CN202040477U - Flexible inchworm robot - Google Patents
Flexible inchworm robot Download PDFInfo
- Publication number
- CN202040477U CN202040477U CN2011201194881U CN201120119488U CN202040477U CN 202040477 U CN202040477 U CN 202040477U CN 2011201194881 U CN2011201194881 U CN 2011201194881U CN 201120119488 U CN201120119488 U CN 201120119488U CN 202040477 U CN202040477 U CN 202040477U
- Authority
- CN
- China
- Prior art keywords
- motor
- rope
- grasping mechanism
- scaffold
- rope braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The utility model aims at providing a flexible inchworm robot, which comprises rotatable grabbing mechanisms and a waist bending and stretching mechanism. Each rotatable grabbing mechanism comprises a grabbing mechanism module and a rotating mechanism module. The grabbing mechanism module comprises a grabbing mechanism installation body and a grabbing mechanism rotating motor. The rotating mechanism module comprises a rotating motor installation rack and a rotating motor. The waist bending and stretching mechanism comprises two rope brake motor installation racks, at least nine waist rotating plates, two ropes, two rope winding wheels and two rope brake motors. The number of the rotatable grabbing mechanisms is two. The flexible inchworm robot has the advantages that large-amplitude bending and stretching and large-angle turning can be completed, the adaptability to staggered and complex pipelines is high, the robot can be widely used for the inspection and the maintenance of industrial and domestic complex pipelines and the practical value is very great.
Description
Technical field
The utility model relates to a kind of robot that is used for pipeline operations.
Background technique
Along with the development of national economy, the urbanization rate of China is improving constantly.Can be accompanied by the laying of a lot of pipelines in the urban construction, the emergence of numerous high buildings and large mansions, the setting up of many power circuits.And often needing personnel to carry out high-lift operation to the inspection of a lot of high-tension lines, this has brought very big danger to maintenance work; It also is danger close that the current check work of tall building outside is finished with manpower.And for the maintenance of urban Underground pipeline, service work, be embedded in underground various pipelines and usually open a large amount of road surfaces because of the particular location of not knowing fault needs to excavate.This not only loses time, and the excavation soil that ties up path area is in a large number returned original crowded urban transportation and brought huge pressure.Therefore the maintenance of pipeline, high-tension line, the research of detection device extremely are necessary.At above-mentioned situation, with high reliability, easy care, simple structure form etc. is main design philosophy, and in conjunction with the design method of bionics and compliant mechanism, designed the body structure of a kind of flexible looper robot, and reserved the installing space of claw under the different operating environment, having solved other similar robot can not flexible motion and can not be applicable to the difficult problem of various complicated.
Simultaneously, the device that much is used for pipe detection and rope climbing, pole-climbing is also arranged, but major part just is applicable to straight pipeline in the patent of Patent Office of the People's Republic of China issue.As looper type oil well pipe robot device (application number: 200710171226.8 inventors: Hu Dejin, Wang Huai).In addition, and the pipeline robot of flexible wiggle (application number: 200810106352.X inventor: be on a flexible soft shaft, to be provided with two-sided screw nut Sun Hanxu), the nut external gear, and gear is fixed on the flange plate and connect direct current generator.The flexible shaft design can make mechanism pass through in bend pipe, reducer pipe and straight tube.But the bend pipe that this invention is passed through can only be confined to a pipeline, and the turnout pipe can not be arranged, and therefore turns powerless for cross pipeline.For pole climbing device, remote-control rod-climbing rope-climbing robot (application number: 200810011957.0 inventors: Su Ronghua, He Fan) is arranged though this invention is simple in structure, climbing is flexible, and speed is fast, and continuity is good; But have when staggered just powerless at bar or rope.Climbing Robot have a kind of multifunctional robot for climbing wall (application number: 200710075780.6 inventors: Gao Hanguang) though adsorption reliability, but its control section is complicated, and the inconvenience of turning.
Summary of the invention
It is simple in structure that the purpose of this utility model is to provide, can be at rope, thin bar, and the flexible looper robot of flexible motion in pipeline especially.
The purpose of this utility model is achieved in that
The flexible looper of the utility model robot is characterized in that: comprise that rotation grasping mechanism and waist bend and stretch mechanism; Rotate grasping mechanism and comprise grasping mechanism module and rotating mechanism module; The grasping mechanism module comprises grasping mechanism installation body, grasping mechanism rotary electric machine, and the grasping mechanism rotary electric machine is installed in grasping mechanism and installs in the body; The rotating mechanism module comprises the motor scaffold of turning, the motor of turning, and the motor of turning is installed in the motor scaffold of turning; Waist bends and stretches mechanism and comprises two rope braking motor scaffolds, at least nine waist flaps, two ropes, two ropes twine wheel, two rope braking motors, the first rope braking motor and the second rope braking motor motor fixing plate by separately respectively are fixed on the first rope braking motor scaffold and the second rope braking motor scaffold, first rope twines wheel and second rope winding wheel is installed in respectively on the first rope braking motor and the second rope braking motor, connect by connecting pin between the waist flap, the waist flap at two ends connects the first rope braking motor scaffold and the second rope braking motor scaffold respectively, and two ropes pass the waist flap respectively and are wrapped in first rope and twine on wheel and second rope winding wheel; Described rotation grasping mechanism has two, the motor scaffold of turning of each rotating mechanism module is installed in respectively on the grasping mechanism rotary electric machine of grasping mechanism module separately, and the motor of turning of the turn motor and the second rotating mechanism module of the first rotating mechanism module links to each other with the second rope braking motor scaffold with the first rope braking motor scaffold respectively.
The utility model can also comprise:
1, described grasping mechanism is installed this external installation grasping mechanism or sucker or magnet arrangement.
Advantage of the present utility model is: the utility model can be finished to bend and stretch significantly with wide-angle and turn, and the adaptability to the staggered complexity of pipe-line is strong, can be widely used in industry and life with the detection and the maintenance of complicated pipe-line, have great practical value.
Description of drawings
Fig. 1 is the plan view of mode of execution 1;
Fig. 2 is the bow gait figure of mode of execution 1;
Fig. 3 is the waist flap partial sectional view of mode of execution 1.
Embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing:
Mode of execution 1:
In conjunction with Fig. 1～3, the utility model comprises that rotation grasping mechanism and waist bend and stretch mechanism; Rotate grasping mechanism and comprise grasping mechanism module and rotating mechanism module; The grasping mechanism module comprises grasping mechanism installation body 1, grasping mechanism rotary electric machine 12, and grasping mechanism rotary electric machine 12 is installed in grasping mechanism 1 li of body is installed, and grasping mechanism is installed the body 1 outer grasping mechanism 13 of installing; The rotating mechanism module comprises the motor scaffold 2 of turning, the motor 11 of turning, and the motor 11 of turning is installed in 2 li of the motor scaffolds of turning; Waist bends and stretches mechanism and comprises two rope braking motor scaffolds 4, at least nine waist flaps 5, two ropes 6, two ropes twine wheel 9, two rope braking motors 10, the first rope braking motor 10 and the second rope braking motor motor fixing plate 8 by separately respectively are fixed on the first rope braking motor scaffold 4 and the second rope braking motor scaffold, first rope twines wheel 9 and second rope winding wheel and is installed in respectively on the first rope braking motor 10 and the second rope braking motor, connect by connecting pin 7 between the waist flap 5, the waist flap 5 at two ends connects the first rope braking motor scaffold 4 and the second rope braking motor scaffold respectively, and two ropes 6 pass waist flap 5 respectively and are wrapped in first rope and twine on wheel 9 and second rope winding wheel; Described rotation grasping mechanism has two, the motor scaffold 2 of turning of each rotating mechanism module is installed in respectively on the grasping mechanism rotary electric machine 12 of grasping mechanism module separately, and the motor of turning of the turn motor 11 and the second rotating mechanism module of the first rotating mechanism module links to each other with the second rope braking motor scaffold with the first rope braking motor scaffold 4 respectively by contiguous block 3.
When looper was in stretched condition, the grasping mechanism of left end, right-hand member was installed body 1 and is caught rope 6 or prop up inner-walls of duct.During straight line motion, right-hand member grasping mechanism 13 loosens, and left end rope braking motor 10 is by the rope 6 of pulling waist flap 5 one sides, and right-hand member braking motor 10 cooperates with it, realizes rolling up of looper waist.Roll up after action finishes, right-hand member grasping mechanism 13 action, left end grasping mechanism 13 loosens.Right-hand member braking motor 10 reverses again, and left end motor 10 cooperates with it, finishes the stretching exercise of waist.Left end grasping mechanism 13 moves again, so just finishes a work cycle of bending and stretching, and finishes a straight-line step pitch.When need are turned, the motor 11 of turning at looper two ends is respectively to spending with sideway swivel 90, waist from the x-z plane motion to the x-y plane motion, left end grasping mechanism 13 loosens, left end or right-hand member braking motor 10 pulling ropes 6, right-hand member or left end braking motor 10 cooperate, by control pulling amplitude, realize the size of turning, be implemented in 0-180 ° angle range.The back left end grasping mechanism 13 of turning moves, and right-hand member loosens, 10 counter-rotatings of right-hand member braking motor, and left motor 10 cooperates, and right-hand member moves again.When need moved upward, the athletic posture of waist was opposite during with moving linearly, can realize lifting of looper head.
