CN206018141U - Pipeline climbing robot - Google Patents
Pipeline climbing robot Download PDFInfo
- Publication number
- CN206018141U CN206018141U CN201620603232.0U CN201620603232U CN206018141U CN 206018141 U CN206018141 U CN 206018141U CN 201620603232 U CN201620603232 U CN 201620603232U CN 206018141 U CN206018141 U CN 206018141U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- way
- master cylinder
- climbing robot
- expansion link
- 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 - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
This utility model provides pipeline climbing robot, can adapt to the exploration of the multiple materials such as level, vertical, arc and roughness pipeline.It includes controller, master cylinder, two two-way cylinders and two pairs of laterally driven foots, wherein, described controller controls the action of the master cylinder and the two-way cylinder, one of them two-way cylinder is arranged on the expansion link outer end of the master cylinder, and another two-way cylinder is arranged on the other end of first cylinder；Laterally driven foot described with two pairs is connected respectively for the expansion link outer end of two two-way cylinders, and the expansion link of the two-way cylinder is vertical with the expansion link of the master cylinder respectively.The pipeline climbing robot has the advantages that compact conformation is stable, build is small light.
Description
Technical field
This utility model belongs to robot field, specifically, relate to a kind of pipeline climbing robot.
Background technology
Progressively march toward in scientific and technological society today of " industry 4.0 ", roboticses have been obtained in all trades and professions extensively
General development and application, which is studied and application level becomes measurement national science and technology level of development（Especially industrial automation, intelligence
Level can be changed）One of important symbol.In panoramic robot, pipeline climbing robot is the special one kind of comparison.
Used in due to China's modern times industrial or agricultural and national defence a large amount of pipelines, such as oil, chemical industry, the energy, metallurgy, national defence and
There are substantial amounts of hole class and pipe parts such as steam generator heat-exchange tube, tank gun bore in the industries such as Aero-Space
Deng, need to being explored and being detected situations such as pipe Internal periphery, defect, damage, and work in most Pipe installing environment complexity, pipe
Condition is narrow and small, does not allow people to be directly involved so that pipeline quality detection and fault diagnosis are relatively difficult.At present pipeline is creeped machine
People's great majority are polypody drive schemes, and complex structure, control have high demands, and require internal diameter of the pipeline than larger, in slender pipeline
Inside is difficult normal work.
In order to solve the above problems, people are seeking a kind of preferable technical solution always.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, so as to provide a kind of pipeline climbing robot.
The first problem that this utility model is solved is to provide a kind of compact conformation and stablizes, and the small light pipeline of build is climbed
Row robot, it include controller, master cylinder, two two-way cylinders and two pairs of laterally driven foots, wherein, described controller control
The action of the master cylinder and the two-way cylinder is made, one of them two-way cylinder is arranged on the expansion link of the master cylinder
Outer end, another two-way cylinder are arranged on the other end of the master cylinder；The expansion link outer end of two two-way cylinders
Laterally driven foot described with two pairs is connected respectively, and the expansion link of the two-way cylinder is hung down with the expansion link of the master cylinder respectively
Directly.Foot laterally driven with described in a pair be connected each described two-way cylinder respectively, the expansion link of the two-way cylinder move so as to
Drive described laterally driven sufficient stretching；The master cylinder is connected with the two-way cylinder, by the expansion link of the master cylinder
Stretching motion control the two-way cylinder moving, the longitudinal direction so as to realize pipeline climbing robot is creeped；Described laterally driven
Foot produces stiction by the contact pressure with inner-walls of duct, so as to realize in pipeline climbing robot crawling process to pipe
" grabbing attached " of road inwall.
In order to improve pipeline climbing robot to the adhesive force of pipeline and the contact area with pipeline, the laterally driven foot
Lateral surface is cambered surface.
Further, the laterally driven foot outside is provided with nonskid coating or anti-skidding Membrane cover.
In order to commutating and adapting to the exploration of crooked pipeline, the master cylinder is by two flexible clutch respectively with one
The two-way cylinder is connected.
In order to realize that the exploration inside pipeline and frame are transmitted, it also includes light source, photographic head and for institute
State light source, the power supply that the photographic head is powered.
For the ease of controlling the speed of robot, this utility model also includes the electromagnetic valve being connected with the controller,
The solenoid valve control controls the master cylinder and the two-way cylinder air demand and gas feed flow rate, to control the robot
Action and action speed.
This utility model hinge structure has substantive distinguishing features and progress, and specifically, this utility model is by double
Creep to cylinder realization in the longitudinal direction in pipeline, compact conformation.Furtherly, described laterally driven sufficient lateral surface be cambered surface simultaneously
Nonskid coating or anti-skidding Membrane cover is provided with, is increased with the stiction climb and grasping of pipeline firmly, is hardly damaged.Further step is said, institute
State master cylinder to be connected with two-way cylinder described in a pair by two flexible clutch, be adapted to creeping for crooked pipeline, be suitable for
Scope is wide.Which has the advantages that the small light, climb and grasping of compact conformation, build is firm and applied widely.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
In figure, 1. master cylinders, the described two-way cylinder on front side of 2a., the described two-way cylinder on rear side of 2b., on front side of 3a.
