CN214565773U - Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot - Google Patents
Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot Download PDFInfo
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- CN214565773U CN214565773U CN202120704942.3U CN202120704942U CN214565773U CN 214565773 U CN214565773 U CN 214565773U CN 202120704942 U CN202120704942 U CN 202120704942U CN 214565773 U CN214565773 U CN 214565773U
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- vehicle body
- pipeline
- automobile body
- lead screw
- front vehicle
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Abstract
The utility model relates to a pipeline robot technical field discloses a non-encirclement permanent magnetism adsorbs formula and can cross barrier and climb a tub robot, including preceding automobile body and back automobile body, preceding automobile body with top between the back automobile body is provided with the roll-over stand, preceding automobile body with one side on back automobile body top all is fixed with the steering wheel, preceding automobile body with the central point on back automobile body top puts the department and all is fixed with the crossbearer, step motor's output all installs the screw lead screw through the shaft coupling, all the cover is equipped with the lead screw copper sheathing on the screw lead screw, the one end of connecting rod all rotates with the middle part of wheel arm and is connected, the other end of wheel arm all is fixed with direct current motor. The utility model discloses not only can be through the pipeline surface of different pipe diameters, can be in the pipeline surface motion of various modes to but the relative contained angle of subassembly such as automatically regulated wheel arm, so that stride across multiple obstacle, thereby satisfy to the quality testing of pipeline that has magnetism, maintain operations such as restoration.
Description
Technical Field
The utility model relates to a pipeline robot technical field specifically is a non-surrounds permanent magnetism absorption formula and can hinder more and climb a tub robot.
Background
The robot capable of crawling outside pipe is one electromechanical integrated system capable of walking along pipeline automatically, carrying one or several sensors and operating mechanism and performing one series of operation in high altitude and harsh environment. At present, most of pipeline inspection and maintenance work is mainly finished by climbing pipes by workers, so that the labor intensity is high, and the working efficiency is low; in particular, many industrial pipelines carry high-temperature, high-pressure, highly toxic and radioactive fluids, which further increases the operational risk. Therefore, the multifunctional external pipe crawling robot with climbing and obstacle crossing functions is urgently needed to be developed, so that the manual labor is replaced for carrying out regular inspection and maintenance on the pipeline.
However, some existing pipe climbing robots still have the problems of single movement mode, large application limitation and the like in actual use, and are specifically embodied in that the robots cannot be adsorbed or tightly held on a pipeline, most robots can only walk along the pipeline direction without having the function of rotating around the pipeline, some robots cannot cross over obstacles on the pipeline, some robots are only suitable for climbing a pipeline state of a vertical rod or a horizontal rod, some robots even cannot continuously and uniformly pass through the outer surfaces of all parts of the pipeline, and the requirements of continuous detection or maintenance on the outer surfaces of the pipelines in various postures are difficult to meet.
Therefore, the person skilled in the art provides a non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot to solve the problems in the background art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a non-surrounds permanent magnetism absorption formula and can hinder more and climb a tub robot to solve the problem that provides in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot comprises a front vehicle body and a rear vehicle body, wherein a turnover frame is arranged at the top between the front vehicle body and the rear vehicle body, steering engines are fixed on one sides of the top ends of the front vehicle body and the rear vehicle body, the output ends of the steering engines are respectively rotatably connected with one side inside the turnover frame, cross frames are fixed at the central positions of the top ends of the front vehicle body and the rear vehicle body, stepping motors are installed on one sides of the top ends of the cross frames, threaded lead screws are installed at the output ends of the stepping motors through couplers, the two threaded lead screws are respectively positioned below the front vehicle body and the rear vehicle body, lead screw copper sleeves are sleeved on the threaded lead screws, two connecting rods are symmetrically hinged on the outer side walls of the lead screw copper sleeves, and one ends of the connecting rods are rotatably connected with the middle parts of wheel arms, and two sets of the one end of wheel arm respectively with the both sides of crossbearer bottom are rotated and are connected, the other end of wheel arm all is fixed with direct current motor, just mecanum wheel is all installed to direct current motor's the all axial of output, preceding automobile body with the back automobile body all sets up in the surface of pipeline, and the bottom of two sets of mecanum wheels all with the surface rolling contact of pipeline.
As a further aspect of the present invention: the front vehicle body and the bottom end of the rear vehicle body are fixed with supporting columns at equal intervals, the bottom ends of the supporting columns are provided with rollers, the bottom ends of the rollers are in rolling contact with the surface of the pipeline, and the rollers are used for assisting in supporting and maintaining the relative interval with the surface of the pipeline.
As a further aspect of the present invention: electric jar, two are all installed to the opposite side at crossbearer top the output of electric jar extends perpendicularly respectively to preceding automobile body the below of back automobile body is fixed with the magnetic adsorption piece for the adsorption dynamics of automated control and pipeline.
As a further aspect of the present invention: the magnetic adsorption block is all about the crossbearer vertical lift, just all the symmetry is provided with two slide rails on the lateral wall of magnetic adsorption block for spacing direction.
As a further aspect of the present invention: the front vehicle body and the bottom end of the rear vehicle body at the position of the slide rail are both vertically provided with slide grooves, and the slide rails are all embedded with the slide grooves and are in sliding connection, so that the lifting track of the magnetic adsorption block is limited, and the magnetic adsorption block is ensured to be vertical to the central line of the pipeline.
As a further aspect of the present invention: the lead screw copper sheathing all about the crossbearer vertical lift, just the connecting rod with the wheel arm all about lead screw copper sheathing antiport to relative two sets of the biggest contained angle between the wheel arm all is 180, is applicable to the pipeline of various different pipe diameters.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the front vehicle body or the rear vehicle body is controlled to vertically rotate relative to the roll-over stand through the steering engine, the magnetic adsorption block is pushed by the electric cylinder to vertically lift relative to the cross frame and is used for adjusting adsorption force, so that the front vehicle body or the rear vehicle body is tightly attached to the surface of a pipeline, auxiliary support is carried out by using a roller at the bottom end of the support column, and the relative interval between the front vehicle body or the rear vehicle body and the surface of the pipeline is maintained;
2. the threaded screw rod is controlled to rotate quantitatively through the stepping motor, the screw rod copper sleeve drives the connecting rod to deflect linearly, the wheel arm rotates in a linkage mode, the direct current motor and the Mecanum wheel expand or contract reversely, and therefore the novel multi-functional screw rod is applicable to pipelines with different pipe diameters and high in practicability.
Drawings
Fig. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic bottom view of the front and rear bodies of the present invention;
FIG. 4 is a schematic view of the horizontal cross-shaped duct crossing state of the present invention;
FIG. 5 is a schematic view of the present invention when crossing a vertical cross or L-shaped pipe;
FIG. 6 is a schematic view of the present invention in a state of passing through a bent pipe;
FIG. 7 is a schematic view of the present invention in a state of crossing a pipe obstacle;
fig. 8 is a schematic view of the overall effect of the present invention.
In the figure: 1. a front vehicle body; 2. a rear vehicle body; 3. a roll-over stand; 4. a steering engine; 5. a support pillar; 6. a roller; 7. a cross frame; 8. an electric cylinder; 9. a magnetic adsorption block; 10. a slide rail; 11. a chute; 12. a stepping motor; 13. a threaded lead screw; 14. a lead screw copper sleeve; 15. a connecting rod; 16. a wheel arm; 17. a direct current motor; 18. a Mecanum wheel; 19. a pipeline.
Detailed Description
Referring to fig. 1 to 8, in an embodiment of the present invention, a non-surrounding permanent magnetic adsorption type robot capable of climbing pipe beyond obstacles includes a front vehicle body 1 and a rear vehicle body 2, a roll-over stand 3 is disposed at a top between the front vehicle body 1 and the rear vehicle body 2, steering engines 4 are fixed to top ends of the front vehicle body 1 and the rear vehicle body 2, output ends of the steering engines 4 are rotatably connected to one side of the roll-over stand 3, a cross-frame 7 is fixed to a central position of top ends of the front vehicle body 1 and the rear vehicle body 2, stepping motors 12 are mounted to top sides of the cross-frame 7, threaded screws 13 are mounted to output ends of the stepping motors 12 through couplers, the two threaded screws 13 are respectively disposed below the front vehicle body 1 and the rear vehicle body 2, copper screw sleeves 14 are sleeved on the threaded screws 13, two connecting rods 15 are symmetrically hinged to outer side walls of the copper screw sleeves 14, one ends of the connecting rods 15 are rotatably connected to middle portions of wheel arms 16, and one end of two sets of wheel arms 16 is respectively connected with both sides of the bottom end of the cross frame 7 in a rotating manner, the other end of each wheel arm 16 is fixed with a direct current motor 17, the output ends of the direct current motors 17 are axially provided with Mecanum wheels 18, the front vehicle body 1 and the rear vehicle body 2 are both arranged on the surface of the pipeline 19, and the bottom ends of the two sets of Mecanum wheels 18 are in rolling contact with the surface of the pipeline 19.
In fig. 1, 2 and 3: the bottom ends of the front vehicle body 1 and the rear vehicle body 2 are fixed with supporting columns 5 at equal intervals, the bottom ends of the supporting columns 5 are provided with rollers 6, and the bottom ends of the rollers 6 are in rolling contact with the surface of the pipeline 19 and are used for auxiliary support to maintain the relative interval with the surface of the pipeline 19; the other side of the top of the cross frame 7 is provided with electric cylinders 8, the output ends of the two electric cylinders 8 vertically extend to the lower parts of the front vehicle body 1 and the rear vehicle body 2 respectively and are fixed with magnetic adsorption blocks 9 for automatically controlling the adsorption force with the pipeline 19; the magnetic adsorption blocks 9 are vertically lifted relative to the cross frame 7, and two slide rails 10 are symmetrically arranged on the outer side walls of the magnetic adsorption blocks 9 and used for limiting and guiding; the bottom ends of the front vehicle body 1 and the rear vehicle body 2 at the position of the slide rail 10 are both vertically provided with slide grooves 11, and the slide rail 10 is mutually embedded and slidably connected with the slide grooves 11 for limiting the lifting track of the magnetic adsorption block 9 and ensuring the vertical to the central line of the pipeline 19.
In fig. 2: the lead screw copper sleeves 14 vertically lift relative to the cross frame 7, the connecting rods 15 and the wheel arms 16 reversely rotate relative to the lead screw copper sleeves 14, and the maximum included angles between the two groups of wheel arms 16 are all 180 degrees, so that the lead screw copper sleeves are suitable for pipelines 19 with different pipe diameters.
The utility model discloses a theory of operation is:
first case (as in fig. 1): advancing or retreating on the horizontal straight-going pipe 19;
that is, the direct current motors 17 on the two sides of the front car body 1 and the rear car body 2 are directly controlled to run at the same speed and in the same direction, so that the four mecanum wheels 18 rotate clockwise or anticlockwise at the same speed, and synchronous forward or backward movement of the front car body 1 and the rear car body 2 is realized.
Second case (as in fig. 1): rotate left and right around the pipe 19;
namely, two direct current motors 17 on one sides of the front vehicle body 1 and the rear vehicle body 2 are operated to run at the same speed and in the same direction, so that two Mecanum wheels 18 on the same side rotate clockwise at the same speed, and simultaneously, the two direct current motors 17 on one sides of the front vehicle body 1 and the rear vehicle body 2 run reversely at the same speed, so that the two Mecanum wheels 18 on the same side rotate anticlockwise at the same speed, and the left rotation is realized; and conversely, the right-hand rotation is realized.
Third case (as in fig. 4): across the horizontal cross duct 19;
the method comprises the following steps: rotating the upper plane of the robot body to a plane parallel to the plane of the pipeline 19 at the position near the horizontal cross-shaped pipeline 19, controlling a stepping motor 12 in the front body 1 to enable a lead screw copper sleeve 14 to move downwards along a threaded lead screw 13, expanding wheel arms 16 on two sides of the front body 1, driving two Mecanum wheels 18 through direct current motors 17 on two sides of the rear body 2, enabling the rear body 2 to move forwards, and enabling the front body 1 to pass through a node of the cross-shaped pipeline 19;
step two: when the rear vehicle body 2 approaches to the node of the cross-shaped pipeline 19, the front vehicle body 1 passes through the node of the cross-shaped pipeline 19, the screw rod copper sleeve 14 moves upwards along the threaded screw rod 13 by controlling the stepping motor 12 in the front vehicle body 1, the wheel arms 16 on two sides of the front vehicle body 1 drive the mecanum wheels 18 to be tightly attached to the surface of the pipeline 19, meanwhile, the screw rod copper sleeve 14 moves downwards along the threaded screw rod 13 by controlling the stepping motor 12 in the rear vehicle body 2, the wheel arms 16 on two sides of the rear vehicle body 2 are expanded, and the direct current motors 17 on two sides of the front vehicle body 1 drive the two mecanum wheels 18, so that the front vehicle body 1 moves forwards, and the rear vehicle body 2 passes through the node of the cross-shaped pipeline 19;
step three: when the robot body completely passes through the cross-shaped pipeline 19, the screw rod copper sleeve 14 moves upwards along the threaded screw rod 13 by controlling the stepping motor 12 in the rear body 2, so that the wheel arms 16 on two sides of the rear body 2 drive the Mecanum wheels 18 to cling to the surface of the pipeline 19, and the whole robot body can be continuously driven to move forwards.
