WO2018205920A1 - Complete strong supporting single drive two-way crawling type pipeline cleaning robot - Google Patents

Complete strong supporting single drive two-way crawling type pipeline cleaning robot Download PDF

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Publication number
WO2018205920A1
WO2018205920A1 PCT/CN2018/085976 CN2018085976W WO2018205920A1 WO 2018205920 A1 WO2018205920 A1 WO 2018205920A1 CN 2018085976 W CN2018085976 W CN 2018085976W WO 2018205920 A1 WO2018205920 A1 WO 2018205920A1
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WO
WIPO (PCT)
Prior art keywords
frame
telescopic
shaft
sliding
drive
Prior art date
Application number
PCT/CN2018/085976
Other languages
French (fr)
Chinese (zh)
Inventor
刘送永
谢奇志
崔新霞
江红祥
李伟
沈刚
唐玮
刘后广
杨建华
Original Assignee
中国矿业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to AU2018264305A priority Critical patent/AU2018264305B2/en
Priority to CA3045865A priority patent/CA3045865C/en
Priority to GB1906128.2A priority patent/GB2569931B/en
Publication of WO2018205920A1 publication Critical patent/WO2018205920A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/40Constructional aspects of the body
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • F16L2101/12Cleaning

Definitions

  • the invention relates to the technical field of non-horizontal pipeline cleaning robots, in particular to a coordination function based on non-isochronous cam groups, realizing full-process strong support and single-drive two-way peristalsis in vertical pipelines of equal or very small diameters Walking the pipeline cleaning robot.
  • the peristaltic pipeline robot has greater traction and terrain adaptability, and is more suitable for pipeline cleaning operations.
  • most of the existing pigging robots and pigs have only one-way walking ability.
  • special obstacles cannot be recovered and recovered, causing the robot to be stuck in the pipe.
  • Insufficient support and instability which is not conducive to the cleaning of non-horizontal pipelines (most typical such as vertical pipelines).
  • the present invention provides a full-strength support type single-drive two-way creeping pipeline cleaning robot, which realizes the whole in a non-horizontal pipeline based on the coordination function of the non-isochronous cam group.
  • a fully supported single-drive two-way creeping pipeline cleaning robot comprising a front body component, a transmission component and a rear body component;
  • the transmission assembly is driven by a power, and through the transmission action of the link mechanism, the gear mechanism and the non-isochronous cam mechanism, the front body assembly and the rear body assembly are alternately contracted and supported in the radial direction.
  • Intermittent strong support ie, at any one time, at least one of the front and rear bodies is in a strong support state
  • the full support of the robot along the non-horizontal pipeline, the two-way creep walking and the pipeline cleaning operation are realized.
  • the front body assembly comprises a front casing, a dredging cutter head, a front frame, front elastic telescopic arms on the upper and lower sides, and front elastic support wheels on the left and right sides;
  • the front casing is disposed outside the front frame and is fixed to the front frame;
  • the dredging cutter is disposed on the front side of the front frame, and includes a wheel, a knife bar uniformly distributed along the circumference of the wheel, and a knife Rod-fixed dredging blade;
  • the front elastic telescopic arm (active type) includes an elastic rubber pad, a sliding rod, a first compression spring, a spring limiting piece and a roller, and an elastic rubber pad is disposed at a top end of the sliding rod;
  • the first compression spring is set at The lower limit position of the first compression spring is realized by the spring limiting piece at the bottom of the sliding rod;
  • the outer wall of one side of the sliding rod is provided with a groove communicating with the bottom, and the roller is mounted on the bottom of the groove through the support rod ( That is, the roller is biased and installed, and the distance between the roller and the sliding rod is adjusted by sliding support of the support rod along the groove to adapt to the radial dimension of different pipes;
  • the bottom of the front elastic telescopic arm passes through the front machine a shell and an upper limit of the first compression spring on the sliding rod through the front casing;
  • the front elastic supporting wheel (passive type) includes a telescopic shaft, a telescopic sleeve sleeved outside the telescopic shaft, and a wheel disposed at a top end of the telescopic shaft, and a second compression spring connected to the bottom of the telescopic shaft is disposed in the telescopic sleeve,
  • the two compression spring realizes the telescopic movement of the telescopic shaft and the telescopic sleeve, thereby realizing the elastic adjustment of the length of the front elastic support wheel to adapt to the radial dimension of different pipes;
  • the front elastic support wheel is disposed on the left and right sides of the front casing through the telescopic sleeve side.
  • the rear body assembly comprises a rear casing, a rear frame, rear elastic telescopic arms on the upper and lower sides, and rear elastic support wheels on the left and right sides; wherein the rear casing is set outside the rear frame, and
  • the structure of the rear elastic telescopic arm and the rear elastic support wheel (including the component structure and the connection relationship with the rear chassis) is the same as the front elastic telescopic arm and the front elastic support wheel in the front body assembly, respectively.
  • the transmission assembly comprises a rotating electrical machine, a cutter drive assembly, a front drive assembly, a rear drive assembly and a middle drive assembly; wherein the rotary motor is disposed on a front side of the rear frame and passes through the front side of the rear frame a first spur gear is sleeved on the output shaft, and the first spur gear is matched with a rear side of the front side panel of the rear frame;
  • the middle drive assembly includes a plurality of guiding mechanisms, a transmission mechanism and a crank linkage mechanism connecting the front frame and the rear frame;
  • the guiding mechanism comprises a guiding rod disposed on a rear side plate of the front frame and disposed on the rear frame
  • the linear bearing on the front side plate realizes the telescopic connection of the front frame and the rear frame through the sliding cooperation of the guide rod and the linear bearing;
  • the transmission mechanism includes a set of matching sliding shafts and bearing sleeves, the side walls of the bearing sleeves are provided with elongated through grooves, and the side walls of the sliding shafts are provided with cylindrical pins through which the cylindrical pins are connected.
  • the sliding fit of the slot realizes the synchronous rotation and the telescopic sliding of the sliding shaft and the bearing sleeve; the side of the sliding shaft away from the bearing sleeve penetrates the rear side plate of the front frame, and the sliding shaft is provided with two first limiting rings, The first limiting ring is respectively engaged with the front and rear sides of the rear side panel of the front frame, and the axial sliding of the sliding shaft relative to the rear side panel of the front frame is restricted by the two first limiting rings; the bearing A side of the sleeve away from the sliding shaft extends through the front side panel of the rear frame, and the bearing sleeve is provided with a second limiting ring and a second spur gear, and the second limiting ring and the front side of the front side panel
  • the front drive assembly includes a front rotation shaft, a front non-isochronous cam group and a third bevel gear disposed in the front frame, and the front non-equivalent cam group and the third bevel gear are sleeved on the front rotation shaft;
  • the bevel gear meshes with the first bevel gear to drive synchronous rotation of the front rotation shaft and the front non-isochronous cam group;
  • the front non-equivalent cam group includes two identical front non-isoche cams (ie, the far rest of the cam) The angles and the near angles of repose are not equal, and the two front non-isolating cams are 180° misaligned;
  • the bottoms of the front and rear elastic telescopic arms of the front body assembly are (biased) and the rollers are respectively
  • the front non-equivalent cam is in contact with the installation, and the synchronous radial expansion adjustment of the two front elastic telescopic arms is realized by two front non-isochronous cams;
  • the rear drive assembly includes a rear rotating shaft, a rear non-isochronous cam set and a fourth bevel gear disposed in the rear frame, and the connection structure of the rear drive assembly is the same as the front drive assembly; the fourth bevel gear and the second cone The gear meshes with the transmission, and drives the synchronous rotation of the rear rotating shaft and the rear non-isoche cam group; the rear non-isochronous cam group includes two identical rear non-isolating cams, and two through the two rear non-isoche cams Synchronous radial expansion adjustment of the rear elastic telescopic arm;
  • the cutter drive assembly comprises a fifth bevel gear, a belt drive mechanism and a cutter shaft, wherein the fifth bevel gear meshes with the third bevel gear, and drives the rotation of the cutter shaft through the belt transmission mechanism, and the dredging cutter
  • the wheel of the disk is sleeved on one side of the front side plate of the front frame of the cutter head, thereby realizing synchronous rotation of the dredging cutter head;
  • the crank link mechanism includes a connecting rod and a crank disposed on the left and right sides of the front frame and the rear frame, and the crank sleeve is sleeved on the rear rotating shaft extending to the outside of the rear frame to rotate synchronously with the rear rotating shaft;
  • One end of the rod is hinged to the left/right side plate of the front frame, and the other end is hinged to the crank on the side, and the axial telescopic adjustment between the front body assembly and the rear body assembly is realized by the crank link mechanism.
