CN203330604U - Multi-degree-of-freedom parallel mechanism for detecting and maintaining natural gas storage tank and gas holder - Google Patents
Multi-degree-of-freedom parallel mechanism for detecting and maintaining natural gas storage tank and gas holder Download PDFInfo
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- CN203330604U CN203330604U CN2013204106190U CN201320410619U CN203330604U CN 203330604 U CN203330604 U CN 203330604U CN 2013204106190 U CN2013204106190 U CN 2013204106190U CN 201320410619 U CN201320410619 U CN 201320410619U CN 203330604 U CN203330604 U CN 203330604U
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- connecting rod
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- storage tank
- revolute pair
- natural gas
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Abstract
The utility model relates to the technology for detecting and maintaining a natural gas storage tank and a gas holder, in particular to a multi-degree-of-freedom parallel mechanism for detecting and maintaining the natural gas storage tank and the gas holder. The multi-degree-of-freedom parallel mechanism for detecting and maintaining the natural gas storage tank and the gas holder solves the problems that an existing technology for detecting and maintaining the natural gas storage tank and the gas holder is large in labor intensity and poor in using flexibility. The multi-degree-of-freedom parallel mechanism for detecting and maintaining the natural gas storage tank and the gas holder comprises a hydraulic rod mechanism, a revolute pair mechanism, a connecting rod mechanism, a spherical pair mechanism and a tool platform. The hydraulic rod mechanism comprises a first vertical hydraulic rod, a second vertical hydraulic rod and a third vertical hydraulic rod. The revolute pair mechanism comprises a first revolute pair, a second revolute pair and a third revolute pair. The connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod. The spherical pair mechanism comprises a first spherical pair, a second spherical pair and a third spherical pair. The multi-degree-of-freedom parallel mechanism for detecting and maintaining the natural gas storage tank and the gas holder is suitable for detecting and maintaining the large scale natural gas storage tank and the gas holder which are mounted outdoors.
Description
Technical field
The utility model relates to the detection maintenance technology of natural gas storage tank, gas holder, specifically a kind of multiple freedom parallel mechanism that detects maintenance for natural gas storage tank, gas holder.
Background technology
At present, the detection of natural gas storage tank, gas holder safeguards that the main simple serial mechanism by handheld device or lower-mobility completes.Wherein, there is the problem that labour intensity is large in handheld device, and there is the problem of using very flexible in the simple serial mechanism of lower-mobility, so it is difficult to adapt to the detection maintenance that is arranged on outdoor large-scale natural gas storage tank, gas holder usually.Based on this, be necessary to invent a kind of brand-new device, with the problem that solves existing natural gas storage tank, gas holder detection maintenance technology labour intensity is large and uses very flexible.
Summary of the invention
The problem of the utility model in order to solve existing natural gas storage tank, gas holder detection maintenance technology labour intensity is large and uses very flexible, provide a kind of and detected for natural gas storage tank, gas holder the multiple freedom parallel mechanism of safeguarding.
The utility model is to adopt following technical scheme to realize: a kind of multiple freedom parallel mechanism that detects maintenance for natural gas storage tank, gas holder comprises hydraulic stem mechanism, revolute pair mechanism, linkage, spherical pair mechanism, tool platform; Described hydraulic stem mechanism comprises the first vertical hydraulic bar, the second vertical hydraulic bar, the 3rd vertical hydraulic bar; Described revolute pair mechanism comprises the first revolute pair, the second revolute pair, the 3rd revolute pair; Described linkage comprises first connecting rod, second connecting rod, third connecting rod; Described spherical pair mechanism comprises the first spherical pair, the second spherical pair, the 3rd spherical pair; Wherein, the top of the first vertical hydraulic bar is connected with the bottom of first connecting rod by the first revolute pair; The top of first connecting rod is hinged by the bottom surface of the first spherical pair and tool platform; The top of the second vertical hydraulic bar is connected with the bottom of second connecting rod by the second revolute pair; The top of second connecting rod is hinged by the bottom surface of the second spherical pair and tool platform; The top of the 3rd vertical hydraulic bar is connected with the bottom of third connecting rod by the 3rd revolute pair; The top of third connecting rod is hinged by the bottom surface of the 3rd spherical pair and tool platform; The length of the length of the length of the first vertical hydraulic bar, the second vertical hydraulic bar, the 3rd vertical hydraulic bar is all consistent; The length of the length of first connecting rod, the length of second connecting rod, third connecting rod is all consistent; The first revolute pair, the second revolute pair, the 3rd revolute pair are along circumferentially being equally spaced; The first spherical pair, the second spherical pair, the 3rd spherical pair are along circumferentially being equally spaced.
During work, various detection service equipments (as welding gun etc.) are installed on tool platform.The specific works process is as follows: when natural gas storage tank, gas holder being detected while safeguarding, first-, tri-vertical hydraulic bars drive first-third connecting rods by first-, tri-revolute pairs separately, make the pose of first-third connecting rod change separately.First-third connecting rod and then promote tool platforms by first-, tri-spherical pairs separately, make the pose of tool platform change.In this process, by regulating the driving stroke of first-, tri-vertical hydraulic bars, can make the pose of tool platform meet the requirement that detects maintenance, then by the various detection service equipments that are arranged on tool platform, just can detect maintenance to natural gas storage tank, gas holder.Based on said process, described in the utility modelly a kind ofly detect for natural gas storage tank, gas holder the multiple freedom parallel mechanism of safeguarding and realized that the pose of tool platform carries out the motion of five frees degree (along the X-axis rectilinear motion, along the Y-axis rectilinear motion, along the Z axis rectilinear motion, around X-axis, rotatablely move, rotatablely move around Y-axis).Therefore, detect maintenance technology and compare with existing natural gas storage tank, gas holder, a kind of multiple freedom parallel mechanism of safeguarding for natural gas storage tank, gas holder detection described in the utility model effectively reduces labour intensity on the one hand, effectively improved on the other hand the use flexibility, so it can adapt to the detection maintenance that is arranged on outdoor large-scale natural gas storage tank, gas holder fully.
The utility model is simple in structure, reasonable in design, the problem that efficiently solves existing natural gas storage tank, gas holder detection maintenance technology labour intensity is large and uses very flexible, the detection that is applicable to natural gas storage tank, gas holder is safeguarded, is particularly useful for being arranged on the detection maintenance of outdoor large-scale natural gas storage tank, gas holder.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
In figure: 1-the first vertical hydraulic bar, 2-the second vertical hydraulic bar, 3-the 3rd vertical hydraulic bar, 4-the first revolute pair, 5-the second revolute pair, 6-the 3rd revolute pair, 7-first connecting rod, the 8-second connecting rod, the 9-third connecting rod, 10-the first spherical pair, 11-the second spherical pair, 12-the 3rd spherical pair, the 13-tool platform.
The specific embodiment
A kind of multiple freedom parallel mechanism that detects maintenance for natural gas storage tank, gas holder, comprise hydraulic stem mechanism, revolute pair mechanism, linkage, spherical pair mechanism, tool platform 13; Described hydraulic stem mechanism comprises the first vertical hydraulic bar 1, the second vertical hydraulic bar 2, the 3rd vertical hydraulic bar 3; Described revolute pair mechanism comprises the first revolute pair 4, the second revolute pair 5, the 3rd revolute pair 6; Described linkage comprises first connecting rod 7, second connecting rod 8, third connecting rod 9; Described spherical pair mechanism comprises the first spherical pair 10, the second spherical pair 11, the 3rd spherical pair 12; Wherein, the top of the first vertical hydraulic bar 1 is connected with the bottom of first connecting rod 7 by the first revolute pair 4; The top of first connecting rod 7 is hinged with the bottom surface of tool platform 13 by the first spherical pair 10; The top of the second vertical hydraulic bar 2 is connected with the bottom of second connecting rod 8 by the second revolute pair 5; The top of second connecting rod 8 is hinged with the bottom surface of tool platform 13 by the second spherical pair 11; The top of the 3rd vertical hydraulic bar 3 is connected with the bottom of third connecting rod 9 by the 3rd revolute pair 6; The top of third connecting rod 9 is hinged with the bottom surface of tool platform 13 by the 3rd spherical pair 12; The length of the length of the length of the first vertical hydraulic bar 1, the second vertical hydraulic bar 2, the 3rd vertical hydraulic bar 3 is all consistent; The length of the length of the length of first connecting rod 7, second connecting rod 8, third connecting rod 9 is all consistent; The first revolute pair 4, the second revolute pair 5, the 3rd revolute pair 6 are along circumferentially being equally spaced; The first spherical pair 10, the second spherical pair 11, the 3rd spherical pair 12 are along circumferentially being equally spaced.
