CN201202928Y - Self-adapting pipe robot - Google Patents

Self-adapting pipe robot Download PDF

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Publication number
CN201202928Y
CN201202928Y CNU2008200366677U CN200820036667U CN201202928Y CN 201202928 Y CN201202928 Y CN 201202928Y CN U2008200366677 U CNU2008200366677 U CN U2008200366677U CN 200820036667 U CN200820036667 U CN 200820036667U CN 201202928 Y CN201202928 Y CN 201202928Y
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China
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robot
body
slide shaft
sliding shaft
link
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CNU2008200366677U
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Chinese (zh)
Inventor
波 王
王自波
范春阳
钱瑞明
锐 黄
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东南大学
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Priority to CNU2008200366677U priority Critical patent/CN201202928Y/en
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Publication of CN201202928Y publication Critical patent/CN201202928Y/en

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Abstract

Disclosed is a self-adaptive pipeline robot, which relates to the robot technology field, in particular to the robot technology field of detecting, clearing and maintaining the pipeline. The robot includes a robot body; at least three groups of driving devices are arranged around the periphery of the robot body, a sliding shaft is arranged on the periphery of the robot body, both ends of the sliding shaft are connected with the robot body, a fixed component is welded at the central part of the sliding shaft, two sliding blocks are respectively nested on the sliding shaft which is positioned at both sides of the fixed component; two pressure springs are respectively nested on the periphery of the sliding shaft between the fixed component and the sliding block, two restoring springs are respectively nested on the periphery of the sliding shaft which is positioned at outer side of the fixed component; both ends of each first connecting pole are respectively connected with the sliding block and a rolling wheel, both ends of each second connecting pole are respectively connoted with the sliding shaft end part and the first connecting pole; and each group robot body is provided with a dynamic control device. The utility model can achieve the purposes that the carrying capacity is fine, the pipeline operation in various working environment is available, the practical value is high, and the dismounting and assembly is convenient.

Description

一种自适应管道机器人 An adaptive pipeline Robot

技术领域 FIELD

本实用新型涉及机器人的技术领域,尤其涉及对管道检测、清理、维护的机器人的技术领域。 The present invention relates to a robot, particularly to pipeline inspection, cleaning, maintenance of the field of robotics.

背景技术 Background technique

机器人技术是集自动控制技术、机械设计制造、人工智能、测试技术、信息技术、 计算技术于一体的综合技术,代表着一个国家上述技术的发展水平和集成应用水平,也在一定程度上反映了一个国家的工业化水平。 Robotics technology is a comprehensive set of automatic control technology, mechanical engineering, artificial intelligence, testing technology, information technology, computing technology in one, represents the level of development of a country above the level of technology and the integration of applications, but also reflects a certain extent, a country's level of industrialization.

在管道得到广泛使用的今天,管道的检测、清理、维护,成了一个亟待解决的问题。 In the pipeline are widely used today, pipeline inspection, cleaning, maintenance, became a serious problem. 但是,管道的封闭性以及工作环境决定了这项工作的艰难。 However, the pipeline closed and the work environment determines the hard work. 时至今日,经过各国学者的努力,虽然也已经出现了各种类别的管道机器人,但是都或多或少地存在一些不足,而且功能不够强大。 Today, through the efforts of scholars from various countries, although there have been various types of robot, but more or less has some shortcomings, but is not powerful enough.

随着当代科技的迅猛发展,特别是信息技术、计算技术、智能技术的发展,使得管道机器人在理论上己经没有任何技术障碍。 With the rapid development of modern science and technology, particularly the development of information technology, computing technology, intelligent technology, making pipe robot without any technical barriers in theory already. 但是管道机器人并没有像我们预期的那样得到迅猛发展,究其原因,是根本的机械结构没有得到大的突破,也就是说,机器人在复杂管道内运行的技术实现仍然很困难。 But the pipeline robot has not been as rapid development as we expected, the reason is the fundamental mechanical structure has not been a major breakthrough, that is to say, the robot technology running within the complex pipeline is still very difficult. 即使有个别研究机构利用复杂的智能技术和信息技术实现了这一功能,但高昂的价格使得其只能停留在实验室阶段。 Even if the individual research institutions to use sophisticated technology and intelligent information technology to achieve this functionality, but high prices so that they will remain in the laboratory stage.

