RU4955U1 - ROBOT FOR PIPE MOVEMENT - Google Patents

Abstract

A robot for moving through pipes, containing a platform on which two bilateral pneumatic cylinders are installed, on the rods of which are running bearings in the form of vacuum grippers with lifting and lowering drives, characterized in that four running bearings and a rotation unit are additionally introduced into it, the first pneumatic cylinder placed in the center above the platform, and the other coaxially with it - under the platform, while the first pneumatic cylinder is rigidly connected to the platform, and the second is connected to it through the platform turning unit, the ends of the rods are pneumatic cylinder The sockets are equipped with dual consoles and, respectively, the main and additional running supports are fixed on them, the length of the rod consoles of the first pneumatic cylinder being longer than the length of the rod consoles of the second pneumatic cylinder, and rotation units installed in the center of the consoles, and ball joints are installed between the vacuum grips and the lifting and lowering drives.

Description

ROBOT FOR CARRYING ON PIPES

The utility model relates to the field of creating walking mechanisms and can be used to perform technical operations on vertical surfaces.

A device is known according to patent SM 1 3682265, class 180-9, 1972, which comprises a housing with displacement drives mounted thereon connected to the running supports. This device cannot move on non-magnetic vertical surfaces.

A device is known that contains two pairs of pneumatic cylinders mounted on a platform and equipped with vacuum grippers, as well as speed synchronization units and a sensor system (see description to AS USSR I63369I, V 62 D 57/032, 1990). The device has a slogan design and does not provide the ability to move through pipes.

The inventive utility model is aimed at simplifying the design and providing the ability to move through pipes.

This result is achieved by the fact that in the known device containing a platform on which two double-sided pneumatic cylinders are installed, on the stocks of which there are running bearings in the form of vacuum grippers with lifting-lowering drives, four running bearings and a rotation unit are introduced, the first pneumatic cylinder being placed in in the center above the platform, and the second - coaxially with it - under the platform, while the first pneumatic cylinder is rigidly connected to the platform, and the second is connected to it through the rotation unit, the ends of the piston rod rods are equipped with consoles and are respectively fixed main and additional driving support, wherein the length of the first air cylinder rod consoles

.. IPC in 62 D 57/032

more than the length of the rod consoles of the second pneumatic cylinder, and rotation units are installed in the center of the consoles, while ball joints are installed with small grippers and lifting-lowering drives.

The distinguishing features of the utility model are:

- the introduction of four running supports and a turning unit,

- placement of the first pneumatic cylinder in the center above the platform;

-placing the second pneumatic cylinder coaxially with the first - under the platform ;;

 rigid connection of the first pneumatic cylinder with the platform;

-connection of the second pneumatic cylinder with the platform through the platform turning unit;

-supply of the ends of the rods of pneumatic cylinders with dual KHESEX consoles and the main and additional running bearings are respectively fixed to them,

-the length of the rod consoles of the first pneumatic cylinder is greater than the length of the rod consoles of the second pneumatic cylinder,

-in the center of the consoles mounted rotation units

- ball joints are installed between the vacuum grippers and the lifting and lowering drives.

Reducing the number of pneumatic cylinders simplifies the design and reduces the weight of the robot. The new arrangement of the air cylinders increases the compactness of the construction and optimizes the center of gravity of the robot during vertical movement. The new location of the rotation unit and the ratio of the lengths of the consoles increases the mobility of the robot's turn, and the rotation units and ball joints make it possible to move through the pipes.

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In FIG. I shows a diagram of the robot, figure 2 - the algorithm of the pneumatic cylinder.

The robot contains a platform I (see Fig. 1), on which the pneumatic cylinder 2 is rigidly mounted, and through the rotation unit 3, a pneumatic cylinder 4. At the ends of the rods Ш1 of the cylinders 2 and 4, dual consoles 5 and 6 are made, on which the running bearings are fixed in the form of vacuum grabs 7 and 8, respectively, with the drive for lifting and lowering 9 and 10. The rotation units of the II consoles are configured to fold the console in the direction of the pipe surface along which the robot moves. The vacuum grips have ball joints 12. The ES: 6 console is designed to be rotated under the console 5.

The robot operates as follows. With the translational motion, the blocks II unfold the grippers 7 until they come into contact with the surface of the pipe, while the ball joints 12 automatically ensure that the grips completely adhere to the surface. In this position, blocks II are fixed, ensuring the adaptation of the robot to a given pipe diameter, or the RCs are retracted to their original positions with a changing pipe diameter. In this case, the grips 7 are fixed, and the grips 8 are raised. Platform I moves with the cylinder body 2 relative to the stationary piston II (Fig. 2, position I) when pressure is applied to the right cavity of the cylinder 2. At the same time, pressure is supplied to the left cavity of the cylinder) 4 to move the piston 12 to its original position. After the end of the stroke, the actuators 10 and II lower the grippers 8, which are fixed on the surface. Then, the grippers 7 are released and lifted by the drives 10. Pressure is applied to the right cavity of the cylinder 4, and the platform I, together with the cylinder body 4 relative to the stationary piston 12, performs the next step. At the same time, pressure is supplied to the left cavity of the cylinder 2 to displace the piston II to its original position. Next, the cycle of movements repeats.

If it is necessary to turn the platform I, the grips 8 are fixed, the grippers 7 are lifted and the turning unit 3 is turned on. After that, for movement in a new direction, the axis of cylinder 4 is aligned with the axis of cylinder 2 by lowering and fixing the grippers 7, lifting the grippers 8 and turning on the turning unit 3 in the corresponding direction. Depending on the shape of the consoles 5 and b, the robot can be moved both on the outer and inner surfaces of the pipes.

In this way, the flexibility and reliability of the robot moving through the pipes is achieved while simplifying its shells; ii.

Claims (1)

A robot for moving through pipes, containing a platform on which two bilateral pneumatic cylinders are installed, on the rods of which are running bearings in the form of vacuum grippers with lifting and lowering drives, characterized in that four running bearings and a rotation unit are additionally introduced into it, the first pneumatic cylinder placed in the center above the platform, and the other coaxially with it - under the platform, while the first pneumatic cylinder is rigidly connected to the platform, and the second is connected to it through the platform turning unit, the ends of the rods are pneumatic cylinder The sockets are equipped with dual consoles and, respectively, the main and additional running supports are fixed on them, the length of the rod consoles of the first pneumatic cylinder being longer than the length of the rod consoles of the second pneumatic cylinder, and rotation units installed in the center of the consoles, and ball joints are installed between the vacuum grips and the lifting and lowering drives.