  • the working principle of the invention is: firstly, the pipeline robot equipped with the sensor, the camera and the dredging cutter is manually placed into the non-horizontal pipeline, and then the motor is controlled to rotate forward, through the linkage mechanism, the gear and the non-isochronous cam mechanism.
  • the transmission function enables the front and rear bodies to alternately support and maintain the uninterrupted strong support in the whole process of radial contraction and support (ie, at least one of the two bodies is in a strong support state at any time), and the front and rear bodies are also along the axis direction. It will alternately expand and contract, and the dredging cutter will rotate at the same time through the mechanism transmission.
  • the robot can perform the cleaning operation while walking along the pipeline.
  • controlling the motor reversal causes the robot to exit backwards in order to take other countermeasures.
  • the cutter bar and the dredging blade of the dredging cutter are detachable, which facilitates maintenance and replacement of the cutter bar and the dredging blade, thereby saving cost.
  • the support rod is provided with a first long groove, and the first threaded hole is opened in the groove, and the support rod edge is realized by the fastening cooperation of the fastening bolt and the first threaded hole after passing through the first long groove
  • the telescopic adjustment of the groove makes the connection simple and convenient.
  • the side wall of the telescopic sleeve is provided with a second long groove
  • the second cylindrical pin is disposed on the side wall of the telescopic shaft, and the expansion of the telescopic shaft along the telescopic sleeve is restricted by the cooperation of the second cylindrical pin and the second long groove The telescopic movement prevents the telescopic shaft from coming out.
  • the front non-equivalent cam (which is identical to the rear non-equivalent cam) has a far angle of repose of not less than 180°, thereby ensuring continuous strong support throughout the entire process. Because the cam rotates 360° a week, only when the far-retention angle of the non-isolating cam is not less than 180°, and the sum of the near angle of repose, the angle of lift and the angle of return is not more than 180°, the continuous strong support can be maintained during the whole process of motion. . In other words, as shown in FIG. 14, at any one time, at least one of the front body support state curve S1 and the rear body support state curve S2 is at the ordinate P1 point, and the P1 point represents a strong support.
  • the full-strength support type single-drive two-way creeping pipeline cleaning robot provided by the present invention has the following advantages over the prior art: 1. Through a power source and a set of mechanisms, it can be realized in an equal diameter or a minimum The whole process strong support and two-way creeping walking in the vertical pipe of the variable diameter can withdraw the pipe backwards when the pipeline cleaning encounters a special fault and cannot continue to move forward, thereby improving the maneuverability of the pipeline robot to cope with the complicated pipeline environment; The robot body is more compact and lighter, which greatly improves the endurance of the pipeline robot, and at the same time keeps the whole process continuous traction. Therefore, the entire process can be realized for the vertical pipe with equal or minimum variable diameter that needs to maintain continuous support force. Strong support has practical engineering significance for comprehensive cleaning of pipelines.
  • FIG. 1 is a schematic view showing the overall structure of an embodiment of the present invention.
  • Figure 2 is a front elevational view of an embodiment of the present invention
  • FIG. 3 is a schematic view showing the internal structure of an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a dredging cutter head according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of an elastic telescopic arm according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of an elastic support wheel in an embodiment of the present invention.
  • Figure 7 is a schematic structural view of a transmission assembly in an embodiment of the present invention.
  • Figure 8 is a plan view of the transmission assembly in the embodiment of the present invention.
  • FIG. 9 and FIG. 10 are respectively schematic diagrams of transmissions of a front non-equivalent cam group and a rear non-equivalent cam group in an embodiment of the present invention.
  • Figure 11 is a schematic view showing the movement of the crank link mechanism in the embodiment of the present invention.
  • Figure 12 is a schematic structural view of a transmission mechanism in an embodiment of the present invention.
  • Figure 13 is a view showing a position of a corner of a rear non-equivalent cam in the embodiment of the present invention.
  • Figure 14 is a diagram showing changes in the support state of the front and rear bodies with the cam angle in the embodiment of the present invention.
  • 15a-e are flow diagrams of movement of a robot along a pipe in an embodiment of the present invention.