对于管道的清理、修补、检测、探伤等作业,目前在技术上已经比较成熟,国内外已开发出多种功能强大、外形轻巧的装置,但由于缺少搭载这些装置的良好载体从而影响了它们的推广应用。 For clean up the pipe, repair, testing, testing and other operations, there are technically mature, at home and abroad have developed a variety of powerful, lightweight form factor of the device, but because of the lack of a good carrier equipped with these devices thereby affecting their application.

发明内容 SUMMARY

本实用新型目的是提供一种具有良好的承载能力,适用于多种工作环境下的管道作业,实用价值高,拆装方便的自适应管道机器人。 Object of the present invention is to provide a good carrying capacity for the pipeline to work in a variety of work environments, high practical value, easy disassembly adaptive pipe robot.

本实用新型为实现上述目的,采用如下技术方案: The present invention to achieve the above object, the following technical solution:

本实用新型包括机身;机身的外周沿圆周方向均布至少三组驱动装置,每组驱动装置由四根第一连杆、四根第二连杆、 一根滑动轴、两个滑块、 一个固定件、两根压力弹 The present invention comprises a body; an outer periphery of the fuselage in the circumferential direction uniform at least three sets of drive means, each driving means by the four first link, four second link, a slide shaft, two sliders , a fixing member, two pressure shells

簧、两根复位弹簧、四个滚轮所组成,滑动轴设置在机身的外周,滑动轴的两端分别与机身连接,固定件焊接在滑动轴的中部,两个滑块分别套置在固定件两侧的滑动轴上; 两根压力弹簧分别套置在固定件与滑块之间的滑动轴的外周,两根复位弹簧分别套置在固定件外侧的滑动轴的外周;每根第一连杆的两端分别连接滑块、滚轮,每根第二连杆的两端分别与滑动轴端部、第一连杆连接;每组机身上设置动力控制装置。 Spring, two return springs, consisting of four rollers, the sliding shaft provided on the outer periphery of the body, both ends of the slide shaft are respectively connected to the fuselage, the fixed welding in the middle of the slide shaft member, the two sliders are disposed in sets on both sides of the shaft member fixing the slide; two sets of pressure springs are disposed between the outer periphery of the fixed member and the slider of the slide shaft, two sets of the return spring are disposed in the outer periphery of the slide shaft member fixed to the outside; each of They are connected to both ends of a link slide, roller, each second link ends, respectively, a first connecting rod and the sliding shaft portion; each body is provided a power control device.

比较好的是:本实用新型包括两组机身,两组机身之间通过连接软轴相互连接。 It is better: the present invention includes two sets of the fuselage, the fuselage between the two groups are interconnected by connecting flexible shaft. 本实用新型将上述设置在滑动轴同一端的相邻两个滚轮之间通过轮轴连接,轮轴上设置从动锥齿轮,两个第一连杆相对的一侧设置电机固定座,电机固定座上设置电机, 电机的一端设置与从动锥齿轮相啮合的主动锥齿轮。 The present invention through the axle connecting the sliding shaft disposed between adjacent ends of the same two rollers, driven bevel gear provided on the axle, two first link provided on the side opposite the motor fixing seat is provided on the motor fixing seat motor, is provided at one end of the motor driving bevel gear with the driven bevel gear meshing.