To the laterally driven foot, laterally driven foot described in a pair on rear side of 3b., the flexible clutch on front side of 4a., on rear side of 4b.
The flexible clutch, 5. light source, 6. photographic head.
Specific embodiment
Below by specific embodiment, the technical solution of the utility model is described in further detail.
As shown in figure 1, a kind of pipeline climbing robot, including controller, master cylinder 1, two two-way cylinders include front side
Described two-way cylinder 2a and rear side described two-way cylinder 2b, the two pairs of laterally driven foots include laterally driving described in a pair of front side
Laterally driven sufficient 3b described in a pair of action spot 3a and rear side, wherein, described controller controls the master cylinder 1 and described two-way
The action of cylinder, the described two-way cylinder 2b of rear side are arranged on the expansion link outer end of the master cylinder 1, another described two-way gas
Cylinder 2a is arranged on the other end of the master cylinder 1.In other embodiments, it is also possible to which the described two-way cylinder of front side is arranged on
The expansion link outer end of the master cylinder, the described two-way cylinder of rear side are arranged on the other end of the master cylinder.
Laterally driven foot described with two pairs is connected respectively for the expansion link outer end of two two-way cylinders, the two-way cylinder
Expansion link vertical with the expansion link of the master cylinder 1 respectively.
The laterally driven sufficient lateral surface is cambered surface, and is provided with nonskid coating, in other embodiments can also be in institute
State laterally driven sufficient lateral surface and anti-skidding Membrane cover is set.
The master cylinder 1 includes that by two flexible clutch the flexible clutch 4a's and rear side of front side is described soft
Property shaft coupling 4b described two-way cylinder 2a, the described two-way cylinder 2b of rear side respectively with front side is connected.
The power supply that this utility model also includes light source 5, photographic head 6 and powers for the light source 5, the photographic head 6,
The light source 5 and photographic head 6 are arranged on front side of the present utility model.
This utility model also includes the electromagnetic valve being connected with the controller, master cylinder 1 described in the solenoid valve control
Source of the gas and the two-way cylinder source of the gas keying.
The sequence of motion of the pipeline climbing robot adopts following steps：
Original state is a pair two-way cylinders（2a,2b）It is in elongation state so that two pairs of laterally driven foots
（3a,3b）Respectively against inner-walls of duct and keep geo-stationary, master cylinder 1 is in contraction state.
1）Shunk by the expansion link of electromagnetic valve and the described two-way cylinder 2a of source of the gas control front side, make a pair of front side
Laterally driven sufficient 3a is disengaged with inner-walls of duct, and this process is just as the first step foot-up in people's walking process.
2）The expansion link elongation that master cylinder 1 is controlled by electromagnetic valve and source of the gas, makes the described two-way cylinder 2a of front side forward
Displacement, while keeping the described two-way cylinder 2b of rear side and pipeline to keep, geo-stationary is motionless, and this process was walked just as people
Second step in journey is taken a step.
3）Again by the expansion link elongation of electromagnetic valve and the described two-way cylinder 2a of source of the gas control front side, front side is made
Laterally driven sufficient 3a described in a pair keeps stable after withstanding inner-walls of duct, and this process is just as the 3rd step in people's walking process
Stop over.
4）Shunk by the expansion link of electromagnetic valve and the described two-way cylinder 2b of source of the gas control rear side, make a pair of rear side
The laterally driven sufficient 3b is disengaged with inner-walls of duct, and this process is just as the 4th step lift rear foot in people's walking process.
5）The expansion link that master cylinder 1 is controlled by electromagnetic valve and source of the gas shrinks, and makes described two-way on rear side of this utility model
Cylinder 2b anterior displacements, while keep the described two-way cylinder 2a and pipeline holding geo-stationary of front side motionless, this process just as
The 5th step rear foot in people's walking process is taken a step.
6）The expansion link that two-way cylinder 2b is controlled by electromagnetic valve and source of the gas extends, and laterally drives described in make rear side a pair
Action spot 3b keeps stable after withstanding inner-walls of duct, and this process falls behind foot just as the 6th step in people's walking process.
Through above step, the pipeline climbing robot has been creeped by original state forward and be returned to after a segment distance just
Beginning state, completes a period of motion of crawling process, repeats the continuous crawling exercise that above step can achieve robot.
During retrogressing, the sequence of motion of each cylinder is contrary with when advancing.
Finally it should be noted that:Above example is only in order to illustrating the technical solution of the utility model rather than which is limited
System；Although being described in detail to this utility model with reference to preferred embodiment, those of ordinary skill in the art should
Understand：Still specific embodiment of the present utility model can be modified or equivalent is carried out to some technical characteristics and replace
Change；Without deviating from the spirit of technical solutions of the utility model, which all should cover the technical scheme being claimed in this utility model
In the middle of scope.
Claims (6)
1. a kind of pipeline climbing robot, it is characterised in that：It includes controller, master cylinder, two two-way cylinders and two pairs of horizontal strokes
To foot is driven, wherein, described controller controls the action of the master cylinder and the two-way cylinder, and one of them is described two-way
Cylinder is arranged on the expansion link outer end of the master cylinder, and another two-way cylinder is arranged on the other end of the master cylinder；
Laterally driven foot described with two pairs is connected respectively for the expansion link outer end of two two-way cylinders, and the two-way cylinder is stretched
Contracting bar is vertical with the expansion link of the master cylinder respectively.
2. pipeline climbing robot according to claim 1, it is characterised in that：The laterally driven sufficient lateral surface is arc
Face.
3. pipeline climbing robot according to claim 2, it is characterised in that：The laterally driven foot outside is provided with anti-
Sliding coating or anti-skidding Membrane cover.
4. pipeline climbing robot according to claim 1, it is characterised in that：The master cylinder passes through two flexible couplings
Device is connected with two-way cylinder described in a pair respectively.
5. the pipeline climbing robot according to any one of claim 1-4, it is characterised in that：It also includes light source, takes the photograph
The power supply that powers as head and for the light source, the photographic head.
6. pipeline climbing robot according to claim 5, it is characterised in that：It is also included and is connected with the controller
Electromagnetic valve, the keying of the source of the gas of the source of the gas of master cylinder described in the solenoid valve control and the two-way cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620603232.0U CN206018141U (en) | 2016-06-20 | 2016-06-20 | Pipeline climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620603232.0U CN206018141U (en) | 2016-06-20 | 2016-06-20 | Pipeline climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206018141U true CN206018141U (en) | 2017-03-15 |
Family
ID=58242268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620603232.0U Expired - Fee Related CN206018141U (en) | 2016-06-20 | 2016-06-20 | Pipeline climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206018141U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110500469A (en) * | 2019-08-31 | 2019-11-26 | 大连理工大学 | A kind of multistage accurate running gear and application method of submarine pipeline robot |
| CN112728292A (en) * | 2021-02-02 | 2021-04-30 | 浙江海洋大学 | Oil tanker oil gas recovery pipeline wall climbing robot |
-
2016
- 2016-06-20 CN CN201620603232.0U patent/CN206018141U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110500469A (en) * | 2019-08-31 | 2019-11-26 | 大连理工大学 | A kind of multistage accurate running gear and application method of submarine pipeline robot |
| CN112728292A (en) * | 2021-02-02 | 2021-04-30 | 浙江海洋大学 | Oil tanker oil gas recovery pipeline wall climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206018141U (en) | Pipeline climbing robot | |
| CN108216519B (en) | Offshore oilfield wellhead platform jacket wheel type moving mechanism | |
| CN102032417B (en) | Pipeline robot driving mechanism | |
| CN206123647U (en) | Sick bed is with supporting manipulator | |
| CN105465549A (en) | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters | |
| CN103047511A (en) | Traveling device in pipeline | |
| CN108357581B (en) | Bionic flexible claw thorn pair-grabbing foot structure robot | |
| CN207145859U (en) | A kind of pipeline detection robot | |
| CN206831048U (en) | A kind of sea-bottom oil-gas pipeline leaks real-time automatic sealing package leakage device | |
| CN201902765U (en) | Driving mechanism of pipeline robot | |
| CN101214881A (en) | Passive hydraulic control linked error correcting machine | |
| CN206206899U (en) | A kind of new small support industrial robot | |
| CN106193268A (en) | Amphibious multiple-unit wheeled pipe robot examination and repair system | |
| CN108177140A (en) | A kind of multipurpose snake-shaped robot | |
| Tsukagoshi et al. | Smooth creeping actuator by tip growth movement aiming for search and rescue operation | |
| CN205969037U (en) | Industry fluid pressure type robotic arm | |
| CN111687848A (en) | Oil tank cleaning robot | |
| CN104015831B (en) | A kind of active passive compound type negative-pressure adsorption continuous walking climbing robot | |
| CN203099211U (en) | Creeping pipeline robot walking mechanism | |
| CN206514002U (en) | A kind of nuclear power pipe robot | |
| CN205978979U (en) | Cross -shaped structure initiative hinders pipeline robot more | |
| CN201327346Y (en) | Intelligent moving cleaning robot for cleaning large scale electric power plant condenser | |
| CN206201002U (en) | A kind of vacuum cup machinery arm device | |
| CN208844715U (en) | A kind of mechanism for preventing from skidding on desilting equipment and the desilting equipment with the mechanism | |
| CN206084584U (en) | Flexible spray tube |
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: 20170315 Termination date: 20170620 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |