CN207018724U - A kind of multi-mode pipe robot - Google Patents

Abstract

The utility model discloses a kind of multi-mode pipe robot, belong to robotic technology field.The robot includes fuselage and climbing device, and the climbing device includes four, is made up of respectively the upper left climbing device, upper right climbing device, lower-left climbing device and the bottom right climbing device that are arranged on four turnings of fuselage；Described fuselage includes the upper fuselage connected by elevating mechanism and lower fuselage, the relative motion of the controllable upper fuselage of elevating mechanism and lower fuselage, make fuselage and lower fuselage phase closer or far from；The upper left climbing device and upper right climbing device are located on upper fuselage, and lower-left climbing device and bottom right climbing device are located on lower fuselage.The utility model robot can select different creep modes, greatly improve robot adaptability according to the external world for load, the varying environment requirement of speed.

Description

A kind of multi-mode pipe robot

Technical field

The utility model belongs to robotic technology field, is related to the robot for tubular service, maintenance, more specifically Say, be related to a kind of multi-mode pipe robot.

Background technology

In the fields such as general industry, nuclear facilities, petroleum gas, military equipment, pipeline is as a kind of effective material Transportation means and be widely used.Long-term application make it that situations such as corrosion and blocking of pipeline is increasingly severe, this pole Easily cause transfer efficiency low and the various danger such as Pipeline damage, to improve the generation of the accidents such as the life-span of pipeline, prevent leakage, Effective detection must just be carried out to pipeline to safeguard, pipe robot is meets that the needs produce.

Pipe robot is that one kind can be along automatically walk, the one or more sensors of carrying and operation inside or outside pipeline Machinery, under the straighforward operation of staff or computer controlled automatic, it is integral to carry out a series of the mechanical, electrical of pipeline operations, instrument Change system.It belongs to job that requires special skills robot, and the methods of its unique traveling and action carry for operation in current pipeline Supply relatively advanced and had the innovative selection applied.With widening for modern Application field, also with Modern Manufacturing Technology water Flat to improve, the application of every field is all increasing, due to the particularity of pipeline operations environment, there is what can not much be accomplished manually Operation, therefore pipe robot will turn into important power tool.

At present there is problems with pipeline inner machine people：1st, load it is smaller, due to the limitation of working method, its load compared with It is small, it is impossible to the operation in the case of heavy load；2nd, pattern is single, and robot can only set a kind of operational mode, it is impossible to according to the external world Environment, loading condition, speed of service situation, to change operational mode so that robot with having limitation.

For example, Chinese Patent Application No. is：201610425656.7 publication date is：The patent text on October 12nd, 2016 Offer, disclose a kind of pneumatic type pipe robot, including flexible module and the supporting module that is connected with flexible module；Flexible module Mainly it is made up of drive cylinder and the oscillating bearing being connected with drive cylinder, flexible using drive cylinder realizes robot Creeping motion type is walked, and supporting module produces thrust by support air cylinder group, and the support block and tube wall for making robot are compressed, and supporting module is led to The spherical pair crossed in oscillating bearing can be with one space angle θ of moving, and by controlling the logical of magnetic valve relative to flexible module Power-off time realizes step speed regulation function." pin " of the robot is that support bar can be by adding " the lengthening pin " of different length To change the length of " pin ", to adapt to the pipeline of different inner diameters, but its operational mode is more single, using cylinder driving Pattern, itself needs source of the gas, increases robot weight itself, and its load capacity is weaker；If there is accidental gas leakage situation, Chance is fallen, and security is relatively low.

For example, Chinese Patent Application No. is：201610812069.3 publication date is：The patent text on December 21st, 2016 Offer, disclose a kind of pipe robot, including robot body, be provided with the robot body for being worked in pipeline Workbench, the pipe robot also include be arranged in pipe robot main body wheel, be connected with wheel right angle wheel shaft, set The rotating mechanism between right angle wheel shaft and pipe robot main body is put, the right angle wheel shaft includes orthogonal first wheel shaft and the Great wheel arbor, first wheel shaft link with rotating mechanism.The characteristics of pipe robot according to pipeline is hollow cylinder, set using flat Wheel, press close to the farthest both ends of pipeline, realize stable movement, while turn in pipeline by rotating mechanism control pipeline robot It is dynamic, it can also stablize in pipeline bending place and move, but its bearing capacity is weaker, operational mode is single.

Therefore, how existing pipe robot is improved, it is can adapt to caliber, the opposing party according to one aspect Face can adjust operational mode, be those skilled in the art's problem urgently to be resolved hurrily according to different external environments.

The content of the invention

1st, to solve the problems, such as

The utility model provides a kind of multi-mode pipe robot, and its object is to solve existing pipe robot operation mould Formula is single, it is impossible to the problem of effectively adjusting creep mode according to external environment.Robot of the present utility model is to the structure creeped Design is optimized, can be selected different creep modes according to the external world for load, the varying environment requirement of speed, carry significantly High robot adaptability.It can not only increase load, and can reduce the slip between robot and pipeline, increase machine The operation stability and security of device people.

2nd, technical scheme

To solve the above problems, the utility model adopts the following technical scheme that.

A kind of multi-mode pipe robot, including fuselage and climbing device, the climbing device includes four, respectively by setting Put upper left climbing device, upper right climbing device, lower-left climbing device and bottom right climbing device composition on four turnings of fuselage； Described fuselage includes the upper fuselage connected by elevating mechanism and lower fuselage, and elevating mechanism is controllable to go up fuselage and lower fuselage Relative motion, make fuselage and lower fuselage mutually closer or far from；The upper left climbing device and upper right climbing device are located at upper machine With, lower-left climbing device and bottom right climbing device are located on lower fuselage.

As a further improvement, described elevating mechanism includes screw pair and lifting motor, upper fuselage and lower fuselage Between connected by screw pair, and driven by lifting motor.

As a further improvement, described climbing device include upper connecting rod, upper motor, lower motor, lower link, oscillating rod and Oscillating motor；One end connection fuselage of the oscillating rod, and driven by oscillating motor；The upper motor and lower motor are all installed In the other end of oscillating rod, one end of upper motor connection upper connecting rod, one end of lower motor connection lower link；The upper connecting rod it is another One end is connected with block of creeping, and the other end of lower link is connected with down block of creeping.

A kind of method of creeping of multi-mode pipe robot, its operating procedure are：

1. the upper motor and lower motor action of upper left climbing device and upper right climbing device, drive upper connecting rod and lower link point Do not rotate clockwise and anticlockwise, make upper left climbing device and upper right climbing device on creep block and under block of creeping depart from and pipe The contact of wall；

2. elevating mechanism works, lifting motor drives upper fuselage to move by screw pair, away from or close to lower fuselage；

3. elevating mechanism is stopped, the upper motor and lower motor action of upper left climbing device and upper right climbing device, drive Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, make upper left climbing device and upper right climbing device on creep block Block of being creeped with compresses tube wall again；

4. the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, drive upper connecting rod and lower link point Do not rotate clockwise and anticlockwise, make lower-left climbing device and bottom right climbing device on creep block and under block of creeping depart from and pipe The contact of wall；

5. elevating mechanism works, lifting motor drives lower fuselage to move by screw pair, closer or far from upper fuselage；

6. elevating mechanism is stopped, the upper motor and lower motor action of lower-left climbing device and bottom right climbing device, drive Dynamic upper connecting rod and lower link counterclockwise and rotate clockwise respectively, make lower-left climbing device and bottom right climbing device on creep block Block of being creeped with compresses tube wall again；

7. repeating the above steps 1. to 6., upper fuselage and lower fuselage alternately move, and realize robot creeping in pipeline.

As a further improvement, step 3. in, before or while upper motor and lower motor action, upper left climbing device and The oscillating motor action of upper right climbing device, driving oscillating rod rotate, to coordinate the rotation of upper connecting rod and lower link, make to creep Block and under creep block compress tube wall.

As a further improvement, step 6. in, the upper motor and lower motor of climbing device and bottom right climbing device in lower-left Before or while action, the oscillating motor action of lower-left climbing device and bottom right climbing device, driving oscillating rod rotates, to coordinate The rotation of upper connecting rod and lower link, make to creep block and under block of creeping compress tube wall.

A kind of method of creeping of multi-mode pipe robot, its operating procedure are：

1. upper left climbing device, upper right climbing device, lower-left climbing device and bottom right climbing device oscillating motor and on Motor acts simultaneously, drives the oscillating rod and upper connecting rod of upper left climbing device and lower-left climbing device to rotate counterclockwise, upper right The oscillating rod and upper connecting rod of climbing device and bottom right climbing device rotate clockwise, and fuselage moves axially along pipeline；

In this step, the lower motor action of four climbing devices, driving lower link rotates counterclockwise, and block of being creeped under making is gradual Depart from tube wall；

2. when the upper connecting rod of four climbing devices rotates to the position vertical with conduit axis, oscillating rod turns to the limit Position, now, the upper connecting rod of four climbing devices are rotated further, and oscillating rod starts anti-under the driving effect of oscillating motor To rotation；

3. when the upper connecting rod of four climbing devices is inverted to position symmetrical with its initial position, four climbing devices Oscillating rod is also inverted to initial position, and the lower link of four climbing devices is under the driving effect of lower motor, block of being creeped under making Again tube wall is compressed；Now, the position of upper connecting rod and lower link alternates, under creep block positioned above creeping above block, fuselage Center of gravity moves a segment distance along conduit axis, the distance be equal to above creep block and under the spacing creeped between block；

4. repeat the above steps 1. to 3., creeped on four climbing devices block and under block of creeping alternately pressed along conduit axis Tight or disengaging tube wall, realizes the movement of Robot pipeline.

As a further improvement, before step is 1., fit to upper fuselage and lower fuselage by the method for claim 4 Together.

A kind of method of creeping of multi-mode pipe robot, its operating procedure are：First using alternately lift method will be upper Fuselage and lower fuselage fit to together；When not running into caliber or duct orientation changes, climbed using integrally-lifting method OK；When running into caliber or duct orientation changes, the alternately lift method that is switched to crawls；When crossing caliber or pipe When at road direction change, then it is switched to integrally-lifting method and crawls.

3rd, beneficial effect

Compared to prior art, the beneficial effects of the utility model are：

(1) the utility model multi-mode pipe robot, during climbing or declining, using block of above creeping, under climb Stiction between row block and inner-walls of duct realizes climbing for robot, and traditional robot is mostly completed using roller Climb, due to producing rolling between roller and pipeline, it completes climbing for robot using kinetic force of friction, due to stiction It is not only bigger than kinetic force of friction, and do not allow to be also easy to produce slip, therefore the utility model can not only increase load, and can subtract Slip between small machine people and pipeline, increase the security of robot.

(2) the utility model multi-mode pipe robot, motion gait use bionics principle, imitate what the animal kingdom climbed Rule, the creep mode under varying environment is realized using different gaits, not only cause climb it is more reliable, and energy basis Concrete condition selects motor pattern, increases robot for environment and the adaptability of task, its application is increased, for spy The use determined under occasion provides possibility.

(3) the utility model multi-mode pipe robot, the fixation of itself and tube wall are designed using bionics principle, imitate wall Tiger and the fixed mode of metope, to increase with the contact area of metope to increase the adhesive force in metope, creeped using on multiple Block, under creep to improve the adhesive force of robot and metope, not only increase the load of robot, and increase safety Property.

Brief description of the drawings

Fig. 1 is the climb mode structural representation of the utility model multi-mode pipe robot；

Fig. 2 is the climbing mechanism schematic diagram of the utility model multi-mode pipe robot；

Fig. 3 is the schematic cross-sectional view of M-M in Fig. 2；

Fig. 4 is the schematic cross-sectional view of N-N in Fig. 2.

Label in accompanying drawing is expressed as：

1st, upper fuselage；2nd, lower fuselage；3rd, screw pair；4th, lifting motor；5th, climbing mechanism；5-1, upper left climb machine Structure；5-2, upper right climbing device；5-3, lower-left climbing device；5-4, bottom right climbing device；501st, creeped on block；502nd, upper company Bar；503rd, upper motor；504th, lower motor；505th, creeped under block；506th, lower link；507th, oscillating rod；508th, oscillating motor.

Embodiment

The utility model is further described below with reference to specific embodiments and the drawings.

Embodiment 1

As shown in figure 1, a kind of multi-mode pipe robot of the present embodiment, including fuselage and climbing device 5；Wherein, climb Mechanism 5 is used to support fuselage, and driving machine body moves in the duct.It is different from traditional robot and mostly uses roller and tube wall Between produce rolling friction and complete the structure climbed, the present embodiment is using static friction form, mainly by the machine of climbing The optimization design of structure 5 obtains.Specifically, climbing device 5 includes four, respectively by being arranged on up and down on four turnings of fuselage Upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right climbing device 5-4 composition, they tie Structure is identical, by the mutual cooperation of four climbing devices 5, completes the climbing motion of robot in the duct.Below to the machine of climbing The structure of structure 5 is described in detail.

With reference to shown in Fig. 2 to Fig. 4, climbing device 5 includes upper connecting rod 502, upper motor 503, lower motor 504, lower link 506th, oscillating rod 507 and oscillating motor 508；Wherein, one end connection fuselage of oscillating rod 507, and driven by oscillating motor 508 It is dynamic；Upper motor 503 and lower motor 504 are all arranged on the other end of oscillating rod 507, and upper motor 503 connects the one of upper connecting rod 502 End, lower motor 504 connect one end of lower link 506；The other end of upper connecting rod 502 is connected with block 501 of creeping, lower link 506 The other end be connected with down block 505 of creeping, above creep block 501 and under creep block 505 be used for robot in pipeline is creeped with pipe Wall contact support.

The multi-mode pipe robot of the present embodiment, in crawling process, using block 501 of above creeping, under creep block 505 with Stiction between inner-walls of duct realizes climbing for robot, mostly completes to climb using roller compared to traditional robot Rise, due to producing rolling between roller and pipeline, it completes climbing for robot using kinetic force of friction, due to stiction not It is only bigger than kinetic force of friction, and do not allow to be also easy to produce slip, therefore, the robot of the present embodiment can not only increase load, and The slip between robot and pipeline can be reduced, increase the security of robot.

Embodiment 2

By the multi-mode pipe robot of embodiment 1, climbing motion of the robot in pipeline can be achieved, and it can Creep mode under varying environment is realized using different gaits.The present embodiment provides a kind of side of creeping of pipe robot Method, action of creeping is completed using diagonal lifting pattern gait, this pattern is similar to animal, and diagonal such as lizard creeps, this process In, upper left climbing device 5-1 and bottom right climbing device 5-4 synchronous workings, upper right climbing device 5-2 and lower-left climbing device 5-3 Synchronous working, diagonal interoperation, realize climbing.This pattern is mainly used in small load, the situation of harmonic motion.Below to the party The step of method, is described in detail.

The method of creeping of the diagonal lift pipe robot, its operating procedure are：

1. upper left climbing device 5-1 upper connecting rod 502 rotates counterclockwise under the driving effect of upper motor 503, bottom right is climbed The upper connecting rod 502 for rising mechanism 5-4 is rotated clockwise under the driving effect of upper motor 503, and upper left climbing device 5-1 and bottom right are climbed The oscillating motor 508 for rising mechanism 5-4 is failure to actuate, and oscillating rod 507 does not rotate；Meanwhile upper right climbing device 5-2 oscillating rod 507 Being rotated clockwise under the driving effect of oscillating motor 508, upper connecting rod 502 rotates counterclockwise under the driving effect of upper motor 503, And lower-left climbing device 5-3 oscillating rod 507 rotates counterclockwise under the driving effect of oscillating motor 508, upper connecting rod 502 is in upper electricity Rotated clockwise under the driving effect of machine 503；Now, fuselage upper end twists to the right, and fuselage lower end twists to the left, fuselage axis with Conduit axis is in angle β, and the center of gravity of fuselage is offset to upper right side；

In this step, the driving of upper left climbing device 5-1 and bottom right climbing device 5-4 lower link 506 in lower motor 504 Under effect respectively counterclockwise and rotate clockwise, block 505 of being creeped under making progressively disengages tube wall；Lower-left climbing device 5-3 and upper right Climbing device 5-2 lower link 506 is counterclockwise respectively under the driving effect of lower motor 504 and rotates clockwise, and is creeped under making Block 505 progressively disengages tube wall；

2. when upper left climbing device 5-1 upper connecting rod 502 turns to vertical with conduit axis, β angles reach maximum；This When, upper left climbing device 5-1 and bottom right climbing device 5-4 continue to act；And upper right climbing device 5-2 oscillating rod 507 is being put Reversely start to rotate counterclockwise under the dynamic driving effect of motor 508, upper connecting rod 502 is reversely opened under the driving effect of upper motor 503 Beginning rotates clockwise；Lower-left climbing device 5-3 oscillating rod 507 reversely starts clockwise under the driving effect of oscillating motor 508 Rotate, upper connecting rod 502 reversely starts to rotate counterclockwise under the driving effect of upper motor 503；β angles are gradually reduced, until machine Body axis overlap with conduit axis, and body nodal point moves up a segment distance H along conduit axis direction, and H is equal to block of above creeping 501 and under creep the distance between block 505, that is, upper connecting rod 502 and lower link 506 isosceles triangle that is formed with tube wall Base, if upper connecting rod 502 and the length of lower link 506 are L, between angle be α, thenNow, upper left is climbed Mechanism 5-1 and bottom right climbing device 5-4 upper connecting rod 502 turn to and the symmetrical position of its initial position；

In this step, climb machine for upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right Structure 5-4 lower link 506 is rotated further, when fuselage axis overlaps with conduit axis, the weight of block 505 of being creeped under climbing device 5 Compression is newly contacted with tube wall, and lower link 506 has been located in the top of upper connecting rod 502, upper connecting rod 502 and lower link 506 realize The alternating of position；

3. after block 505 of being creeped under upper right climbing device 5-2 and lower-left climbing device 5-3 compresses tube wall, upper right is climbed Mechanism 5-2 lower link 506 continues to rotate clockwise, and lower-left climbing device 5-3 lower link 506 continues to rotate counterclockwise, and The driving stopping action of upper right climbing device 5-2 and lower-left climbing device 5-3 oscillating motor 508, oscillating rod 507 stop operating； Meanwhile after block 505 of being creeped under upper left climbing device 5-1 and bottom right climbing device 5-4 compresses tube wall, upper left climbing device 5-1 Lower link 506 continue to rotate clockwise, upper left climbing device 5-1 oscillating motor 508 starts to act, drive oscillating rod 507 Rotate counterclockwise, and bottom right climbing device 5-4 lower link 506 continues to rotate counterclockwise, bottom right climbing device 5-4 swing electricity Machine 508 starts to act, and driving oscillating rod 507 rotates clockwise；Now, fuselage upper end twists to the left, and fuselage lower end twists to the right, The angle β of fuselage axis and conduit axis gradually increases, and the center of gravity of fuselage is offset to upper left side；

In this step, the driving of upper left climbing device 5-1 and lower-left climbing device 5-3 upper connecting rod 502 in upper motor 503 Continue to rotate counterclockwise under effect, the block 501 that makes to creep is gradually distance from tube wall；Upper right climbing device 5-2 and bottom right climbing device 5-4 upper connecting rod 502 continues to rotate clockwise under the driving effect of upper motor 503, and the block 501 that makes to creep progressively disengages pipe Wall；

4. when upper right climbing device 5-2 lower link 506 turns to vertical with fuselage, β angles reach maximum again；This When, upper right climbing device 5-2 and lower-left climbing device 5-3 continue to act；And upper left climbing device 5-1 oscillating rod 507 is being put Reversely start to rotate clockwise under the dynamic driving effect of motor 508, lower link 506 is reversely opened under the driving effect of lower motor 504 Beginning rotates counterclockwise；Bottom right climbing device 5-4 oscillating rod 507 reversely starts counterclockwise under the driving effect of oscillating motor 508 Rotate, lower link 506 reversely starts to rotate clockwise under the driving effect of lower motor 504；β angles are gradually reduced, until machine Body axis overlap with conduit axis, and body nodal point moves up H distances along conduit axis direction；Now, upper right climbing device 5-2 Initial position is rotated with lower-left climbing device 5-3 lower link 506；

In this step, climb machine for upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right Structure 5-4 upper connecting rod 502 is rotated further, when fuselage axis overlaps again with conduit axis, block of being creeped on climbing device 5 501 contact compression with tube wall again, and upper connecting rod 502 is again positioned at the top of lower link 506；Now, robot has returned to Step 1. preceding original state；

5. repeat the above steps 1. to 4., realizing robot persistently creeping in pipeline.

Embodiment 3

A kind of multi-mode pipe robot of the present embodiment, is optimized on the basis of the robot architecture of embodiment 1 and changes Enter, by the way that fuselage is designed using split, and add elevating mechanism, so as to increase the motion gait pattern of robot, strengthen machine Adaptability of the device people to different use environments.

With reference to shown in Fig. 1, in the present embodiment, main 2 groups of the upper fuselage 1 and lower fuselage by being connected by elevating mechanism of fuselage Into the relative motion of the controllable upper fuselage 1 of, elevating mechanism and lower fuselage 2, make fuselage 1 and the lower phase of fuselage 2 closer or far from, from And fuselage is divided into mobilizable two parts.Wherein, upper left climbing device 5-1 and upper right climbing device 5-2 is located at upper fuselage 1 On, lower-left climbing device 5-3 and bottom right climbing device 5-4 are located on lower fuselage 2.

The structure of elevating mechanism has multiple choices, as long as the relative motion of fuselage 1 and lower fuselage 2 can be realized. In the present embodiment, elevating mechanism includes screw pair 3 and lifting motor 4, passes through leading screw spiral shell between upper fuselage 1 and lower fuselage 2 Female pair 3 connects, and is driven by lifting motor 4.

The robot can not only realize that the diagonal lifting pattern of embodiment 2 is creeped, and can also realize alternately lifting and overall liter Drop pattern creep mode, different loads, speed, caliber and duct orientation change are can adapt to, greatly enhances the suitable of robot Should be able to power.Other gait patterns can be described in detail for latter embodiments.

Embodiment 4

By the multi-mode pipe robot of embodiment 2, climbing motion of the robot in pipeline can be achieved, have a variety of Creep mode is available, the present embodiment provides a kind of alternately lifting creep mode, is mainly used in heavy load, low-speed motion Situation.The step of this method, is described in detail below.

The present embodiment replaces the method for creeping of lift pipe robot, and its operating procedure is：

1. upper left climbing device 5-1 and upper right climbing device 5-2 upper motor 503 and lower motor 504 act, connect in driving Bar 502 and lower link 506 rotate clockwise and anticlockwise respectively, make that upper left climbing device 5-1's and upper right climbing device 5-2 is upper Creep block 501 and under block 505 of creeping depart from contact with tube wall；

2. elevating mechanism works, lifting motor 4 drives upper fuselage 1 to move by screw pair 3, away from or close to lower machine Body 2；

3. elevating mechanism is stopped, upper left climbing device 5-1 and upper right climbing device 5-2 upper motor 503 and lower electricity Machine 504 acts, and drives upper connecting rod 502 and lower link 506 counterclockwise and to rotate clockwise respectively, make upper left climbing device 5-1 and Creeped on upper right climbing device 5-2 block 501 and under block 505 of creeping compress tube wall again；

4. lower-left climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower motor 504 act, connect in driving Bar 502 and lower link 506 rotate clockwise and anticlockwise respectively, make that lower-left climbing device 5-3's and bottom right climbing device 5-4 is upper Creep block 501 and under block 505 of creeping depart from contact with tube wall；

5. elevating mechanism works, lifting motor 4 drives lower fuselage 2 to move by screw pair 3, closer or far from upper machine Body 1；

6. elevating mechanism is stopped, lower-left climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower electricity Machine 504 acts, and drives upper connecting rod 502 and lower link 506 counterclockwise and to rotate clockwise respectively, make lower-left climbing device 5-3 and Creeped on the climbing device 5-4 of bottom right block 501 and under block 505 of creeping compress tube wall again；

7. repeating the above steps 1. to 6., upper fuselage 1 and lower fuselage 2 alternately move, and realize robot climbing in pipeline OK.

Embodiment 5

The present embodiment provides a kind of method of creeping of alternately lift pipe robot, enters one on the basis of embodiment 4 Step is improved, and it is applicable not only to heavy load, the situation of low-speed motion, and can adapt to creeping for caliber and crooked pipeline.Should The method of method and embodiment 4 is essentially identical, and institute's difference mainly has at following 2 points：

First, step 3. in, upper motor 503 and lower motor 504 action before or while, upper left climbing device 5-1 and the right side Upper climbing device 5-2 oscillating motor 508 acts, and driving oscillating rod 507 rotates, to coordinate upper connecting rod 502 and lower link 506 Rotate, make to creep block 501 and under block 505 of creeping compress tube wall.This step, enter caliber change in upper fuselage 1 or direction becomes When in the pipeline of change, this change can be adapted to by the cooperation of oscillating rod 507, upper connecting rod 502 and lower link 506.

2nd, step 6. in, climbing device 5-3 and bottom right climbing device 5-4 upper motor 503 and lower motor 504 in lower-left Before or while action, lower-left climbing device 5-3 and bottom right climbing device 5-4 oscillating motor 508 act, and drive oscillating rod 507 rotate, to coordinate the rotation of upper connecting rod 502 and lower link 506, make to creep block 501 and under block 505 of creeping compress tube wall. This step is dynamic when lower fuselage 2 is again introduced into after upper fuselage 1 comes into the pipeline of diameter change or the pipeline of direction change Make, and this change is adapted to by the cooperation of oscillating rod 507, upper connecting rod 502 and lower link 506.

It should be noted that the method for the present embodiment, it requires pipeline in direction change, and the radius of curvature that it bends is not Can be too big, otherwise fuselage will be difficult to cross, this have certainly to the volume of robot it is required, it is true according to actual conditions when in use It is fixed.

Embodiment 6

By the multi-mode pipe robot of embodiment 1, climbing motion of the robot in pipeline can be achieved, have a variety of Creep mode is available, and the present embodiment provides a kind of integral elevating Crawl gait pattern, be mainly used in vibrations it is obvious, it is necessary to The special circumstances such as quick movement.This gait is similar with diagonal lifting gait, in the gait unlike, four climbing devices 5 Work simultaneously.The step of this method, is described in detail below.

1. upper left climbing device 5-1, upper right climbing device 5-2, lower-left climbing device 5-3 and bottom right climbing device 5-4 Oscillating motor 508 and upper motor 503 act simultaneously, drive upper left climbing device 5-1 and lower-left climbing device 5-3 oscillating rod 507 and upper connecting rod 502 rotate counterclockwise, upper right climbing device 5-2 and bottom right climbing device 5-4 oscillating rod 507 and upper company Bar 502 rotates clockwise, and fuselage moves axially along pipeline；

In this step, the lower motor 504 of four climbing devices 5 acts, and driving lower link 506 rotates counterclockwise, and is climbed under making Row block 505 progressively disengages tube wall；

2. when the upper connecting rod 502 of four climbing devices 5 rotates to the position vertical with conduit axis, 507 turns of oscillating rod Extreme position is moved, now, the upper connecting rod 502 of four climbing devices 5 is rotated further, and oscillating rod 507 is in oscillating motor 508 Under driving effect, start to rotate backward；

3. when the upper connecting rod 502 of four climbing devices 5 is inverted to position symmetrical with its initial position, four machines that climb The oscillating rod 507 of structure 5 is also inverted to initial position, and the lower link 506 of four climbing devices 5 is made in the driving of lower motor 504 Under, block 505 of being creeped under making compresses tube wall again；Now, the position of upper connecting rod 502 and lower link 506 alternates, under creep Block 505 moves a segment distance positioned at the top of block 501 of above creeping, body nodal point along conduit axis, and the distance is equal to block 501 of above creeping The spacing creeped under and between block 505；

4. repeat the above steps 1. to 3., creeped on four climbing devices 5 block 501 and under creep block 505 along pipeline axle Line alternately compresses or departed from tube wall, realizes the movement of Robot pipeline.

Embodiment 7

By the multi-mode pipe robot of embodiment 2, robot creeping in pipeline is realized, there is provided one kind side of creeping Method, it is the method and one of 2 method and embodiment 5 in conjunction with the embodiments, can adapt to the change of caliber or duct orientation.Under Face is underdrawed.

3. or 6. step is 4. to making upper fuselage 1 and lower machine first, before creeping, by the step in embodiment 5 1. to Body 2 fits to together；Because if upper fuselage 1 and lower fuselage 2 separate, the climbing device 5 of upside two climbs apart from following two Farther out, when being creeped using diagonal lifting pattern, its attachment difficulty for tube wall is higher, has in crawling process for mechanism 5 The danger of landing, therefore, this action is completed before creeping；Then, when caliber or duct orientation do not change, using embodiment 2 diagonal creep mode crawls；When running into caliber or duct orientation changes, now, the friendship of embodiment 5 is switched to For lifting creep mode；After crossing at caliber or duct orientation change, then the diagonal lifting pattern creep mode of switchback.

Embodiment 8

By the multi-mode pipe robot of embodiment 2, robot creeping in pipeline is realized, there is provided one kind side of creeping Method, it is the method and one of 5 method and embodiment 6 in conjunction with the embodiments, can adapt to the change of caliber or duct orientation.Under Face is underdrawed.

3. or 6. step is 4. to making upper fuselage 1 and lower machine first, before creeping, by the step in embodiment 5 1. to Body 2 fits to together；Then, when caliber or duct orientation do not change, using the integral elevating creep mode of embodiment 6 Crawl；When running into caliber or duct orientation changes, now, the alternating lifting creep mode of embodiment 5 is switched to； After crossing at caliber or duct orientation change, then switchback integral elevating creep mode.

Example described in the utility model is only that preferred embodiment of the present utility model is described, not to this reality It is defined with new spirit and scope, on the premise of the utility model design philosophy is not departed from, this area engineering technology people The various modifications and improvement that member makes to the technical solution of the utility model, all should fall into the scope of protection of the utility model.

Claims (3)

1. a kind of multi-mode pipe robot, including fuselage and climbing device (5), the climbing device (5) includes four, respectively By upper left climbing device (5-1), upper right climbing device (5-2), the lower-left climbing device (5-3) being arranged on four turnings of fuselage Formed with bottom right climbing device (5-4), it is characterised in that：Described fuselage includes the upper fuselage (1) connected by elevating mechanism With lower fuselage (2), the relative motion of the controllable upper fuselage (1) of elevating mechanism and lower fuselage (2), make fuselage (1) and lower fuselage (2) mutually closer or far from；The upper left climbing device (5-1) and upper right climbing device (5-2) are located on upper fuselage (1), lower-left Climbing device (5-3) and bottom right climbing device (5-4) are located on lower fuselage (2).

A kind of 2. multi-mode pipe robot according to claim 1, it is characterised in that：Described elevating mechanism includes silk Thick stick pair of nut (3) and lifting motor (4), connected, and passed through by screw pair (3) between upper fuselage (1) and lower fuselage (2) Lifting motor (4) drives.

A kind of 3. multi-mode pipe robot according to claim 1 or 2, it is characterised in that：Described climbing device (5) Including upper connecting rod (502), upper motor (503), lower motor (504), lower link (506), oscillating rod (507) and oscillating motor (508)；One end connection fuselage of the oscillating rod (507), and driven by oscillating motor (508)；The upper motor (503) and Lower motor (504) is all arranged on the other end of oscillating rod (507), one end of upper motor (503) connection upper connecting rod (502), lower electricity One end of machine (504) connection lower link (506)；The other end of the upper connecting rod (502) is connected with block of creeping (501), lower company The other end of bar (506) is connected with down block of creeping (505).