Mode of execution 2: the grasping mechanism in the mode of execution 1 13 is replaced with the enough suckers of suction, realize climbing the wall motion.
Mode of execution 3: the grasping mechanism in the mode of execution 1 13 is replaced with magnet arrangement, can be implemented in the interior flexible motion of pipeline of magnetic metal material.
Claims (2)
1. flexible looper robot is characterized in that: comprise and rotate grasping mechanism and waist bends and stretches mechanism; Rotate grasping mechanism and comprise grasping mechanism module and rotating mechanism module; The grasping mechanism module comprises grasping mechanism installation body, grasping mechanism rotary electric machine, and the grasping mechanism rotary electric machine is installed in grasping mechanism and installs in the body; The rotating mechanism module comprises the motor scaffold of turning, the motor of turning, and the motor of turning is installed in the motor scaffold of turning; Waist bends and stretches mechanism and comprises two rope braking motor scaffolds, at least nine waist flaps, two ropes, two ropes twine wheel, two rope braking motors, the first rope braking motor and the second rope braking motor motor fixing plate by separately respectively are fixed on the first rope braking motor scaffold and the second rope braking motor scaffold, first rope twines wheel and second rope winding wheel is installed in respectively on the first rope braking motor and the second rope braking motor, connect by connecting pin between the waist flap, the waist flap at two ends connects the first rope braking motor scaffold and the second rope braking motor scaffold respectively, and two ropes pass the waist flap respectively and are wrapped in first rope and twine on wheel and second rope winding wheel; Described rotation grasping mechanism has two, the motor scaffold of turning of each rotating mechanism module is installed in respectively on the grasping mechanism rotary electric machine of grasping mechanism module separately, and the motor of turning of the turn motor and the second rotating mechanism module of the first rotating mechanism module links to each other with the second rope braking motor scaffold with the first rope braking motor scaffold respectively.
2. flexible looper according to claim 1 robot, it is characterized in that: described grasping mechanism is installed this external installation grasping mechanism or sucker or magnet arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201194881U CN202040477U (en) | 2011-04-21 | 2011-04-21 | Flexible inchworm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201194881U CN202040477U (en) | 2011-04-21 | 2011-04-21 | Flexible inchworm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202040477U true CN202040477U (en) | 2011-11-16 |
Family
ID=44967919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201194881U Expired - Lifetime CN202040477U (en) | 2011-04-21 | 2011-04-21 | Flexible inchworm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202040477U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179813A (en) * | 2011-04-21 | 2011-09-14 | 哈尔滨工程大学 | Flexible inchworm-like robot |
| CN108799693A (en) * | 2018-07-16 | 2018-11-13 | 香港中文大学（深圳） | A kind of pipe robot |
| CN110238822A (en) * | 2019-07-16 | 2019-09-17 | 北京航空航天大学 | Bionic soft robot based on looper |
| CN114770585A (en) * | 2022-05-24 | 2022-07-22 | 中国科学技术大学 | Spiral winding robot |
-
2011
- 2011-04-21 CN CN2011201194881U patent/CN202040477U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179813A (en) * | 2011-04-21 | 2011-09-14 | 哈尔滨工程大学 | Flexible inchworm-like robot |
| CN108799693A (en) * | 2018-07-16 | 2018-11-13 | 香港中文大学（深圳） | A kind of pipe robot |
| CN108799693B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Pipeline robot |
| CN110238822A (en) * | 2019-07-16 | 2019-09-17 | 北京航空航天大学 | Bionic soft robot based on looper |
| CN114770585A (en) * | 2022-05-24 | 2022-07-22 | 中国科学技术大学 | Spiral winding robot |
| CN114770585B (en) * | 2022-05-24 | 2023-10-20 | 中国科学技术大学 | Spiral winding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111116 Effective date of abandoning: 20120711 |