本实用新型采用上述技术方案,与现有技术相比具有如下优点: The present invention adopts the above technical solution has the following advantages over the prior art:

1、 管道机器人在管内完成一系列工作,主要是依靠自身的承载能力,搭载相关工作单元。 1, the robot through a series of pipes in the pipe work, mainly relying on its own carrying capacity, equipped with related work units. 工程上对管道的检测、探伤技术已经比较成熟,唯一缺少的就是搭载这些装置的良好载体。 On detection of pipeline engineering, testing technology is relatively mature, the only thing missing is a good carrier equipped with these devices. 本实用新型的管道机器人,可以以它作为载体,添加或搭载具有相关功能的附加工具组件,来完成所需要的管道内部工作。 Pipe robot according to the present invention, it may be as a carrier, or add additional tool assembly is mounted with related functions to complete the required work inside the pipe. 如可以安装摄像头以拍摄管内图像,可以在机身上安装探测工具,探测管道内部的状况,可以安装清洁工具用以清扫管壁,还可以作为管道内部的运输工具。 As can be mounted cameras to capture an image of the inner tube, can detect the installation tool, the internal condition detection conduit in the body, the cleaning tool may be mounted for cleaning the wall, but also as the vehicle inside the pipe. 本实用新型的管道机器人为搭载附加作业单元提供了良好的载体,具有良好的承载能力。 The present invention provides a good pipe robot carrier is mounted on the additional unit operation, has a good bearing capacity.

2、 本实用新型的管道机器人,驱动轮部分的结构采用一种弹簧一滑块一连杆机构, 轮腿具有一定的伸縮能力,各轮腿之间相互独立,互不影响。 2, the pipe robot according to the present invention, uses a moiety of the drive wheel a spring a slide link mechanism, the wheel has a certain ability to scale the legs, the legs independent of each other wheel, independently of each other. 对管道变形的自适应能力较同类产品相比,有了很大的提高,机器人适应管道内径尺寸变化率的范围达±10%,可以良好地适应管道因制造误差、受载变形等原因所引起的内壁形状和尺寸的变化,具有良好的自适应性。 Compared adaptive capacity than similar products pipe deformation has been greatly improved, the rate of change of the range of the robot to adapt to the size of pipe diameter ± 10%, can be well adapted to the pipe due to manufacturing error caused by deformation or the like for the reasons set the shape and size of the inner wall changes, has good adaptability.

3、 本实用新型从总体的结构来看,采用轴对称的结构设计,使机器人具有稳固的结构和良好的稳定性。 3, the present invention from the overall structure, axisymmetric structural design, the robot has a solid structure and good stability. 同时由于机器人这样的对称结构,可以使机器人的所有腿轮,在直管道中都能与管道内壁接触,从而机器人可成功在竖直管道内爬行,具有较强的竖直攀爬能力。 And because the symmetrical structure such a robot, the robot can make all the legs of the wheel, can be in direct contact with the pipe inner wall of the pipe, so that the robot can be successfully crawling inside vertical duct, having strong vertical climbing ability.

4、 本实用新型在结构设计上,专门针对现实管道中常用的直角弯头,通过精确的计算,设计出机器人各零部件合理的尺寸,使得机器人可以顺利地通过管道的直角弯头, 实现了大曲率的转弯,可以在复杂多弯的管道内部顺利行走,对弯曲复杂管道的适应能力大大增强,具有大曲率转弯能力。 4, the structure of the present invention is designed specifically for real right angle bend pipe used by the precise calculation, design a reasonable size of various parts of the robot, the robot can smoothly pass through the pipe bend at a right angle to achieve a a large curvature turn, can travel smoothly inside the pipe bend more complicated, the ability to adapt the complex curved pipe greatly enhanced cornering ability with a large curvature.

5、 本实用新型的动力电源与控制电路均可以外置于管外控制平台,管内机器人通过 5, the present invention is a power supply control circuit may be placed outside the control platform outer tube, an inner tube by a robot

电缆与管外控制平台连接,既减轻了机器人自身的重量,又增强了机器人操作的可靠性, 大大提高了机器人系统的稳定性,提高了机器人的工作效率,具有良好的综合可靠性和稳定性。 Cable control platform connected to an outer tube, both to reduce the weight of the robot itself, but also enhance the reliability of robot operation, greatly improving the stability of the robot system, improve the efficiency of the robot, it has a good overall stability and reliability .