Fourth case (as in fig. 5): spanning a vertical cross or L-shaped duct 19;
the method comprises the following steps: in the vicinity of the L-shaped pipeline 19, the robot body is rotated to be in the same plane as the L-shaped pipeline 19, the electric cylinder 8 in the rear body 2 is controlled to extend, the adsorption force of the rear body 2 on the pipeline 19 is enhanced by using the descending magnetic adsorption block 9, the adsorption force of the front body 1 on the pipeline 19 is weakened by reverse operation, then the front body 1 is rotated and lifted up by 90 degrees relative to the turnover frame 3 by driving of the steering engine 4, the bottom surface of the front body 1 faces the other section of the L-shaped pipeline 19, and then the direct current motors 17 on the two sides of the rear body 2 drive the two Mecanum wheels 18 to enable the front body 1 to move forwards;
step two: when current automobile body 1 contacts another section of L line pipeline 19, pass magnetic adsorption piece 9 through the electric jar 8 level in the automobile body 1 before the control, make preceding automobile body 1 strengthen to the adsorption affinity of pipeline 19, and reverse operation makes back automobile body 2 weaken to the adsorption affinity of pipeline 19, drive through steering wheel 4, lift back automobile body 2 rotation and break away from original pipeline 19, direct current motor 17 through preceding automobile body 1 both sides drives two mecanum wheels 18, make preceding automobile body 1 continue forward motion, when back automobile body 2 passes through the node of L type pipeline 19, reverse drive through steering wheel 4, descend back automobile body 2 on pipeline 19, through the extension of adjusting two electric jars 8, make the adsorption affinity of two magnetic adsorption pieces 9 to pipeline 19 restore to original size, can continue to move ahead.
Fifth case (fig. 6): by bending the pipe 19;
near crooked pipeline 19, make the adsorption affinity reinforcing of back automobile body 2 department through the extension of control electric jar 8, and reverse operation makes the adsorption affinity of preceding automobile body 1 to pipeline 19 weaken, through steering wheel 4's drive, with preceding automobile body 1 lift, two mecanum wheels 18 of direct current motor 17 drive of rethread 2 both sides of back automobile body, drive back automobile body 2 forward motion, after through crooked pipeline 19, through steering wheel 4's reverse drive, with preceding automobile body 1 descend on pipeline 19, through the extension of adjusting two electric jars 8, make the adsorption affinity of two magnetic adsorption blocks 9 to pipeline 19 restore to original size, can continue to move ahead.
Sixth case (fig. 7): crossing a disorder;
the method comprises the following steps: in the vicinity of the obstacle of the pipeline 19, the adsorption force of the rear vehicle body 2 is enhanced by controlling the extension of the electric cylinder 8, the adsorption force of the front vehicle body 1 on the pipeline 19 is weakened by reverse operation, the front vehicle body 1 is lifted by driving of the steering engine 4, and then the two Mecanum wheels 18 are driven by the direct current motors 17 on the two sides of the rear vehicle body 2 to drive the rear vehicle body 2 to move forwards;
step two: when current automobile body 1 passes through pipeline 19 obstacle, through steering wheel 4's back drive, will preceding automobile body 1 descend on pipeline 19, make the adsorption affinity reinforcing of preceding automobile body 1 department through the extension of control electricity jar 8, and reverse operation makes back automobile body 2 weaken to pipeline 19's adsorption affinity, drive through another steering wheel 4, lift up back automobile body 2 and break away from original pipeline 19, direct current motor 17 through preceding automobile body 1 both sides drives two mecanum wheels 18, automobile body 1 moves forward before the drive, when back automobile body 2 passes through pipeline 19 obstacle, through another steering wheel 4's back drive, will descend back automobile body 2 on pipeline 19, through the extension volume of adjusting two electricity jars 8, make two magnetic adsorption blocks 9 resume to original size to pipeline 19's adsorption affinity, can continue to move ahead.
The utility model discloses a climb a tub robot and require according to the working method, can rationally arrange the operation procedure, or through the operation of remote control terminal human control, make it can be through the pipeline 19 (or cylinder) surface of different pipe diameters, can be at the pipeline 19 (or cylinder) surface motion of various modes to the relative contained angle of subassembly such as adjustable wheel arm 16, so as to stride across multiple obstacle, thereby satisfy the quality detection to pipeline 19 (or cylinder) that have magnetism, operation such as maintenance restoration.
The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The non-surrounding permanent magnetic adsorption type obstacle-crossing pipe climbing robot comprises a front vehicle body (1) and a rear vehicle body (2), and is characterized in that a turning frame (3) is arranged at the top between the front vehicle body (1) and the rear vehicle body (2), a steering engine (4) is fixed on one side of the top end of the front vehicle body (1) and one side of the top end of the rear vehicle body (2), the output end of the steering engine (4) is rotatably connected with one side of the inside of the turning frame (3) respectively, a cross frame (7) is fixed at the central position of the top end of the front vehicle body (1) and the center of the top end of the rear vehicle body (2), a stepping motor (12) is installed on one side of the top of the cross frame (7), threaded screws (13) are installed at the output ends of the stepping motor (12) through couplers, and the two threaded screws (13) are located below the front vehicle body (1) and the rear vehicle body (2) respectively, all the cover is equipped with lead screw copper sheathing (14) on screw lead screw (13), just it has two connecting rods (15) all to articulate to have the symmetry on the lateral wall of lead screw copper sheathing (14), the one end of connecting rod (15) all rotates with the middle part of wheel arm (16) to be connected, and two sets of the one end of wheel arm (16) respectively with the both sides of crossbearer (7) bottom are rotated and are connected, the other end of wheel arm (16) all is fixed with direct current motor (17), just mecanum wheel (18) are installed to the all axial of output of direct current motor (17), preceding automobile body (1) with back automobile body (2) all set up in the surface of pipeline (19), and the bottom of two sets of mecanum wheel (18) all with the surface rolling contact of pipeline (19).
2. The non-surrounding permanent magnetic adsorption type obstacle-crossing pipe climbing robot as claimed in claim 1, wherein supporting columns (5) are fixed at equal intervals at the bottom ends of the front vehicle body (1) and the rear vehicle body (2), rollers (6) are mounted at the bottom ends of the supporting columns (5), and the bottom ends of the rollers (6) are in rolling contact with the surface of the pipeline (19).
3. The non-surrounding permanent magnetic adsorption type obstacle-crossing pipe climbing robot as claimed in claim 1, wherein electric cylinders (8) are mounted on the other side of the top of the cross frame (7), and output ends of the two electric cylinders (8) vertically extend to the lower portions of the front vehicle body (1) and the rear vehicle body (2) respectively and are fixed with magnetic adsorption blocks (9).
4. The non-surrounding permanent magnetic adsorption type obstacle-crossing pipe climbing robot as claimed in claim 3, wherein the magnetic adsorption blocks (9) are vertically lifted and lowered relative to the cross frame (7), and two sliding rails (10) are symmetrically arranged on the outer side walls of the magnetic adsorption blocks (9).
5. The non-surrounding permanent magnetic adsorption type obstacle-crossing pipe climbing robot according to claim 4, wherein sliding grooves (11) are vertically formed in the bottom ends of the front vehicle body (1) and the rear vehicle body (2) at the positions of the sliding rails (10), and the sliding rails (10) and the sliding grooves (11) are mutually embedded and connected in a sliding mode.
6. The non-surrounding permanent-magnet adsorption type obstacle-crossing pipe climbing robot as claimed in claim 1, wherein the lead screw copper sleeves (14) are vertically lifted and lowered relative to the cross frame (7), the connecting rods (15) and the wheel arms (16) are reversely rotated relative to the lead screw copper sleeves (14), and the maximum included angles between the two sets of wheel arms (16) are 180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120704942.3U CN214565773U (en) | 2021-04-07 | 2021-04-07 | Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120704942.3U CN214565773U (en) | 2021-04-07 | 2021-04-07 | Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN214565773U true CN214565773U (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120704942.3U Expired - Fee Related CN214565773U (en) | 2021-04-07 | 2021-04-07 | Non-surrounding permanent magnet adsorption type obstacle-crossing pipe climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN214565773U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013531A (en) * | 2021-11-26 | 2022-02-08 | 江苏科技大学 | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | Curved surface self-adaptive wheel type wall-climbing robot and working method thereof |
| CN115013641A (en) * | 2022-06-08 | 2022-09-06 | 哈尔滨工程大学 | Derusting robot and derusting method suitable for pipelines with various diameters |
-
2021
- 2021-04-07 CN CN202120704942.3U patent/CN214565773U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013531A (en) * | 2021-11-26 | 2022-02-08 | 江苏科技大学 | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | Curved surface self-adaptive wheel type wall-climbing robot and working method thereof |
| CN115013641A (en) * | 2022-06-08 | 2022-09-06 | 哈尔滨工程大学 | Derusting robot and derusting method suitable for pipelines with various diameters |
| CN115013641B (en) * | 2022-06-08 | 2023-02-17 | 哈尔滨工程大学 | Rust removal robot and rust removal method suitable for pipelines with various diameters |
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Granted publication date: 20211102 |