CN204005027U - Pipeline robot based on paralleling mechanism - Google Patents
Pipeline robot based on paralleling mechanism Download PDFInfo
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- CN204005027U CN204005027U CN201420422040.0U CN201420422040U CN204005027U CN 204005027 U CN204005027 U CN 204005027U CN 201420422040 U CN201420422040 U CN 201420422040U CN 204005027 U CN204005027 U CN 204005027U
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Abstract
The utility model discloses a kind of pipeline robot based on paralleling mechanism, comprise joint one, paralleling mechanism and joint two, Yi He joint, joint two is movably connected in respectively the two ends of paralleling mechanism.Pipeline robot of the present utility model, by hinged support arm being set on Yi He joint, joint two, automatically adapting to pipe diameter and constant moment of force is provided, and realizes the flexible movement at tapered pipeline; By the paralleling mechanism of six-degree-of-freedom, realize advancing of pipeline robot and turn, can in U-shaped pipeline and T-shaped pipeline, move flexibly.
Description
Technical field
The utility model relates to pipeline robot, is specifically related to a kind of pipeline robot based on paralleling mechanism.
Background technique
In the fields such as general industry, nuclear facility, petroleum gas and military equipment, pipeline is widely used as a kind of effective mass transport mode; , easily there is corrosion and fatigue and destroy or make the potential development of defects of pipe interior become breakage and cause the accidents such as leakage in the working environment very severe of pipeline; Therefore, in order to extend the generation of the accident such as life-span, Leakage prevention of pipeline, just must effectively detect maintenance, repair to pipeline, pipeline robot arises at the historic moment.
Pipeline robot by its move mode, can be divided into wheeled pipeline robot, crawler belt type pipeline robot, sufficient formula pipeline robot, screw type pipeline robot, fluid force pushing type pipeline robot and creeping type pipeline robot etc.
Wheeled pipeline robot is widely application with the maturity of continuity, stationarity and the vehicle technology of its motion; Wheeled pipeline robot road wheel be furnished with plane, also have living space, road wheel number is 4 to 6; One of general employing or full wheel drive, driving wheel number is more, and robot mobility is better, and driving power is stronger, but controls complicated.Wheeled yet restricted: wheel type barrier-crossing hinders ability poor, the relative crawler of tractive force is little; Under out-of-flatness ground environment, bumpy motion, easily tilts; Microminiaturization is more difficult.
Crawler belt type pipeline robot adhesion property is good, and obstacle climbing ability is strong, in pipe, also can walk well when muddy, greasy dirt and the certain obstacle of existence; But the more wheeled complexity of structure, is difficult for miniaturization, steering capability is not as wheeled good; The raising that common shortcoming wheeled, crawler-type mobile carrier is tractive force is subject to the restriction of weight, drive motor power and the travelling speed of carrier; Therefore in being used for, that the robot caterpillar type robot of Large Diameter Pipeline has tractive force is large, adherence properties is good, adapt to the strong feature of ground environment ability, under equal conditions, the obstacle that can cross over is maximum in all driving mode, but accurately control ratio is more difficult, and microminiaturization is also more difficult, can not be adapted at moving in pipe.
Foot formula pipeline robot is a kind of move mode that imitates insect structure function, landform is adaptable, can cross larger trench and step, its shortcoming is that speed and efficiency are low, turning rate is more difficult, control system is complicated, because the area of contact on leg and ground the pressure little and unit of making is too large, so should use more difficult.
Screw type pipeline robot utilizes spin friction tube wall to produce thrust; Be adapted at moving in pipeline that caliber is very little, shortcoming is that efficiency is low, and thrust is smaller.
Fluid force pushing type pipeline robot is a kind of move mode of unpowered or passive type, utilize the dynamic movement of the working fluid in pipeline, can under the not out-of-work state of pipeline, carry out the detection of pipeline, generally there is no hawser, therefore be not subject to the restriction of travel distance, shortcoming is to be difficult to control rate and direction.
Creeping type pipeline robot supporting foot branching carrier and tube wall compress, while not supporting, can depart from tube wall, while having solved wheeled and the walking of crawler movable robot in pipe, driving wheel is pressed on the problem on tube wall all the time, contradiction while having eliminated wheeled and caterpillar type robot walking between driving force and adhesion, can produce very large tractive force, but because creeping type movable robot's motion is intermittently, be subject to actuator to start the restriction of frequency, travelling speed than wheeled, crawler is low; Squirmy robot is to rely on the distortion of flexible body to produce mobile, there is larger attraction force, the driving element using is different, but Creeping Principle is roughly the same, for different creeping mechanisms, wriggling rule and the control further investigation of still needing, shortcoming is to turn to difficulty, speed and efficiency are low, and tractive force is little.