6、 本实用新型驱动轮的滚轮容易拆换,备有不同种类可适用在不同环境管道中的轮胎,使机器人可适用于不同材料和不同环境中的管道,扩大了机器人的适用范围,且拆装十分方便。 6, the present invention readily removable roller wheels, with different kinds in different circumstances applicable pipeline tire that is applicable to different materials and different environments robot, to expand the scope of application of the robot, and demolition installation is very convenient.

7、 本实用新型将两节机身通过连接软轴连接在一起,位于前部的机身对后部的机身产生拉力,同时位于后部的机身对前部的机身产生推力,尤其是在过管道的转弯处时, 大大增强了过弯能力。 7, the present invention is connected to the body via two flexible shaft connected together, the front portion of the fuselage of a tensile force to the rear of the fuselage, the fuselage at the same time give a thrust to the rear portion of the front body, in particular It is in the corner over the pipeline, greatly enhancing cornering ability.

附图说明 BRIEF DESCRIPTION

图1是本实用新型的单节机身结构示意图。 Figure 1 is a schematic view of a single body structure of the present invention.

图2是本实用新型的整体机身结构示意图。 FIG 2 is a generally schematic view of the new body structure of the present utility.

图3是本实用新型的驱动轮部分的结构示意图。 FIG 3 is a schematic view of the invention of this part of the drive wheels.

图4是滚轮部分传动示意图。 FIG 4 is a partial schematic view of the drive roller.

图5是控制电路的工作示意图。 FIG 5 is a working diagram of the control circuit.

具体实施方式 Detailed ways

下面结合附图对本实用新型的技术方案进行详细说明: Next, the technical solution of the present invention is described in detail in conjunction with the accompanying drawings:

如图1所示,本实用新型包括机身1;机身1的外周沿圆周方向均布至少三组驱动装置2,每组驱动装置2由四根第一连杆21、四根第二连杆22、 一根滑动轴23、两个滑块24、 一个固定件25、两根压力弹簧26、两根复位弹簧27、四个滚轮28所组成,滑动轴23设置在机身1的外周,滑动轴23的两端分别与机身1连接,固定件25焊接在滑动轴23的中部,两个滑块24分别套置在固定件25两侧的滑动轴23上;两根压力弹簧26分别套置在固定件25与滑块24之间的滑动轴23的外周,两根复位弹簧27分别套置在固定件25外侧的滑动轴23的外周;每根第一连杆21的两端分别连接滑块24、滚轮28, 每根第二连杆22的两端分别与滑动轴23端部、第一连杆21连接;每组机身1上设置动力控制装置3。 1, the present invention comprises a body 1; an outer periphery of the body 1 in the circumferential direction uniform at least three sets of two drive means, each driving device 2 by the four first link 21, four second connection lever 22, a slide shaft 23, two sliders 24, a fixing member 25, two compression springs 26, two return springs 27, composed of four rollers 28, the slide shaft 23 is provided on the outer periphery of the body 1, both ends of the slide shaft 23 are connected to the body 1, the fixing member 25 is welded in the middle of the slide shaft 23, two sets of sliders 24 are slidably mounted on the shaft 25 on both sides of the fixing member 23; compression spring 26 are two sleeve disposed in the outer periphery of the slide shaft 25 between the slider 24 and the fixing member 23, two return springs 27 are disposed in the outer periphery of the sliding sleeve shaft 25 fixed to the outer member 23; both ends of each of the first link 21 are attached slider 24, the roller 28, both ends of each of the second link 22 with the slide shaft 23 are respectively end portion, the first link 21 is connected; a power control means 3 is provided on the body 1 in each group.

如图2所示,比较好的是:本实用新型包括两组机身1,两组机身1通过连接软轴4 相互连接。 2, is better: the present invention includes two sets of main body 1, the body 1 are interconnected by two flexible shaft 4 is connected.