  • the figure includes: 1, front body components, 1-1, front casing, 1-2, dredging cutters, 1-3, front frame, 1-4, front elastic telescopic arms, 1-5, front elastic Support wheel, 1-2-1, dredging blade, 1-2--2, arbor, 1-2-3, roulette, 1-4-1, elastic rubber pad, 1-4-2, sliding rod ,1-4-3, first compression spring, 1-1-4, spring limit piece, 1-4-5, roller, 1-4-6, groove, 1-4-7, support rod, 1-5-1, wheels, 1-5-2, telescopic shaft, 1-5-3, telescopic sleeve,
  • transmission components 2-1, cutter head shaft, 2-2, belt drive mechanism, 2-3, front non-equivalent cam group, 2-4, guide rod, 2-5, linear bearing, 2-6, Rotating motor, 2-7, first spur gear, 2-8, rear shaft, 2-9, rear non-equivalent cam group, 2-10, fourth bevel gear, 2-11, crank, 2-12, transmission Mechanism, 2-13, connecting rod, 2-14, third bevel gear, 2-15, front shaft, 2-16, fifth bevel gear, 2-12-1, first bevel gear, 2-12-2 , first limit ring, 2-12-3, sliding shaft, 2-12-4, cylindrical pin, 2-12-5, bearing sleeve, 2-12-6, through slot, 2-12-7, Two limit ring, 2-12-8, second spur gear, 2-12-9, second bevel gear,
  • Rear body components 3-1, rear casing, 3-2, rear frame, 3-3, rear elastic telescopic arms, 3-4, rear elastic support wheels.
  • 2 is a full-strength support type single-drive two-way creeping pipeline cleaning robot, comprising a front body assembly 1, a transmission assembly 2 and a rear body assembly 3;
  • the transmission assembly 2 is driven by a power, and the transmission process of the link body mechanism, the gear mechanism and the non-isochronous cam mechanism causes the front body assembly 1 and the rear body assembly 3 to alternately contract and support in the radial direction.
  • Achieve uninterrupted strong support ie, at least one of the front and rear bodies is in a strong support state at any one time
  • the front body assembly 1 includes a front casing 1-1, a dredging cutter 1-2, a front frame 1-3, front and rear elastic telescopic arms 1-4 on the upper and lower sides, and left and right sides.
  • the front casing 1-1 is disposed outside the front frame 1-3 and is fixed to the front frame 1-3; as shown in FIG. 4, the dredging cutter 1-2 is disposed on the front frame 1 -3 front side, which includes a wheel 1-2-3, a circumferentially uniform shank 1-2-2 along the wheel 1-2-3, and a dredging blade 1 fixed to the shank 1-2-2 2-1;
  • the front elastic telescopic arms 1-4 include an elastic rubber pad 1-4-1, a sliding rod 1-4-2, a first compression spring 1-4-3, and a spring limiting piece 1-4. -4 and roller 1-4-5, and elastic rubber pad 1-4-1 is disposed at the top end of the sliding bar 1-4-2; the first compression spring 1-4-3 is set on the sliding bar 1-4 -2, and the lower limit position of the first compression spring 1-4-3 is realized by the spring limiting piece 1-4-4 at the bottom of the sliding rod 1-4-2; the outer wall of the sliding rod 1-4-2 is disposed at one side There is a groove 1-4-6 connecting the bottom, and the roller 1-4-5 is mounted on the bottom of the groove 1-4-6 through the support rod 1-4-7, and is passed along the support rod 1-4-7 The sliding fixing of the grooves 1-4-6 realizes the adjustment of the spacing between the rollers 1-4-5 and the sliding rods 1-4-2 to accommodate the radial dimensions of different pipes; the bottom of the front elastic telescopic arms 1-4 Passing through the front casing
  • the front elastic supporting wheel 1-5 includes a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the telescopic shaft 1-5-2, and a telescopic shaft 1- 5-2
  • the top wheel 1-5-1, and the telescopic sleeve 1-5-3 is provided with a second compression spring connected to the bottom of the telescopic shaft 1-5-2, and the telescopic shaft 1-5 is realized by the second compression spring.
  • the front elastic support wheel 1-5 is disposed on the left and right sides of the front casing 1-1 through the telescopic sleeve 1-5-3 On both sides.
  • the rear body assembly 3 includes a rear casing 3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 on the upper and lower sides, and rear elastic support wheels 3-4 on the left and right sides;
  • the rear casing 3-1 is disposed outside the rear frame 3-2 and is fixed to the rear frame 3-2;
  • the structure of the rear elastic telescopic arm 3-3 and the rear elastic supporting wheel 3-4 are the same as the front elastic telescopic arms 1-4 and the front elastic support wheels 1-5 in the front body assembly 1, respectively (the front and rear are identical common components).
  • the transmission assembly 2 includes a rotary electric machine 2-6, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a middle drive assembly;
  • the rotating electrical machine 2-6 is disposed on the front side of the rear frame 3-2, and the first spur gear 2-7 is sleeved on the output shaft of the front side plate of the rear frame 3-2, and the first straight The gears 2-7 are attached to the rear side of the front side panel of the rear frame 3-2;
  • the middle drive assembly includes a plurality of guiding mechanisms for connecting the front frame 1-3 and the rear frame 3-2, a transmission mechanism 2-12, and a crank link mechanism;
  • the guiding mechanism includes a front frame 1-3
  • the transmission mechanism 2-12 includes a set of matching sliding shafts 2-12-3 and bearing sleeves 2-12-5, which are disposed on the side walls of the bearing sleeves 2-12-5.
  • the sliding fit realizes the synchronous rotation and the telescopic sliding of the sliding shaft 2-12-3 and the bearing sleeve 2-12-5; the side of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5 runs through the front frame
  • the rear side plate of 1-3, and the sliding axis 2-12-3 is provided with two first limiting rings 2-12-2, and the first limiting ring 2-12-2 and the front frame 1 respectively -3 the front and rear sides of the rear side panel are fitted together, and the axial sliding of the sliding shaft 2-12-3 with respect to the rear side panel of the front frame 1-3 is restricted by the two first limiting rings 2-12-2;
  • the second limit ring 2-12-7 is engaged with the front side of the front side plate of the rear frame 3-2, and the second spur gear 2-12 -8 is attached to the rear side of the front side panel of the rear frame 3-2; through the second limit ring 2-12 -7 and the second spur gear 2-12-8 limit the axial sliding of the bearing sleeve 2-12-5 relative to the front side plate of the rear frame 3-2, and the second spur gear 2-12-8 and the first straight
  • the gears 2-7 are meshed and transmitted to realize the rotational speed transmission of the output shaft of the rotary electric machine 2-6 to the bearing sleeve 2-12-5; the sliding shaft 21-2 is sleeved away from the end of the bearing sleeve 2-12-5
  • the first bevel gear 2-12-1, and the end of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3 is provided with a second bevel gear 2-12-9;
  • the front drive assembly includes a front rotating shaft 2-15, a front non-isochronous cam group 2-3 and a third bevel gear 2-14 disposed in the front frame 1-3, and the front non-equivalent cam group 2-3 and
  • the third bevel gear 2-14 is sleeved on the front rotating shaft 2-15; the third bevel gear 2-14 meshes with the first bevel gear 2-12-1, and drives the front rotating shaft 2-15 and the front non-equal Synchronous rotation of the rest cam group 2-3; as shown in FIG.
  • the front non-equivalent cam group 2-3 includes two identical front non-equivalent cams 2-3a, 2-3b, and two front Non-isochronous cam 180° misaligned stacking; front and rear elastic telescopic arms 1-4a, 1-4b at the bottom of the front body assembly 1 are respectively 1-2-5 and two front non-isolating cams 2-3a, 2-3b are in contact with the installation, and the synchronous radial expansion and contraction adjustment of the two front elastic telescopic arms 1-4 is realized by two front non-isochronous cams;
  • the rear drive assembly includes a rear rotating shaft 2-8, a rear non-isochronous cam set 2-9 and a fourth bevel gear 2-10 disposed in the rear frame 3-2, and the connection structure and the front drive assembly of the rear drive assembly The same (the front and rear are identical common components); the fourth bevel gear 2-10 meshes with the second bevel gear 2-12-9, and drives the rear rotating shaft 2-8 and the rear non-equivalent cam group 2-9 Synchronous rotation; as shown in FIG. 10, the rear non-equivalent cam group 2-9 includes two identical rear non-equivalent cams 2-9a, 2-9b, which are realized by two rear non-equivalent cams.
  • the cutter drive assembly includes a fifth bevel gear 2-16, a belt drive mechanism 2-2, and a cutter spindle 2-1, and the fifth bevel gear 2-16 is meshed with the third bevel gear 2-14, and The rotation of the cutter shaft 2-1 is driven by the belt transmission mechanism 2-2, and the wheel 1-1-2 of the dredging cutter head 1-2 is sleeved on the cutter shaft 2-1 through the front frame 1-3.
  • the crank link mechanism includes connecting rods 2-13 and cranks 2-11 disposed on the left and right sides of the front frame 1-3 and the rear frame 3-2, and the cranks 2-11 sets.