In actual applications, for reaching comparatively ideal effect and performance, overcome the defect of different institutions, often adopt the combination of multiple move mode, as often wheeled and tension type combined in small-caliber pipeline; At present, the achievement in research of pipeline robot is a lot of both at home and abroad, but ground zero is gone back in the detection maintenance to curved pipes such as tapered pipeline, U-shaped pipeline and T-shaped pipelines, because such pipeline is widely used in every field, in the urgent need to can be at the pipeline robot of such pipeline work.
Model utility content
The purpose of this utility model is to address the above problem, and a kind of pipeline robot that can adapt to pipelines is provided.
For solving the problems of the technologies described above, the technical solution of the utility model is: comprise joint one, paralleling mechanism and joint two, Yi He joint, joint two is movably connected in respectively the two ends of paralleling mechanism; Joint one comprises upper mounting plate, support arm one, support arm two, link press span one, link press span two and upper oil hydraulic cylinder; Paralleling mechanism is Stewart platform, comprises platform A and platform B, and joint two comprises support arm three, support arm four, lower oil hydraulic cylinder, link press span three, link press span four and lower bolster; One end of one end of support arm one and support arm two is hinged, the other end of support arm one is flexibly connected with link press span one, the other end of support arm two is flexibly connected with link press span two, link press span one is arranged on upper mounting plate, it is upper that link press span two is arranged on platform A, and the two ends of upper oil hydraulic cylinder are connected with the central position of platform A with the central position of upper mounting plate respectively; One end of one end of support arm three and support arm four is hinged, the other end of support arm three is flexibly connected with link press span three, the other end of support arm four is flexibly connected with link press span four, link press span three is arranged on platform B, link press span four is arranged on lower bolster, and the two ends of lower oil hydraulic cylinder are connected with the central position of platform B and the central position of lower bolster respectively.
Preferably, the quantity of described support arm one, support arm two, support arm three and support arm four is three.
Preferably, described paralleling mechanism also comprises six Cylinder for Parallel Connections and twelve earthly branches universal coupling, and the two ends of Cylinder for Parallel Connection are fixedly connected with universal coupling respectively, and universal coupling is connected on platform A and platform B.
Preferably, described universal coupling is fixedly connected on respectively on platform A and platform B by screw.
Preferably, described support arm one is connected with link press span one by screw, link press span one is fixed by screws on upper mounting plate, support arm two is connected with link press span two by screw, link press span two is fixed by screws on platform A, upper oil hydraulic cylinder is connected on upper mounting plate by nut one, and upper oil hydraulic cylinder is connected on platform A by nut two.
Preferably, described support arm three is connected with link press span three by screw, link press span three is fixed by screws on platform B, support arm four-way is crossed screw and is connected with link press span four, link press span four-way is crossed screw and is connected on lower bolster, lower oil hydraulic cylinder is connected on lower bolster by nut one, and lower oil hydraulic cylinder is connected on platform B by nut two.
In sum, pipeline robot provided by the utility model, by hinged support arm being set on Yi He joint, joint two, automatically adapting to pipe diameter and constant moment of force is provided, and realizes the flexible movement at tapered pipeline; By the paralleling mechanism of six-degree-of-freedom, realize advancing of pipeline robot and turn, can in the curved pipes such as U-shaped pipeline and T-shaped pipeline, move flexibly.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is the explosive view in the utility model joint one.
Fig. 3 is the structural representation of the utility model paralleling mechanism.
Fig. 4 is the explosive view in the utility model joint two.
Fig. 5 is the motion flow chart of the utility model pipeline robot.