比较好的是:本实用新型将上述设置在滑动轴23同一端的相邻两个滚轮28之间通 Is better: 23 adjacent the same end of the shaft through the slide between the two rollers 28 disposed above the present invention

过轮轴51连接,轮轴51上设置从动锥齿轮52,两个第一连杆21相对的一侧设置电机固定座53,电机固定座53上设置电机54,电机54的一端设置与从动锥齿轮52相啮合的主动锥齿轮55。 51 is connected through the shaft, driven bevel gear 52 is provided, two first link 21 opposite to the side of the motor fixing seat 53 provided on the shaft 51, the motor fixing seat 53 provided on the motor 54, the motor 54 is provided at one end with the driven bevel Driving bevel gear 52 meshes 55.

本实用新型的主要技术指标是: The present invention is the main technical indicators:

适用管道:主要是通风排气类的金属和非金属圆管道。 Applicable pipeline: primarily metallic and nonmetallic circular ventilation duct class.

适应管道内径尺寸变化率:±10%; 爬坡能力:0°〜90°; 过弯能力:管道的90。 Pipe inner diameter dimension change rate adaptation: ± 10%; gradeability: 0 ° ~90 °; cornering ability: 90 pipeline. 弯头; elbow;

设计速度:水平直线4m/min,竖直爬坡3.5m/min; . Design speed: horizontal linear 4m / min, vertical climbing 3.5m / min;.

净载重量:1000g; Payloads: 1000g;

控制方式:管外控制平台人工控制; Control: control platform manual control of the outer tube;

管内工作:检测并修补管内裂纹。 Working tube: Crack detection and repair of the inner tube.

本实用新型考虑到运动平稳性的要求,机器人整体由两节相同结构的机身连接而成, 中间连接部分是可以弹性弯曲的软轴,每一节机身前后各3组驱动轮,沿圆周方向120° 均布。 The present invention requires consideration of smooth motion, the robot body integrally connected by two from the same structure, the intermediate connecting portion is curved elastically flexible shaft, each set of drive wheels 3 and after each section of the body, circumferentially 120 ° uniform orientation. 机器人的动力电源和控制电路安放在机身的轴线上,机器人整体结构轴对称。 Power supply and control circuits of the robot is placed on the axis of the fuselage, symmetrically overall configuration of the robot axes.

如图3,本实用新型的电机54转动通过一对相啮合的锥齿轮55、 52,带动滚轮28 转动,从而推动机器人移动。 3, the present invention motor 54 is rotated as shown by a pair of meshed bevel gears 55, 52, drive roller 28 is rotated, so as to promote movement of the robot. 电机固定在腿部两长连杆21之间。 Motor 21 is fixed between the two long leg link. 机器人每个单节机身有6个这样的腿部机构,整体两节机身共有12个这样的腿部机构,即有12个电机分别驱动12组滚轮。 Each robot has a single body such as the leg mechanism 6, the overall total of two body leg mechanism 12 such that the motor 12 has a set of rollers 12 are driven. 电机为工作电压6V的直流伺服电机。 Motor operating voltage of 6V DC servo motor.

如图4所示,本实用新型的腿部为一弹簧滑块连杆机构,当轮上作用有管道内壁的压力F后,滑块24在滑杆上向右滑动并压縮压力弹簧26,产生压力f,通过作用力与反作用力,腿部的滚轮紧贴管道内壁。 As shown, the present invention is a spring leg slider link mechanism 4, when the wheel acts on the pipe wall of the pressure F., The slider 24 slides in the right slide bar 26 and the compression spring, a pressure F, close to the pipe wall by the action and reaction, the roller leg. 当由外部情况的变化而引起管道内壁的压力F变小时,压力弹簧26所受压力f变小,压力弹簧26伸长,将滑块24向左顶,从而使滚轮向上抬起,并再次紧贴管道内壁。 When the change of external conditions of the pipe wall caused by pressure F becomes small, the pressure applied to the compression spring 26 f becomes smaller, the compression spring 26 extended, the top of the left slider 24, so that the roller lifted up and tighten again affixed to the pipe wall. 所以,滚轮可以始终紧贴管道内壁,从而保证机器人移动所需的摩擦力。 Therefore, the roller can always be close to the pipe wall, so as to ensure the required robot movement friction.

本实用新型的滚轮能够往复运动,机器人就可以自适应管道的少量变形,可适应的内径尺寸的变化范围达到±10%。 The present invention is capable of reciprocating the roller, the robot can be a small pipe deformation adaptive variation range can be adapted to reach the inner diameter of ± 10%. 机器人每个单节由六组腿轮组成,各组之间的运动是相互独立的,因此机器人在转弯等各轮受力不等的情况下,腿与腿之间不相互影响,机器人能保持自身整体的平稳性。 Each single robot consists of six legs wheel group composed of the motion between the groups are mutually independent, so the robot in a case where turning wheels and other uneven force or the like, do not affect each other between the legs and the legs, the robot can be maintained their overall stability. 两节机身之间相互牵连,大大加强了整体运动以及转弯时的平稳性。 Between two mutually implicated body, greatly enhance the overall movement and stability when cornering. 在遇到管道内壁附着的小障碍物时,机器人也能越过该障碍物继续前进, 从而又具有一定的越障能力。 In the face of small obstacles attached to the pipe wall, the robot can move beyond the barrier, which in turn has a certain obstacle ability.

本实用新型的动力控制装置采用管外控制平台,通过电缆,将管内机器人与管外控制平台连接起来,管外控制平台既可以操作管内机器人的进、退、停,又可以根据机器人头部摄像头所拍摄并同步传输出来的图像,检测到管道内壁的裂纹,从而操作喷涂装置,对管道裂纹实施喷涂式修补。 The present invention a power control device uses an outer tube control platform via a cable, connecting the inner tube outer robot tube control platform, the outer tube control platform may be within the operating tube robot forward, rewind, stop, and can robot head camera and taken out of the synchronous transmission image, cracks were detected in the pipe wall, so as to operate the spraying device, spray-on pipeline repair cracks embodiment. 喷涂装置的微型压力储漆罐可由机器人自身携带进管道内部,大的压力储漆罐可与控制平台一同外置并通过管路连接到管内机器人,喷头由机器人携带,装在机器人头部的控制电机上。 Miniature pressure storage tank paint spraying robot apparatus itself may be carried into the interior of the pipe, a large pressure may be an external storage tank with paint and control platform connected to the inner tube and the robot via a line, the nozzle carried by the robot, the robot control means in the head on the motor. 操纵控制电机,喷头可做360°旋转,即可旋转喷涂管壁圆周的任何部位。 Motor steering control, the head can do 360 ° rotation, to any part of the circumferential wall of spin coating.

机器人的动力电源选用直流6V电源,驱动电机选用6V直流伺服电机,每个单节机 DC power supply robot 6V supply selection, selection of the drive motor 6V DC servo motor, each single machine

器人的电机并联在电源两极。 Motors connected in parallel is human power poles.

如图5所示,图中M为驱动电机组,Si为驱动电路开关,Ui为驱动电源,M。 5, the drive motor M in the figure is a group, Si switch driving circuit, the driving power Ui, M. 为喷头控制电机,S2为喷头电机控制开关,U2为喷头控制电源,A为喷头,V为电磁阀,B为液压泵,T为储液罐。 To control the motor head, S2 to the motor control switch head, U2 to control the power head, A is a nozzle, V is a solenoid valve, B is a hydraulic pump, T is reservoir. 左侧电路为轮腿驱动控制电路,通过开关S工不同的闭合方向实现驱动电机的正反转,进而实现机器人的前进与后退;中间电路为带动喷头转动的控制电路, 通过电机的正反转改变喷头的姿态,电机正反转的原理与左侧电路相同;右侧电路为液压控制电路,液压泵B将涂料从储液罐T中抽出,高压液体到达电磁阀V,再通过控制电磁阀V的开关来控制喷头A喷出涂料,喷头A的尖喷嘴可使高压液体涂料以雾状喷出, 实现对管道破损处裂纹的修补。 Left leg circuit wheel drive control circuit by the switch S work implement different closing direction reversing drive motor, thus achieving the robot forward and backward; a control circuit for the intermediate circuit to drive the head is rotated by motor positive changing the posture of the nozzle, the same principle as the left motor reversing circuit; right hydraulic control circuit is a circuit, the pump B is withdrawn from the coating material reservoir T, the high pressure liquid reaches the solenoid valve V, and then by controlling the electromagnetic valve V switch to control the discharge head a coating material, the nozzle tip may cause head a high-pressure liquid to spray coating, the patch to the crack breakage of the pipeline.

机器人在管道内部的工作是检测管道内部的裂纹,然后对裂纹进行喷涂式修补。 Robot work inside the pipe is the inner pipe crack detection and crack spray patching. 机器人的头部装有三个摄像头,按120。 The robot head equipped with three cameras, press 120. 角度均布,用来拍摄管道内部状况,并检测管道内壁有无裂纹,拍摄的图像通过电缆同步传输到管外控制平台的计算机上,人工识别到裂纹,操纵机器人到达指定位置,暂停前进,喷头控制电机带动喷头转动,喷头在裂纹区域的管壁上喷涂修补油漆,从而达到修补裂纹的效果。 Uniform angle for shooting conditions inside the pipe, the pipe wall and detecting the presence or absence of cracks, synchronous transmission image photographed through a cable to the computer platform controls the outer tube, an artificial crack is recognized, actuating the robot reaches the designated position, Pause Next, the head motor driven rotation of the control head, the head region of the crack in the wall repair paint spraying, so as to achieve crack repair. 机器人携带光源,以适应黑暗环境作业。 Carrying robot light, dark-adapted to the job.

Claims (3)

1、一种自适应管道机器人,其特征在于:包括机身(1);机身(1)的外周沿圆周方向均布至少三组驱动装置,每组驱动装置包括四根第一连杆(21)、四根第二连杆(22)、一根滑动轴(23)、两个滑块(24)、一个固定件(25)、两根压力弹簧(26)、两根复位弹簧(27)、四个滚轮(28),滑动轴(23)设置在机身(1)的外周,滑动轴(23)的两端分别与机身(1)连接,固定件(25)焊接在滑动轴(23)的中部,两个滑块(24)分别套置在固定件(25)两侧的滑动轴(23)上;两根压力弹簧(26)分别套置在固定件(25)与滑块(24)之间的滑动轴(23)的外周,两根复位弹簧(27)分别套置在固定件(25)外侧的滑动轴(23)的外周;每根第一连杆(21)的两端分别连接滑块(24)、滚轮(28),每根第二连杆(22)的两端分别与滑动轴(23)端部、第一连杆(21)连接;机身(1)上设置动力控制装置(3)。 1, an adaptive robot, characterized by: a body (1); an outer periphery of the body (1) at least three uniformly distributed in the circumferential direction driving means, each first drive means comprises four links ( 21), four second link (22), a slide shaft (23), two slides (24), a fixing member (25), two pressure springs (26), two return springs (27 ), four rollers (28), the slide shaft (23) is provided on the outer periphery of the body (1), the two ends of the slide shaft (23) are connected to the fuselage (1), the fixing member (25) welded to the slide shaft middle (23), the two sliders (24) are sleeved on the stationary slide shaft member (23) (25) on both sides; and two pressure springs (26) are disposed in a fixed sleeve member (25) and the sliding the outer periphery of the slide shaft blocks (23) between (24), two return springs (27) are disposed in the outer circumference of the fixed sleeve member slide shaft (23) (25) outside; and each of a first link (21) They are connected to both ends of the slider (24), rollers (28), the second link ends (22) of each respective (23) and the end portion of the slide shaft, a first link (21); the body ( 1) is provided power control means (3).
2、 根据权利要求l所述的自适应管道机器人,其特征在于:包括两组机身(1), 两组机身(1)之间通过连接软轴(4)相互连接。 2, the adaptive pipeline robot according to claim l, wherein: the body comprises two sets of (1), two sets of the body (4) are interconnected by the connection between the flexible shaft (1).
3、 根据权利要求1所述的自适应管道机器人,其特征在于:上述设置在滑动轴(23)同一端的相邻两个滚轮(28)之间通过轮轴(51)连接,轮轴(51)上设置从动锥齿轮(52),两个第一连杆(21)相对的一侧设置电机固定座(53),电机固定座(53)上设置电机(54),电机(54)的一端设置与从动锥齿轮(52)相啮合的主动锥齿轮(55)。 3. The adaptive pipeline robot according to claim 1, wherein: the connection is disposed between the above-described slide shaft (23) adjacent the same end of two rollers (28) by a shaft (51), the axle (51) set driven bevel gear (52), two first link (21) provided on the side opposite to the motor holder (53), disposed end of the motor (54), the motor (54) is provided on the motor fixing seat (53) driving bevel gear (55) and the driven bevel gear (52) engaged.
CNU2008200366677U 2008-06-03 2008-06-03 Self-adapting pipe robot CN201202928Y (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100570200C (en) 2008-06-03 2009-12-16 东南大学 Self-adapting pipe robot
CN101818842A (en) * 2010-04-02 2010-09-01 浙江师范大学 Pipeline robot walking mechanism realizing walking by using self-locking
CN102114878B (en) 2009-12-30 2012-09-26 中国科学院沈阳自动化研究所 Walking type pipeline robot
CN103267203A (en) * 2013-06-05 2013-08-28 常州大学 Video detection camera automatic centering device in pipe
CN103869377A (en) * 2014-02-13 2014-06-18 武汉华源电力工程有限责任公司 Detection device adapted to multi-caliber electric tube banks
CN105538286A (en) * 2016-03-02 2016-05-04 胡洁维 High-voltage cable detection robot
CN105563452A (en) * 2016-03-02 2016-05-11 胡洁维 High voltage cable detection robot
CN105619418A (en) * 2016-03-02 2016-06-01 胡洁维 High-voltage cable detection robot with positioning function
CN105689785A (en) * 2016-05-01 2016-06-22 羊丁 Steel strip tube internal support ring-cutting robot
CN105915859A (en) * 2016-06-17 2016-08-31 武汉中仪物联技术股份有限公司 Pipeline detection system based on pipeline robot and detection method
RU2683421C1 (en) * 2018-05-30 2019-03-28 Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" Device for surveying the internal pipe surface