Claims (1)
1. one kind is detected for natural gas storage tank, gas holder the multiple freedom parallel mechanism of safeguarding, it is characterized in that: comprise hydraulic stem mechanism, revolute pair mechanism, linkage, spherical pair mechanism, tool platform (13); Described hydraulic stem mechanism comprises the first vertical hydraulic bar (1), the second vertical hydraulic bar (2), the 3rd vertical hydraulic bar (3); Described revolute pair mechanism comprises the first revolute pair (4), the second revolute pair (5), the 3rd revolute pair (6); Described linkage comprises first connecting rod (7), second connecting rod (8), third connecting rod (9); Described spherical pair mechanism comprises the first spherical pair (10), the second spherical pair (11), the 3rd spherical pair (12); Wherein, the top of the first vertical hydraulic bar (1) is connected with the bottom of first connecting rod (7) by the first revolute pair (4); The top of first connecting rod (7) is hinged with the bottom surface of tool platform (13) by the first spherical pair (10); The top of the second vertical hydraulic bar (2) is connected with the bottom of second connecting rod (8) by the second revolute pair (5); The top of second connecting rod (8) is hinged with the bottom surface of tool platform (13) by the second spherical pair (11); The top of the 3rd vertical hydraulic bar (3) is connected with the bottom of third connecting rod (9) by the 3rd revolute pair (6); The top of third connecting rod (9) is hinged with the bottom surface of tool platform (13) by the 3rd spherical pair (12); The length of the length of the length of the first vertical hydraulic bar (1), the second vertical hydraulic bar (2), the 3rd vertical hydraulic bar (3) is all consistent; The length of the length of the length of first connecting rod (7), second connecting rod (8), third connecting rod (9) is all consistent; The first revolute pair (4), the second revolute pair (5), the 3rd revolute pair (6) are along circumferentially being equally spaced; The first spherical pair (10), the second spherical pair (11), the 3rd spherical pair (12) are along circumferentially being equally spaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204106190U CN203330604U (en) | 2013-07-11 | 2013-07-11 | Multi-degree-of-freedom parallel mechanism for detecting and maintaining natural gas storage tank and gas holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204106190U CN203330604U (en) | 2013-07-11 | 2013-07-11 | Multi-degree-of-freedom parallel mechanism for detecting and maintaining natural gas storage tank and gas holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203330604U true CN203330604U (en) | 2013-12-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204106190U Expired - Fee Related CN203330604U (en) | 2013-07-11 | 2013-07-11 | Multi-degree-of-freedom parallel mechanism for detecting and maintaining natural gas storage tank and gas holder |
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| Country | Link |
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| CN (1) | CN203330604U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082138A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人系统有限公司 | Load bearing type mechanical arm |
-
2013
- 2013-07-11 CN CN2013204106190U patent/CN203330604U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082138A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人系统有限公司 | Load bearing type mechanical arm |
| CN105082138B (en) * | 2014-05-08 | 2016-12-07 | 宁夏巨能机器人股份有限公司 | A kind of load-carrying formula mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20150711 |
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| EXPY | Termination of patent right or utility model |