Description of reference numerals: 1, joint one; 11, upper mounting plate; 12, support arm one; 13, support arm two; 14, link press span one; 15, link press span two; 16, upper oil hydraulic cylinder; 2, paralleling mechanism; 21, platform A; 22, Cylinder for Parallel Connection; 23, universal coupling; 24, platform B; 3, joint two; 31, support arm three; 32, support arm four; 33, lower oil hydraulic cylinder; 34, link press span three; 35, link press span four; 36, lower bolster; 4, nut one; 5, nut two.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described further:
As shown in Figures 1 to 5, moving platform of the present utility model, a kind of pipeline robot based on paralleling mechanism, comprises joint 1, paralleling mechanism 2 and joint 23, joint 1 and joint 23 are movably connected in respectively the two ends of paralleling mechanism 2; Joint 1 comprises upper mounting plate 11, three support arms 1, three support arms 2 13, link press span 1, link press span 2 15 and upper oil hydraulic cylinders 16; Paralleling mechanism 2 is Stewart platform, comprise platform A21, six Cylinder for Parallel Connections 22, twelve earthly branches universal coupling 23 and platform B24, joint 23 comprises three support arms 3 31, three support arms 4 32, lower oil hydraulic cylinder 33, link press span 3 34, link press span 4 35 and lower bolsters 36; One end of one end of support arm 1 and support arm 2 13 is hinged, the other end of support arm 1 is flexibly connected with link press span 1 by screw, the other end of support arm 2 13 is flexibly connected with link press span 2 15 by screw, link press span 1 is arranged on upper mounting plate 11 by screw, link press span 2 15 is arranged on platform A21 by screw, the two ends of upper oil hydraulic cylinder 16 are connected with the central position of platform A21 with the central position of upper mounting plate 11 with nut 25 by nut 1 respectively, between upper oil hydraulic cylinder 16 and nut 1, pad can be set; The two ends of Cylinder for Parallel Connection 22 are fixedly connected with universal coupling 23 respectively, universal coupling 23 is fixedly connected on respectively on platform A21 and platform B24 by screw, by the coordination of six Cylinder for Parallel Connections 22 is controlled, can implementation platform A21 and platform B24 in the movement of space x, y, z axle with around the rotation of x, y, z axle, be the motion of six-degree-of-freedom, thus the variation of implementation platform A21 and platform B24 position and attitude; One end of one end of support arm 3 31 and support arm 4 32 is hinged, the other end of support arm 3 31 is flexibly connected with link press span 3 34 by screw, the other end of support arm 4 32 is flexibly connected with link press span 4 35 by screw, link press span 3 34 is arranged on platform B24 by screw, link press span 4 35 is arranged on lower bolster 36 by screw, the two ends of lower oil hydraulic cylinder 33 are connected with the central position of lower bolster 36 with the central position of platform B24 with nut 1 by nut 25 respectively, between lower oil hydraulic cylinder 33 and nut 1, pad can be set.
In the time of pipeline robot work, pipeline robot is placed in pipeline completely, turn on the power switch, machine will reset, upper oil hydraulic cylinder 16 shrinks, upper mounting plate 11, near platform A21, drives support arm 1 and support arm 2 13 around hinged place motion, and the hinged place of support arm 1 and support arm 2 13 is outwards stretched with tube wall and compressed; Lower oil hydraulic cylinder 33 stretches out, and lower bolster 36, away from platform B24, drives support arm 3 31 and support arm 4 32 around hinged place motion, and the hinged place of support arm 3 31 and support arm 4 32 is inwardly shunk with tube wall and kept certain distance; After reset, by the coordinated movement of various economic factors of Cylinder for Parallel Connection 22, platform B24 travels forward; These oil hydraulic cylinder 33 contractions at present, lower bolster 36, near platform B24, drives support arm 3 31 and support arm 4 32 around hinged place motion, and outwards stretch the hinged place of support arm 3 31 and support arm 4 32 and tube wall compresses; Upper oil hydraulic cylinder 16 stretches out, and upper mounting plate 11, away from platform A21, drives support arm 1 and support arm 2 13 around hinged place motion, and the hinged place of support arm 1 and support arm 2 13 is inwardly shunk with tube wall and departed from; Then by the coordinated movement of various economic factors of Cylinder for Parallel Connection 22, platform A21 travels forward; Now go up oil hydraulic cylinder 16 and shrink, upper mounting plate 11, near platform A21, drives support arm 1 and support arm 2 13 around hinged place motion, and the hinged place of support arm 1 and support arm 2 13 is outwards stretched with tube wall and compressed; Lower oil hydraulic cylinder 33 stretches out, and lower bolster 36, away from platform B24, drives support arm 3 31 and support arm 4 32 around hinged place motion, and the hinged place of support arm 3 31 and support arm 4 32 is inwardly shunk with tube wall and departed from; Circulation above-mentioned steps, can realize pipeline robot advancing at pipeline; Because paralleling mechanism 2 can complete the motion of six-degree-of-freedom, thereby realize pipeline robot, in the curved pipes such as U-shaped pipeline and T-shaped pipeline, move.
Those of ordinary skill in the art will appreciate that, embodiment described here is in order to help reader understanding's principle of the present utility model, should be understood to that protection domain of the present utility model is not limited to such special statement and embodiment.Those of ordinary skill in the art can make various other various concrete distortion and combinations that do not depart from the utility model essence according to disclosed these technology enlightenments of the utility model, and these distortion and combination are still in protection domain of the present utility model.