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100570200C (en) 2008-06-03 2009-12-16 东南大学 Self-adapting pipe robot
CN102114878B (en) 2009-12-30 2012-09-26 中国科学院沈阳自动化研究所 Walking type pipeline robot
CN101818842A (en) * 2010-04-02 2010-09-01 浙江师范大学 Pipeline robot walking mechanism realizing walking by using self-locking
CN101818842B (en) 2010-04-02 2011-09-21 浙江师范大学 Pipeline robot walking mechanism realizing walking by using self-locking
CN103267203A (en) * 2013-06-05 2013-08-28 常州大学 Video detection camera automatic centering device in pipe
CN103869377A (en) * 2014-02-13 2014-06-18 武汉华源电力工程有限责任公司 Detection device adapted to multi-caliber electric tube banks
CN105563452A (en) * 2016-03-02 2016-05-11 胡洁维 High voltage cable detection robot
CN105538286A (en) * 2016-03-02 2016-05-04 胡洁维 High-voltage cable detection robot
CN105619418A (en) * 2016-03-02 2016-06-01 胡洁维 High-voltage cable detection robot with positioning function
CN105563452B (en) * 2016-03-02 2017-03-08 哈尔滨讯达广智能科技发展有限公司 A kind of high-tension cable detects robot
CN105538286B (en) * 2016-03-02 2017-03-01 重庆润泰电气有限公司 High tension cable detects robot
CN105689785A (en) * 2016-05-01 2016-06-22 羊丁 Steel strip tube internal support ring-cutting robot
CN105915859A (en) * 2016-06-17 2016-08-31 武汉中仪物联技术股份有限公司 Pipeline detection system based on pipeline robot and detection method
CN105915859B (en) * 2016-06-17 2019-04-05 武汉中仪物联技术股份有限公司 Pipe detection system and detection method based on pipe robot
RU2683421C1 (en) * 2018-05-30 2019-03-28 Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" Device for surveying the internal pipe surface

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