LU502961B1

LU502961B1 - Squirming differential multi-mode pipe robot

Info

Publication number: LU502961B1
Application number: LU502961A
Authority: LU
Inventors: Tao Ren
Original assignee: Univ Chengdu Technology
Priority date: 2022-06-13
Filing date: 2022-10-26
Publication date: 2023-04-28
Also published as: CN114754228A; CN114754228B

Abstract

Disclosed is a squirming differential multi-mode pipe robot. The robot includes three parts: a front main body, a middle body and a rear main body. Sides of the front main body and the rear main body are connected to same variable diameter support modules. The variable diameter support module includes a holder, a driving contrate gear, a driven contrate gear, pinions, lead screws and supports. Switching of a support mode and a wheel mode of the robot is achieved by means of a half clutch A and a half clutch B. The front main body and the rear main body have the same structure and each include two racks therein. The squirming differential multi-mode pipe robot has the advantages of simple structure, multi-mode driving and rapid motion, and is adaptable to more pipes having complicated shapes and different diameters.

Description

SQUIRMING DIFFERENTIAL MULTI-MODE PIPE ROBOT

LU502961

Technical Field

The present invention belongs to the technical field of robots, and more particularly to a squirming differential multi-mode pipe robot.

Background Art

Pipes are widely used in the fields of petroleum and natural gas industries, municipal sewerage systems, semiconductor manufacturers, etc., providing low-cost transportation of materials such as petroleum, natural gas and sewage. However, due to long-term use, chemical corrosion, material aging, external disturbance and the like, pipes are prone to defects such as rupture, deformation and surface damage. Pipe leakage may cause problems such as supply fluctuations, wasting of resources and environmental pollution and even cause consequences such as explosion, seriously endangering personal and property safety. Therefore, pipes need to be regularly inspected, cleaned and maintained from the perspectives of safety and cost.

Existing pipe robots are complicated in structure and incapable of smoothly passing through turns of complicated pipes such as a T-shaped pipe and a cross pipe and can only move in pipes having diameters within a certain range.

Summary of the Invention

To overcome the deficiency of the prior art, the present invention provides a squirming differential multi-mode pipe robot which can realize autonomous turning, has multiple modes and can move in pipes of different diameters and steadily travel a long distance.

To achieve the objective of the present invention, the present invention adopts the following technical solution: a squirming differential multi-mode pipe robot includes a front main body, a middle body and a rear main body. A driving contrate gear, pinions, a driven contrate gear, a holder, lead screws, supports, a half clutch A, a half clutch B and a push rod are disposed at a side of each of the front main body and the rear main body. The driving contrate gear, the pinions, the driven contrate gear and the lead screws are connected by the holder. The lead screw is fixedly connected to the pinion and rotates along with the rotation of the pinion. The support sleeves the lead screw. The pinions, the lead screws and the supports are circumferentially distributed on the holder at intervals of 60°. A rear end of the driving contrate gear is connected to the front main body and the rear main body by means of a hollow shaft. A front end of the driven contrate gear is connected to a solid shaft. The solid shaft of the driven contrate gear extends through the hollow shaft of the driving contrate gear. The half clutch A is fixedly connected to a tail end of the hollow shaft of the driving contrate gear and rotates along with the rotation of the driving contrate gear. The half clutch B is connected to a tail end of the solid shaft of the driven contrate gear by means of a spline and rotates along with the rotation of the driven contrate gear. The push rod is mounted on the half clutch B. The pinion and the lead 502961 screw can rotate and revolve under the action of the clutch.

Further, the driving contrate gear, the pinions, the driven contrate gear, the holder, the lead screws and the supports form a variable diameter support module. The driving contrate gear rotates to cause rotation of the pinions. The pinions rotate to cause rotation of the lead screws, and the lead screws rotate to cause the supports to synchronously move up and down. Thus, a variable diameter supporting effect is achieved.

Further, the half clutch A, the half clutch B and the push rod form a mode switching module.

The half clutch B is pushed by the push rod to be engaged with the half clutch A, causing the driven contrate gear and the driving contrate gear to rotate in the same direction. In this case, the pinions and the lead screws do not rotate and the supports do not move. Thus, the effect of wheel rotation is achieved.

Further, the front main body, the middle body and the rear main body form an extending- retracting module. The front main body and the rear main body are completely the same in structure, and each include two racks therein. The middle body is provided with driving gears matching the racks. Sliding grooves for the racks to slide therein are formed at upper and lower ends of the driving gear. The effect of squirming is achieved by means of gear-rack motion.

Long shafts are disposed at both sides of the middle body. Two ends of the long shafts are connected to the front main body and the rear main body, respectively, thereby achieving the connection of the middle body with the front main body and the rear main body.

Further, the driving contrate gear, the pinions, the driven contrate gear, the holder, the lead screws, the supports, the half clutch A, the half clutch B and the push rod form a turning module. During turning, the attitude of the robot may be adjusted by controlling the speed and direction of the turning module.