Claims (6)
1. the pipeline robot based on paralleling mechanism, it is characterized in that: comprise joint one (1), paralleling mechanism (2) and joint two (3), joint one (1) and joint two (3) are movably connected in respectively the two ends of paralleling mechanism (2); Joint one (1) comprises upper mounting plate (11), support arm one (12), support arm two (13), link press span one (14), link press span two (15) and upper oil hydraulic cylinder (16); Paralleling mechanism (2) is Stewart platform, comprise platform A (21) and platform B (24), joint two (3) comprises support arm three (31), support arm four (32), lower oil hydraulic cylinder (33), link press span three (34), link press span four (35) and lower bolster (36); One end of one end of support arm one (12) and support arm two (13) is hinged, the other end of support arm one (12) is flexibly connected with link press span one (14), the other end of support arm two (13) is flexibly connected with link press span two (15), link press span one (14) is arranged on upper mounting plate (11), it is upper that link press span two (15) is arranged on platform A (21), and the two ends of upper oil hydraulic cylinder (16) are connected with the central position of platform A (21) with the central position of upper mounting plate (11) respectively; One end of one end of support arm three (31) and support arm four (32) is hinged, the other end of support arm three (31) is flexibly connected with link press span three (34), the other end of support arm four (32) is flexibly connected with link press span four (35), link press span three (34) is arranged on platform B (24), it is upper that link press span four (35) is arranged on lower bolster (36), and the two ends of lower oil hydraulic cylinder (33) are connected with the central position of lower bolster (36) with the central position of platform B (24) respectively.
2. pipeline robot as claimed in claim 1, is characterized in that: the quantity of described support arm one (12), support arm two (13), support arm three (31) and support arm four (32) is three.
3. pipeline robot as claimed in claim 1, it is characterized in that: described paralleling mechanism (2) also comprises six Cylinder for Parallel Connections (22) and twelve earthly branches universal coupling (23), the two ends of Cylinder for Parallel Connection (22) are fixedly connected with universal coupling (23) respectively, and universal coupling (23) is connected on platform A (21) and platform B (24).
4. pipeline robot as claimed in claim 3, is characterized in that: described universal coupling (23) is fixedly connected on respectively on platform A (21) and platform B (24) by screw.
5. pipeline robot as claimed in claim 1, it is characterized in that: described support arm one (12) is connected with link press span one (14) by screw, link press span one (14) is fixed by screws on upper mounting plate (11), support arm two (13) is connected with link press span two (15) by screw, link press span two (15) is fixed by screws on platform A (21), it is upper that upper oil hydraulic cylinder (16) is connected to upper mounting plate (11) by nut one (4), and upper oil hydraulic cylinder (16) is connected on platform A (21) by nut two (5).
6. pipeline robot as claimed in claim 1, it is characterized in that: described support arm three (31) is connected with link press span three (34) by screw, link press span three (34) is fixed by screws on platform B (24), support arm four (32) is connected with link press span four (35) by screw, link press span four (35) is connected by screw on lower bolster (36), it is upper that lower oil hydraulic cylinder (33) is connected to lower bolster (36) by nut one (4), and lower oil hydraulic cylinder (33) is connected on platform B (24) by nut two (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420422040.0U CN204005027U (en) | 2014-07-29 | 2014-07-29 | Pipeline robot based on paralleling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420422040.0U CN204005027U (en) | 2014-07-29 | 2014-07-29 | Pipeline robot based on paralleling mechanism |
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| Publication Number | Publication Date |
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| CN204005027U true CN204005027U (en) | 2014-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420422040.0U Expired - Fee Related CN204005027U (en) | 2014-07-29 | 2014-07-29 | Pipeline robot based on paralleling mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017197418A1 (en) * | 2016-05-20 | 2017-11-23 | Müller Matthias Manuel | Worm robot |
| JP2018515354A (en) * | 2015-05-26 | 2018-06-14 | ハン、ファンユアンHAN, Fangyuan | Multi-motion platform parallel robot construction method and parallel robot |
| CN108194763A (en) * | 2018-01-24 | 2018-06-22 | 天津大学 | The wheeled T-shaped pipe robot of big reducing |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110762288A (en) * | 2019-11-18 | 2020-02-07 | 西南石油大学 | Accurate positioning fine-tuning device of intelligent pipeline plugging robot |
-
2014
- 2014-07-29 CN CN201420422040.0U patent/CN204005027U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018515354A (en) * | 2015-05-26 | 2018-06-14 | ハン、ファンユアンHAN, Fangyuan | Multi-motion platform parallel robot construction method and parallel robot |
| WO2017197418A1 (en) * | 2016-05-20 | 2017-11-23 | Müller Matthias Manuel | Worm robot |
| CN108194763A (en) * | 2018-01-24 | 2018-06-22 | 天津大学 | The wheeled T-shaped pipe robot of big reducing |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110762288A (en) * | 2019-11-18 | 2020-02-07 | 西南石油大学 | Accurate positioning fine-tuning device of intelligent pipeline plugging robot |
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| Date | Code | Title | Description |
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| 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: 20141210 Termination date: 20170729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |