gear II is arranged at the output end of the driving motor II 3-11 and is meshed with the slewing bearing 3-12, the slewing bearing 3-12 is connected with the loading platform 3-2 and drives the loading platform 3-2 to rotate around the axis of the loading platform, an accommodating groove is formed in the side wall of the loading platform 3-2, and the functional platform 3-8 is slidably installed in the accommodating groove, and the functional platform 3-8 is provided with a processing device 3-7 for processing the inner wall of the pipeline.
The processing equipment 3-7 can be a grinding machine, a visual camera, a nondestructive testing PT spraying module or a welding machine and the like, different processing requirements of pipelines are met, the utilization rate of the robot is improved, and the user cost is reduced.
Two slewing bearings 3-12 and two driving motors 3-11 are arranged, the two slewing bearings 3-12 are arranged on two sides of the loading platform 3-2, and each driving motor 3-11 corresponds to one slewing bearing 3-12, so that the rotating stability of the loading platform 3-2 is guaranteed, and the inclination is avoided.
The flexible pipeline robot further comprises a third driving motor 3-13, the third driving motor 3-13 is installed in the loading platform 3-2, a third gear is arranged at the output end of the third driving motor 3-13, a rack 3-14 is arranged at the lower end of the functional platform 3-8, and the third gear is meshed with the rack 3-14. The lower end of the accommodating groove is provided with a groove for accommodating racks 3-14, when the driving motor III 3-13 drives the gear III to rotate, the racks 3-14 move along the groove, so that the functional platform 3-8 and the processing equipment 3-7 are driven to move, reciprocating movement of the functional platform 3-8 and the processing equipment 3-7 is realized by controlling positive rotation or reverse rotation of the gear III, different positions in the pipeline are processed, and various processing requirements of the pipeline are met.
Furthermore, the lower end of the functional platform 3-8 is provided with a guide pin, the loading platform 3-2 is provided with a guide long hole, the guide long hole is arranged along the radial direction of the loading platform 3-2, the guide pin is inserted into the guide long hole and moves back and forth along the guide long hole, the moving stability of the processing equipment 3-7 is improved, the shaking is avoided, and the processing precision of the pipeline is ensured.
The flexible pipe robot further comprises arc-shaped teeth 3-15 and rotors 3-16, the functional platforms 3-8 are L-shaped supporting plates, the L-shaped supporting plates comprise connected main plates and flanging plates, the processing equipment 3-7 is installed on the main plates through the rotors 3-16, the arc-shaped teeth 3-15 are arranged on the flanging plates, gears meshed with the arc-shaped teeth 3-15 are arranged on the processing equipment 3-7, and the radian of the arc-shaped teeth 3-15 is 30-60 degrees. When the pipeline is polished, the processing equipment 3-7 is a polisher, in order to guarantee polishing effect, the polisher needs to swing back and forth, a motor connected with the gear is arranged on the polisher, and when the motor works, the gear is driven to move along the arc-shaped teeth 3-15, so that the polisher can swing through the rotating body 3-16. For example, when the arc of the arcuate teeth 3-15 is 60, the sander can achieve a horizontal + -30 swing.
Specifically, the rotating bodies 3 to 16 include an upper end surface, a lower end surface, and a plurality of rolling bodies located between the two end surfaces, the upper end surface is connected to the processing device 3 to 7, and the lower end surface is mounted on a main plate of the L-shaped supporting plate. The rotating bodies 3-16 can reduce the resistance to the rotation of the processing apparatus 3-7 and improve the flexibility of the rotation of the processing apparatus 3-7.
The universal connecting mechanism 2 comprises a quick-change connector 2-2 and universal shaft joints 2-1 located at two ends of the quick-change connector 2-2, one end of the universal connecting mechanism 2 is connected with the travelling mechanism 1 through a connecting shaft I1-4, the other end of the universal connecting mechanism is connected with the fixed support 3-1 through a connecting shaft II 3-6, and the connecting shaft II 3-6 is rotatably installed in the fixed support 3-1 through a bearing. The quick-change connector 2-2 is quickly mounted or dismounted in a buckling mode.
The quick-change connector 2-2 comprises a nut and a bolt, one end of the quick-change connector 2-2 is connected with the universal shaft joint 2-1 through the bolt, the other end of the quick-change connector is connected with the nut through an external bolt, and the external bolt is connected with the universal shaft joint 2-1 and fixed through a pin. The middle of the quick-change connector 2-2 is a round sphere, and the rear part of the round sphere is provided with a spring, so that the quick-change connector 2-2 is prevented from being separated in a certain stress range, and the firmness of connection is ensured.
The self-adaptive air bag mechanism comprises a cam disc 3-5, a first driving motor 3-10 and a plurality of air bag components, wherein the first driving motor 3-10 is installed on the fixed support 3-1, the output end of the first driving motor 3-10 is connected with a first gear, the first gear is meshed with a gear on the outer circumference of the cam disc 3-5, the cam disc 3-5 is rotatably installed on a second connecting shaft 3-6, the end surface of the cam disc 3-5 is provided with a plurality of arc-shaped grooves, the arc-shaped grooves extend along the radial direction of the cam disc 3-5, the air bag components are positioned between the fixed support 3-1 and the cam disc 3-5 and are uniformly arranged along the circumferential direction of the cam disc 3-5, and the air bag components comprise air bag supports 3-4 and self-adaptive air bags 3-3 installed on the air bag supports 3-4, the air bag support 3-4 is also provided with a guide column 3-9, and the guide column 3-9 is inserted in the arc-shaped groove.
Specifically, one end of the arc-shaped groove is close to the center of the cam disc 3-5, and the other end of the arc-shaped groove is close to the outer edge of the cam disc 3-5. When the cam disc 3-5 rotates, the guide columns 3-9 move along the arc-shaped grooves, so that the air bag supports 3-4 and the adaptive air bags 3-3 are driven to move along the radial direction, the air bags are used for inflating after the cam disc 3-5 moves in place, the purpose of adapting to the pipe diameter and the pipe shape is achieved, friction force is provided to ensure that the robot is stably fixed in the pipe wall, and the stability of the processing equipment 3-7 during working is ensured.
The air bag support 3-4 comprises a support rod and an arc-shaped groove, the guide column 3-9 is arranged on the support rod, the arc-shaped groove is arranged at the end part of the supporting rod, the self-adaptive air bag 3-3 is arranged in the arc-shaped groove, the supporting rod is provided with a guide bulge, the fixed bracket 3-1 is provided with a guide groove, the guide groove is I-shaped, the guide groove is arranged along the radial direction of the fixed bracket 3-1, the guide bulge is inserted in the guide groove to guide and install the air bag bracket 3-4, when the cam disc 3-5 rotates, the arc-shaped groove on the cam disc 3-5 drives the air bag bracket 3-4 to move along the guide groove on the fixed bracket 3-1, the stability of the air bag support 3-4 and the self-adaptive air bag 3-3 in moving is ensured through the matching of the guide groove and the guide bulge.
Specifically, in this embodiment, the number of the airbag supports 3-4 is four, and the number of the arc-shaped grooves is four.
The walking mechanism 1 comprises fixing plates 1-3, a screw shaft 1-6, a driving device and three groups of walking components which are uniformly arranged in the circumferential direction, wherein a first connecting shaft 1-4 penetrates through the fixing plates 1-3 to be connected with the screw shaft 1-6, the driving device drives the first connecting shaft 1-4 and the screw shaft 1-6 to rotate, the walking components comprise a first motor wheel 1-1, a sliding sleeve 1-7, a first fixing sleeve 1-10, a third connecting rod 1-14 and a push rod 1-16, the first motor wheel 1-1 provides power for the forward and backward movement of the robot, the sliding sleeve 1-7 is installed on the screw shaft 1-6 and can move along the screw shaft 1-6, the first fixing sleeve 1-10 is installed on the first connecting shaft 1-4, one end of the connecting rod III 1-14 is hinged with the first fixing sleeve 1-10, the other end of the connecting rod III is hinged with the first motor wheel 1-1, one end of the push rod 1-16 is hinged with the sliding sleeve 1-7, and the other end of the push rod III is hinged with the middle part of the connecting rod III 1-14.
The first connecting shaft 1-4 can rotate in the first fixing sleeve 1-10, so that the screw shaft 1-6 is driven to rotate. The fixing sleeves I1-10 can be connected with the fixing plates 1-3 through the connecting supports 1-15, so that the mounting stability of the fixing sleeves I1-10 is guaranteed.
The driving device comprises driving motors IV 1-8 and bevel gears I1-9, the driving motors IV 1-8 are installed on the fixing plates 1-3, output ends of the driving motors IV 1-8 are provided with bevel gears II, the bevel gears I1-9 are installed on the connecting shafts I1-4, and the bevel gears II are meshed with the bevel gears I1-9.
The sliding sleeve 1-7 is internally provided with internal threads matched with the screw shaft 1-6, and when the driving device drives the screw shaft 1-6 to rotate, the sliding sleeve 1-7 moves along the screw shaft 1-6, so that the motor wheel is folded or unfolded through the matching of the connecting rod three 1-14 and the push rod 1-16.
The fixing plate 1-3 is triangular, three vertex angles of the triangle are arc angles, and the air exchange fan 1-5 is arranged on the fixing plate 1-3. The fixing plates 1-3 are arranged to be triangular with arc-shaped angles, so that an operator can observe the running condition of the robot in the pipeline conveniently. Meanwhile, if the robot needs a wire control mode, the triangular structure can reserve the position of a pipeline or a line, and the reserved position can be provided with a ventilation fan 1-5. Meanwhile, the motor wheel is ensured to contact the inner wall of the pipeline when the pipeline is placed, and the inner wall of the pipeline is prevented from being damaged due to friction between the fixing plate 1-3 and the inner wall of the pipeline.
The walking assembly further comprises a motor wheel II 1-2, a connecting rod I1-12, a connecting rod II 1-13 and a fixing sleeve II 1-11, one end of the connecting rod I1-12 is hinged with the motor wheel I1-1, the other end of the connecting rod I1-12 is hinged with the motor wheel II 1-2, one end of the connecting rod II 1-13 is hinged with the motor wheel II 1-2, the other end of the connecting rod II 1-13 is hinged with the fixing sleeve II 1-11, the fixing sleeve II 1-11 is installed on the fixing plate 1-3, and the fixing sleeve II 1-11 is connected with the fixing sleeve I1-10 through a connecting support 1-15. Every group running gear all includes two motor wheels promptly, establishes into a set of through two motor wheels, equilibrium and stability when can guaranteeing the robot walking.
Taking the processing equipment 3-7 as an example of a grinding machine, the working process of the flexible pipeline robot is described as follows:
(1) the flexible pipeline robot is placed into a pipeline, the driving motor IV 1-8 drives the screw shaft 1-6 to rotate, so that after the walking assembly is opened to enable the motor wheel I1-1 and the motor wheel II 1-2 to support the inner wall of the pipeline, the screw shaft 1-6 stops rotating, and the motor wheel I1-1 and the motor wheel II 1-2 start rotating until the robot moves to the specified position.
(2) After the robot reaches the designated position, the self-adaptive air bag 3-3 is inflated according to the preset air pressure, and then the driving motor I3-10 drives the cam disc 3-5 to rotate, so that the air bag support 3-4 and the self-adaptive air bag 3-3 are driven to move radially, the self-adaptive air bag 3-3 is enabled to be attached to the inner wall of the pipeline, and the robot is guaranteed to be stably fixed in the pipeline wall.
(3) The driving motor III 3-13 drives the functional platform 3-8 and the grinding machine on the functional platform 3-8 to extend out, the grinding machine is started to perform point alignment treatment on the position to be ground or processed, the gear can reciprocate along the arc-shaped teeth 3-15 through forward and reverse rotation of the motor of the grinding machine, and the loading platform 3-2 is driven to rotate around the axis through the matching of the driving motor II 3-11 and the slewing bearing 3-12, so that the grinding machine is driven to rotate, multi-angle treatment on the position to be processed is realized, and the grinding effect is ensured.
(4) After the grinding machine is started, the ventilation fan 1-5 is started to output dust generated by grinding in time and discharge heat generated by grinding.
(5) After the grinding work is finished, the driving motor III 3-13 drives the functional platform 3-8 and the grinding machine to move reversely and retract, meanwhile, the self-adaptive air bag 3-3 is deflated, and the driving motor I3-10 drives the cam disc 3-5 to rotate reversely to drive the air bag support 3-4 to retract.
(6) The first motor wheel 1-1 and the second motor wheel 1-2 start to rotate, when the robot moves to a designated position, the fourth driving motor 1-8 drives the screw shaft 1-6 to rotate in the reverse direction, the walking assembly is folded and separated from the inner wall of the pipeline, and the flexible pipeline robot is taken out.
Furthermore, the visual camera can be installed on the functional platform 3-8, so that operators can know the polishing position and precision conveniently, and the pipeline treatment effect is guaranteed.
When the processing devices 3-7 are other machines, the corresponding adjustment can be performed according to the above contents, which is not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. A flexible pipeline robot comprises a walking mechanism (1), a universal connecting mechanism (2) and a working mechanism (3), and is characterized in that the walking mechanism (1) is arranged at two ends of the working mechanism (3), the working mechanism (3) is connected with the walking mechanism (1) through the universal connecting mechanism (2), and the walking mechanism (1) can be folded or unfolded;
the working mechanism (3) comprises a loading platform (3-2), a fixed support (3-1), a slewing bearing (3-12), a functional platform (3-8) and a telescopic self-adaptive air bag mechanism, wherein the fixed support (3-1) is arranged at each of two ends of the loading platform (3-2), a second driving motor (3-11) is installed at one side of the fixed support (3-1), the self-adaptive air bag mechanism is arranged at the other side of the fixed support, a second gear is arranged at the output end of the second driving motor (3-11), the second gear is meshed with the slewing bearing (3-12), the slewing bearing (3-12) is connected with the loading platform (3-2) and drives the loading platform (3-2) to rotate around the axis of the loading platform, and accommodating grooves are formed in the side wall of the loading platform (3-2), the functional platform (3-8) is slidably mounted in the accommodating groove, and processing equipment (3-7) for processing the inner wall of the pipeline is arranged on the functional platform (3-8).
2. The flexible pipe robot according to claim 1, further comprising a third driving motor (3-13), wherein the third driving motor (3-13) is installed in the loading platform (3-2), the output end of the third driving motor (3-13) is provided with a third gear, the lower end of the functional platform (3-8) is provided with a rack (3-14), and the third gear is engaged with the rack (3-14).
3. The flexible pipe robot according to claim 1 or 2, further comprising arc-shaped teeth (3-15) and rotating bodies (3-16), wherein the functional platform (3-8) is an L-shaped support plate comprising a main plate and a flanging plate which are connected, the processing equipment (3-7) is mounted on the main plate through the rotating bodies (3-16), the arc-shaped teeth (3-15) are provided on the flanging plate, gears which are engaged with the arc-shaped teeth (3-15) are provided on the processing equipment (3-7), and the arc degree of the arc-shaped teeth (3-15) is 30-60 °.
4. The flexible pipeline robot according to claim 1, characterized in that the universal connection mechanism (2) comprises a quick-change connector (2-2) and universal shaft joints (2-1) at two ends of the quick-change connector (2-2), one end of the universal connection mechanism (2) is connected with the traveling mechanism (1) through a first connecting shaft (1-4), and the other end is connected with the fixed bracket (3-1) through a second connecting shaft (3-6).
5. The flexible pipe robot of claim 4, characterized in that the adaptive air bag mechanism comprises a cam disc (3-5), a first driving motor (3-10) and a plurality of air bag components, the first driving motor (3-10) is installed on the fixed bracket (3-1), the output end of the first driving motor (3-10) is connected with a first gear which is engaged with a gear on the outer circumference of the cam disc (3-5), the cam disc (3-5) is rotatably installed on the second connecting shaft (3-6), a plurality of arc-shaped grooves are arranged on the end surface of the cam disc (3-5), the arc-shaped grooves extend along the radial direction of the cam disc (3-5), and a plurality of air bag components are arranged between the fixed bracket (3-1) and the cam disc (3-5) and along the circumferential direction of the cam disc (3-5) The air bag assembly is uniformly arranged, the air bag assembly comprises an air bag support (3-4) and a self-adaptive air bag (3-3) arranged on the air bag support (3-4), a guide column (3-9) is further arranged on the air bag support (3-4), and the guide column (3-9) is inserted in the arc-shaped groove.
6. The flexible pipeline robot according to claim 5, characterized in that the airbag support (3-4) comprises a support bar and an arc-shaped groove, the guide posts (3-9) are mounted on the support bar, the arc-shaped groove is arranged at the end of the support bar, the adaptive airbag (3-3) is mounted in the arc-shaped groove, a guide projection is arranged on the support bar, a guide groove is arranged on the fixed support (3-1), and the guide projection is inserted in the guide groove.