  • the cranks 2-11 Provided on the rear rotating shaft 2-8 extending outside the rear frame 3-2 to rotate synchronously with the rear rotating shaft 2-8; one end of the connecting rod 2-13 is hinged to the left/right side of the front frame 1-3 The other end of the plate is hinged to the crank 2-11 on the side, and the axial telescopic adjustment between the front body assembly 1 and the rear body assembly 3 is realized by the crank link mechanism.
  • the cutter bar 1-2-2 and the dredging blade 1-2-1 of the dredging cutter head 1-2 are all detachable;
  • the support bar 1-4-7 has a first a long groove, and a first threaded hole is opened in the groove 1-4-6, and the support rod 1-4-7 is concave along the first threaded hole after the first long groove is fastened by the fastening bolt Telescopic adjustment of slots 1-4-6.
  • a second long slot is defined in a sidewall of the telescopic sleeve 1-5-3, and a second cylindrical pin is disposed on a sidewall of the telescopic shaft 1-5-2, and the second cylindrical pin is The cooperation of the second long groove limits the telescopic movement of the telescopic shaft 1-5-2 along the telescopic sleeve 1-5-3.
  • the non-equivalent cams 2-3a, 2-3b, 2-9a, 2-9b have a far angle of repose of 180°, and the near angle of repose is 144°, and both the range and the return angle are 18°. Since the far-away angle of the non-isochronous cam is 180°, at least one of the front body or the rear body is in a strong supporting state during the whole movement. Therefore, when moving in a vertical pipe, the front and rear bodies can be unstable in the process of alternately supporting the pipe wall without being insufficiently supported.
  • the present invention requires that the non-isochronous cam has a far angle of repose of not less than 180°, when the near-rest angle is constant, the non-equivalent cam is opposite to The radial variation range of the isochronous cam is small, and thus the present invention is only applicable to movement in small variable diameter and equal diameter pipes.
  • the far angle of repose of the non-equivalent cam required by the present invention requires only a value of not less than 180°, so the embodiment of the present invention is not limited to this particular angle.
  • the walking process of the pipeline robot is shown in Figures 13, 14, 15a-e.
  • S1 and S2 in Fig. 14 represent the radial support states of the front body and the rear body, respectively.
  • the robot is divided into three parts, namely the front body B1 (radial expansion and contraction), the middle body B2 (axial expansion) and the rear body B3 (radial expansion).
  • the expansion and contraction state of each part is divided into three according to the degree of extension, which are the full extension, the middle, and the full contraction state.
  • the radial full contraction state does not support the tube wall
  • the radial intermediate state plays a weak supporting role on the tube wall
  • the radial full extension state plays a strong supporting role on the tube wall.
  • the crank 2-11 turns 0° clockwise.
  • the hinge hole on the crank 2-11 is now at the 1st position.
  • the front body B1 is in the fully extended state
  • the middle body B2 is in the axially fully retracted state
  • the rear body B3 is in the fully extended state.
  • the crank 2-11 is rotated 90° clockwise. As shown in Fig. 15b, the hinge hole on the crank 2-11 is now at the 2nd position. As can be seen from Fig. 14, the front body B1 is in a radially fully retracted state, the intermediate body B2 is in an axially intermediate state, and the rear body B3 is in a radially fully extended state.
  • the crank 2-11 is rotated 180° clockwise. As shown in Fig. 15c, the hinge hole on the crank 2-11 is now at the 3 position. As can be seen from Fig. 14, the front body B1 is in the fully extended state, the middle body B2 is in the axially extended state, and the rear body B3 is in the fully extended state.
  • the crank 2-11 is rotated 270° clockwise. As shown in Fig. 15d, the hinge hole on the crank 2-11 is now at the 4 position. As can be seen from Fig. 14, the front body B1 is in the radially extended state, the middle body B2 is in the intermediate state of the axis, and the rear body B3 is in the radially fully contracted state.
  • the crank 2-11 rotates 360° clockwise.
  • the hinge hole on the crank 2-11 is now returned to the 1st position.
  • the front body B1 is in the fully extended state
  • the middle body B2 is in the axially fully retracted state
  • the rear body B3 is in the fully extended state.
  • the invention realizes the radial contraction and expansion of the front and rear bodies of the robot, and the scaling of the front and rear body spacings by the combination of the linkage mechanism, the gear transmission and the non-isochronous cam mechanism, that is, a power and a mechanism, thereby realizing the vertical pipe.
  • the whole process is strongly supported and the two-way peristaltic walking is carried out.
  • the pipeline cleaning is realized during the walking process, and the stability and reliability of the pipeline cleaning operation are enhanced.
  • the invention is based on the coordination function of the non-isochronous cam group, and realizes continuous uninterrupted traction and strong support in the whole process in the process of alternating support state of the front and rear body. Therefore, the present invention is not only applicable to non-horizontal pipeline cleaning (such as vertical pipeline) with extremely small diameter, but also to horizontal pipelines with extremely small reduction, which has practical engineering significance for comprehensive cleaning of pipelines.

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Abstract

A complete strong supporting single drive two-way crawling type pipeline cleaning robot, comprising a front machine body component (1), a drive component (2) and a rear machine body component (3), wherein the drive component (2) is driven by one motive power; through the drive function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body component (1) and the rear machine body component (3) can realize a continuous strong supporting function during an overall radial alternate contracting and supporting process; and meanwhile the axial contraction between the front machine body component (1) and the rear machine body component (3) and the synchronous rotation of dredging cutters (1-2) are also realized. Therefore, full-process strong supporting and two-way crawling of the robot along a non-horizontal pipeline are realized; full-process continuous traction can be maintained; the stability and reliability of the walking process in the pipeline are effectively improved; and the cruising ability of the pipeline robot is enhanced.

Description

全强支撑型单驱双向蠕行式管道清理机器人Full-strength supported single-drive two-way creeping pipeline cleaning robot 技术领域Technical field
本发明涉及一种非水平管道清理机器人技术领域,尤其是一种基于非等休凸轮组的协调作用,在等径或极小变径的竖直管道内实现全过程强支撑及单驱双向蠕动行走的管道清理机器人。The invention relates to the technical field of non-horizontal pipeline cleaning robots, in particular to a coordination function based on non-isochronous cam groups, realizing full-process strong support and single-drive two-way peristalsis in vertical pipelines of equal or very small diameters Walking the pipeline cleaning robot.
背景技术Background technique
在清管作业过程中,蠕动式管道机器人具有更大的牵引能力和地形适应性,更适合管道清理作业。但是,现有的清管机器人和清管器大多只具有单向行走能力,在管道清理的过程中遇到特殊障碍物无法后退回收,造成机器人卡滞在管内。而对于现有的双向蠕动式管道清理机器人,难以用一个动力实现对管壁的全过程强支撑、双向行走和管道清理三项功能,尤其是在前后机体支撑状态交替变化的间隙,容易出现因支撑不足而失稳的现象,从而不利于非水平管道(最典型的如竖直管道)管道的清理。因此,针对单驱动双向蠕行清管机器人无法实现全过程强支撑等问题,从实际情况出发,基于非等休凸轮组协调作用,研制开发出一种适用于等径或极小变径的全强支撑型单驱双向蠕行式管道清理机器人,从而为非水平管道清理的实现提供基础。During the pigging operation, the peristaltic pipeline robot has greater traction and terrain adaptability, and is more suitable for pipeline cleaning operations. However, most of the existing pigging robots and pigs have only one-way walking ability. In the process of pipeline cleaning, special obstacles cannot be recovered and recovered, causing the robot to be stuck in the pipe. For the existing two-way peristaltic pipeline cleaning robot, it is difficult to realize the three functions of the whole process of strong support, two-way walking and pipeline cleaning with one power, especially in the gap where the support state of the front and rear bodies alternates, which is prone to occur. Insufficient support and instability, which is not conducive to the cleaning of non-horizontal pipelines (most typical such as vertical pipelines). Therefore, for the single-drive two-way creeping pigless robot, it is impossible to achieve strong support in the whole process. Based on the actual situation, based on the coordination function of the non-isochronous cam group, a full-scale or minimum variable diameter is developed. Strongly supported single-drive two-way creeping pipe cleaning robots provide the basis for the implementation of non-horizontal pipe cleaning.
发明内容Summary of the invention
发明目的:为了克服现有技术中存在的不足,本发明提供一种全强支撑型单驱双向蠕行式管道清理机器人,基于非等休凸轮组的协调作用,实现在非水平管道内的全过程强支撑和双向蠕动行走,从而实现在管道清理中的无间断连续牵引,提高管道行走过程的稳定性和可靠性。OBJECT OF THE INVENTION In order to overcome the deficiencies in the prior art, the present invention provides a full-strength support type single-drive two-way creeping pipeline cleaning robot, which realizes the whole in a non-horizontal pipeline based on the coordination function of the non-isochronous cam group. Process strong support and two-way peristaltic walking, so as to achieve uninterrupted continuous traction in pipeline cleaning, improve the stability and reliability of the pipeline walking process.