The present invention has the following beneficial effects: 1. In the present invention, the support moves by means of the lead screw and the lead screw has a self-locking capability, allowing for better contact between the support and a pipe wall and ensuring that the support does not retract inwards when propping against the pipe wall. 2. According to the present invention, the support mode and the wheel mode can be switched by the mode switching module. As a result, the robot is provided with a plurality of driving modes and thus suitable for more pipes of different diameters. 3. According to the present invention, the mode can be switched to the wheel mode at a turn by the mode switching module so that the robot can pass through more complicated pipes such as an L-shaped pipe, a T-shaped pipe and a cross pipe. 4. According to the present invention, the extending-retracting module is driven by gears and racks and has the advantages of high speed, small space occupied, steady motion and so on.

Brief Description of the Drawings LU502961

FIG. 1 is a schematic diagram illustrating an integral structure according to the present invention.

FIG. 2 is a schematic diagram of a variable diameter support module according to the present invention.

FIG. 3 is a schematic diagram of a mode switching module according to the present invention.

FIG. 4 is a schematic diagram illustrating a wheel mode according to the present invention.

FIG. 5 is a schematic diagram of an extending-retracting module according to the present invention.

List of Reference Numerals: 1-front main body, 2-middle body, 3-rear main body, 4-driving contrate gear, 5-pinion, 6-driven contrate gear, 7-holder, 8-lead screw, 9-support, 10-half clutch

A, 11-half clutch B, 12-push rod, 13-rack, 14-driving gear, 15-sliding groove, and 16-long shaft.

Detailed Description of the Invention

The technical solutions in embodiments of the present invention will be described below clearly and completely with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are merely some rather than all of the embodiments of the present invention. All other embodiments derived from the embodiments of the present invention by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

With reference to FIG. 1 to FIG. 5, a squirming differential multi-mode pipe robot includes a front main body 1, a middle body 2 and a rear main body 3. A driving contrate gear 4, pinions 5, a driven contrate gear 6, a holder 7, lead screws 8, supports 9, a half clutch A 10, a half clutch

B11 and a push rod 12 are disposed at a side of each of the front main body 1 and the rear main body 3. The driving contrate gear 4, the pinions 5, the driven contrate gear 6 and the lead screws 8 are connected by the holder 7. The lead screw 8 is fixedly connected to the pinion 5 and rotates along with the rotation of the pinion 5. The support 9 sleeves the lead screw 8. The pinions 5, the lead screws 8 and the supports 9 are circumferentially distributed on the holder 7 atintervals of 60°. A rear end of the driving contrate gear 4 is connected to the front main body 1 and the rear main body 3 by means of a hollow shaft. A front end of the driven contrate gear 6 is connected to a solid shaft. The solid shaft of the driven contrate gear 6 extends through the hollow shaft of the driving contrate gear 4. The half clutch A 10 is fixedly connected to a tail end of the hollow shaft of the driving contrate gear 4 and rotates along with the rotation of the driving contrate gear 4. The half clutch B 11 is connected to a tail end of the solid shaft of the driven contrate gear 6 by means of a spline and rotates along with the rotation of the driven contrate gear 6. The push rod 12 is mounted on the half clutch B 11. The pinion 5 and the lead screw 8 can rotate and revolve under the action of the clutch.

The driving contrate gear 4, the pinions 5, the driven contrate gear 6, the holder 7, the lead 502961 screws 8 and the supports 9 form a variable diameter support module. The driving contrate gear 4 rotates to cause rotation of the pinions 5. The pinions 5 rotate to cause rotation of the lead screws 8, and the lead screws 8 rotate to cause the supports 9 to synchronously move up and down. Thus, a variable diameter supporting effect is achieved.

The half clutch A 10, the half clutch B 11 and the push rod 12 form a mode switching module. The half clutch B 11 is pushed by the push rod 12 to be engaged with the half clutch A 10, causing the driven contrate gear 6 and the driving contrate gear 4 to rotate in the same direction. In this case, the pinions 5 and the lead screws 8 do not rotate and the supports 9 do not move. Thus, the effect of wheel rotation is achieved.

The front main body 1, the middle body 2 and the rear main body 3 form an extending- retracting module. The front main body 1 and the rear main body 3 are completely the same in structure, and each include two racks 13 therein. The middle body 2 is provided with driving gears 14 matching the racks 13. Sliding grooves 15 for the racks 13 to slide therein are formed at upper and lower ends of the driving gear 14. The effect of squirming is achieved by means of gear-rack motion. Long shafts 16 are disposed at both sides of the middle body 2. Two ends of the long shafts 16 are connected to the front main body 1 and the rear main body 3, respectively, thereby achieving the connection of the middle body 2 with the front main body 1 and the rear main body 3.

The driving contrate gear 4, the pinions 5, the driven contrate gear 6, the holder 7, the lead screws 8, the supports 9, the half clutch A 10, the half clutch B 11 and the push rod 12 form a turning module. During turning, the attitude of the robot may be adjusted by controlling the speed and direction of the turning module.

In use, the robot is placed in a pipe. The driving contrate gears 4 on the front main body 1 and the rear main body 3 rotate, causing the pinions 5 and the lead screws 8 to rotate. The lead screws 8 rotate to drive the supports 9 to extend outwards, causing the supports 9 to be fixed on the pipe wall. The driving contrate gear 4 of the front main body 1 then rotates backwards, causing the supports 9 to retract. The driving gears 14 in the middle body 2 then rotate. The driving gears 14 drive the racks 13 of the front main body 1 to move, allowing the front main body 1 to move forwards. The driving gears 14 simultaneously move on the racks 13 of the rear main body 3, allowing the middle body 2 to move forwards. When moving a certain distance, the driving contrate gear 4 of the front main body 1 rotates such that the supports 9 are fixed on the pipe wall. The driving contrate gear 4 of the rear main body 3 then rotates backwards, causing the supports 9 to retract. Subsequently, the driving gears 14 in the middle body 2 rotate backwards. The driving gears 14 drive the racks 13 of the rear main body 3 to move, allowing the rear main body 3 to move forwards. The driving gears 14 simultaneously move on the racks 13 of the front main body 1, allowing the middle body 2 to move forwards. When moving a certain distance, the driving contrate gear 4 of the rear main body 3 rotates such that the supports 9 are fixed on the pipe wall. The movements described above are repeated such that 502961 the robot moves in the pipe.

In use, when the robot moves to a turn, the variable diameter support module and the extending-retracting module of the robot are reset to initial states. The half clutches B 11 on the 5 front main body 1 and the rear main body 3 are pushed by the push rods 12 to be engaged with the half clutches A 10 such that the robot is switched to a wheel mode. Speeds and directions of front and rear wheels are then controlled, causing the attitude of the robot to change and allowing the robot to make a turn smoothly.

Claims

1. À squirming differential multi-mode pipe robot, comprising a front main body (1), a middle body (2) and a rear main body (3), wherein — variable diameter mechanisms are disposed at front ends of the front main body (1) and the rear main body (3); — the variable diameter mechanism comprises a driving contrate gear (4), pinions (5), a driven contrate gear (6), a holder (7), lead screws (8), supports (9), a half clutch A (10), a half clutch B (11) and a push rod (12); — the driving contrate gear (4), the pinions (5), the driven contrate gear (6) and the lead screws (8) are connected by the holder (7); — the lead screw (8) is fixedly connected to the pinion (5) and rotates along with the rotation of the pinion (5); — the support (9) sleeves the lead screw (8); — the pinions (5), the lead screws (8) and the supports (9) are circumferentially distributed on the holder (7) at intervals of 60°; — a tail end of the driving contrate gear (4) is fixedly connected to a front end of a hollow shaft; — a tail end of the half clutch A (10) is fixedly connected to a tail end of the hollow shaft; — the driving contrate gear (4) is connected to the front main body (1) and the rear main body (3) by means of the hollow shaft; — a front end of the driven contrate gear (6) is fixedly connected to a front end of a solid shaft; — a tail end of the solid shaft is provided with a spline; — a spline groove is formed in the centre of the half clutch B (11); — a front end of the half clutch B (11) is connected to the tail end of the solid shaft by means of the spline; — the solid shaft extends through the hollow shaft; — arecess is formed in a tail end of the half clutch B (11); — the push rod (12) is mounted in the recess of the half clutch B (11) by means of a circular ring at a front end thereof; — the push rod (12) is capable of pushing the half clutch B (11) to be engaged with the half clutch A (10); — the lead screw (8) and the pinion (5) revolve simultaneously along with the rotation of the driving contrate gear (4) in a clutch engagement state and rotate simultaneously along with the rotation of the driving contrate gear (4) in a clutch separation state;

— two racks (13) are disposed at internal left and right ends of the front main body (1) and 502961 the rear main body (3); — the racks (13) are fixedly connected within the front main body (1) and the rear main body (3); — driving gears (14) matching the racks (13) are disposed at internal left and right ends of the middle body (2); — sliding grooves (15) for the racks to slide therein are formed at upper and lower ends of the driving gear (14); — the effect of squirming is achieved by means of gear-rack motion; — four long shafts (16) are disposed at each of front and rear ends of the middle body (2); and — the long shafts (16) are connected to the front main body (1) and the rear main body (3), respectively, thereby achieving the connection of the middle body (2) with the front main body (1) and the rear main body (3).

2. The squirming differential multi-mode pipe robot according to claim 1, wherein — the variable diameter mechanism extends and retracts when the half clutch B (11) is separated from the half clutch A (10), thereby achieving the effect of diameter variation; — the variable diameter mechanism is in the form of a wheel in an initial state and revolves entirely when the half clutch B (11) is engaged with the half clutch A (10), thereby achieving the effect of wheel rotation; and — ata turn, speeds and directions of the variable diameter mechanisms of the front main body (1) and the rear main body (3) are controlled such that the robot is enabled to complete turning by means of a speed difference.

3. The squirming differential multi-mode pipe robot according to claim 1, wherein angles of the supports (9) on the variable diameter mechanism may be adjusted manually such that the supports (9) are distributed spirally, and in the clutch engagement state, the robot is capable of moving forwards spirally.