7. The flexible pipe robot of claim 4, wherein the traveling mechanism (1) comprises a fixing plate (1-3), a screw shaft (1-6), a driving device and three sets of traveling assemblies uniformly arranged in the circumferential direction, the connecting shaft I (1-4) penetrates through the fixing plate (1-3) and is connected with the screw shaft (1-6), the driving device drives the connecting shaft I (1-4) and the screw shaft (1-6) to rotate, the traveling assemblies comprise a motor wheel I (1-1), a sliding sleeve (1-7), a fixed sleeve I (1-10), a connecting rod III (1-14) and a push rod (1-16), the sliding sleeve (1-7) is mounted on the screw shaft (1-6) and can move along the screw shaft (1-6), the first fixing sleeve (1-10) is installed on the first connecting shaft (1-4), one end of the third connecting rod (1-14) is hinged to the first fixing sleeve (1-10), the other end of the third connecting rod is hinged to the first motor wheel (1-1), one end of the push rod (1-16) is hinged to the sliding sleeve (1-7), and the other end of the push rod is hinged to the middle of the third connecting rod (1-14).
8. The flexible pipe robot according to claim 7, wherein the driving means comprises a driving motor four (1-8) and a bevel gear one (1-9), the driving motor four (1-8) is mounted on the fixing plate (1-3), an output end of the driving motor four (1-8) is provided with a bevel gear two, the bevel gear one (1-9) is mounted on the connecting shaft one (1-4), and the bevel gear two is meshed with the bevel gear one (1-9).
9. The flexible pipe robot as claimed in claim 7 or 8, wherein the walking assembly further comprises a second motor wheel (1-2), a first connecting rod (1-12), a second connecting rod (1-13) and a second fixing sleeve (1-11), one end of the first connecting rod (1-12) is hinged with the first motor wheel (1-1), the other end is hinged with the second motor wheel (1-2), one end of the second connecting rod (1-13) is hinged with the second motor wheel (1-2), the other end of the second connecting rod is hinged with the second fixing sleeve (1-11), the second fixing sleeve (1-11) is mounted on the fixing plate (1-3), and the second fixing sleeve (1-11) is connected with the first fixing sleeve (1-10) through a connecting support (1-15).
10. The flexible pipe robot of claim 7, wherein the fixing plate (1-3) is triangular, three vertex angles of the triangle are arc angles, and the fixing plate (1-3) is provided with a ventilation fan (1-5).
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| CN202210790770.5A CN115076518B (en) | 2022-07-05 | 2022-07-05 | Flexible pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116297816A (en) * | 2023-05-17 | 2023-06-23 | 北京蒂川国际能源服务有限公司 | Mini magnetic leakage inner detector |
| CN116398744A (en) * | 2023-05-04 | 2023-07-07 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
| CN117140311A (en) * | 2023-09-21 | 2023-12-01 | 山东骄杨环保科技有限公司 | Automatic desulfurization and denitrification pipeline treatment equipment |
| CN117386931A (en) * | 2023-12-11 | 2024-01-12 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
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| JP6244049B1 (en) * | 2017-03-07 | 2017-12-06 | 株式会社松田製作所 | Pipe inner surface polishing equipment |
| CN111390673A (en) * | 2020-03-02 | 2020-07-10 | 江西理工大学 | Integrated adjustable polishing mechanism |
| CN111390667A (en) * | 2020-03-24 | 2020-07-10 | 四川升腾元创机电技术研究有限公司 | Pipeline cleaning device |
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| JPH07100744A (en) * | 1993-09-30 | 1995-04-18 | Kubota Corp | Internal sliding device for pipe inner surface |
| JP6244049B1 (en) * | 2017-03-07 | 2017-12-06 | 株式会社松田製作所 | Pipe inner surface polishing equipment |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116398744A (en) * | 2023-05-04 | 2023-07-07 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
| CN116398744B (en) * | 2023-05-04 | 2023-11-17 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
| CN116297816A (en) * | 2023-05-17 | 2023-06-23 | 北京蒂川国际能源服务有限公司 | Mini magnetic leakage inner detector |
| CN117140311A (en) * | 2023-09-21 | 2023-12-01 | 山东骄杨环保科技有限公司 | Automatic desulfurization and denitrification pipeline treatment equipment |
| CN117140311B (en) * | 2023-09-21 | 2024-01-19 | 山东骄杨环保科技有限公司 | Automatic desulfurization and denitrification pipeline treatment equipment |
| CN117386931A (en) * | 2023-12-11 | 2024-01-12 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
| CN117386931B (en) * | 2023-12-11 | 2024-02-13 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
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|---|---|
| CN115076518B (en) | 2024-04-16 |
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