技术方案:为实现上述目的,本发明采用的技术方案为:Technical Solution: In order to achieve the above object, the technical solution adopted by the present invention is:
一种全强支撑型单驱双向蠕行式管道清理机器人,包括前机体组件、传动组件和后机体组件;A fully supported single-drive two-way creeping pipeline cleaning robot, comprising a front body component, a transmission component and a rear body component;
其中,所述传动组件由一个动力驱动,且通过连杆机构、齿轮机构和非等休凸轮机构的传动作用,使得前机体组件和后机体组件沿径向交替收缩与支撑的全过程中实现无间断的强支撑作用(即任一时刻,前后机体中至少有一个机体处于强支撑状态),同时实现前机体组件和后机体组件之间的轴向交替伸缩,以及清淤刀盘的同步旋转,从而实现机器人沿非水平管道的全过程强支撑作用、双向蠕动行走和管道清理作业。Wherein, the transmission assembly is driven by a power, and through the transmission action of the link mechanism, the gear mechanism and the non-isochronous cam mechanism, the front body assembly and the rear body assembly are alternately contracted and supported in the radial direction. Intermittent strong support (ie, at any one time, at least one of the front and rear bodies is in a strong support state), and at the same time realize the axial expansion and contraction between the front body assembly and the rear body assembly, and the synchronous rotation of the dredging cutter. Thereby, the full support of the robot along the non-horizontal pipeline, the two-way creep walking and the pipeline cleaning operation are realized.
优选的,所述前机体组件包括前机壳、清淤刀盘、前机架、上下两侧的前弹性伸缩臂以及左右两侧的前弹性支撑轮;Preferably, the front body assembly comprises a front casing, a dredging cutter head, a front frame, front elastic telescopic arms on the upper and lower sides, and front elastic support wheels on the left and right sides;
其中,所述前机壳套装在前机架外,且与前机架固接;清淤刀盘设置于前机架前侧,其包括轮盘、沿轮盘周向均布的刀杆以及与刀杆固接的清淤刀片;Wherein, the front casing is disposed outside the front frame and is fixed to the front frame; the dredging cutter is disposed on the front side of the front frame, and includes a wheel, a knife bar uniformly distributed along the circumference of the wheel, and a knife Rod-fixed dredging blade;
所述前弹性伸缩臂(主动式)包括弹性橡胶垫、滑动杆、第一压簧、弹簧限位片以及滚子,且弹性橡胶垫设置于滑动杆的顶端;所述第一压簧套装在滑动杆上,并通过滑动杆底部的弹簧限位片实现第一压簧的下限位;滑动杆一侧外壁处设置有连通底部的凹槽,所述 滚子通过支撑杆安装于凹槽底部(即滚子采用偏置安装),并通过支撑杆沿凹槽的滑动固定实现滚子与滑动杆间距的调整,以适应不同管道的径向尺寸;所述前弹性伸缩臂的底部穿过前机壳,并通过前机壳实现滑动杆上第一压簧的上限位;The front elastic telescopic arm (active type) includes an elastic rubber pad, a sliding rod, a first compression spring, a spring limiting piece and a roller, and an elastic rubber pad is disposed at a top end of the sliding rod; the first compression spring is set at The lower limit position of the first compression spring is realized by the spring limiting piece at the bottom of the sliding rod; the outer wall of one side of the sliding rod is provided with a groove communicating with the bottom, and the roller is mounted on the bottom of the groove through the support rod ( That is, the roller is biased and installed, and the distance between the roller and the sliding rod is adjusted by sliding support of the support rod along the groove to adapt to the radial dimension of different pipes; the bottom of the front elastic telescopic arm passes through the front machine a shell and an upper limit of the first compression spring on the sliding rod through the front casing;
所述前弹性支撑轮(被动式)包括伸缩轴、套设于伸缩轴外的伸缩套及设置于伸缩轴顶端的轮子,且伸缩套内设置有与伸缩轴底部相连的第二压簧,通过第二压簧实现伸缩轴与伸缩套的伸缩运动,从而实现前弹性支撑轮长度的弹性调整,以适应不同管道的径向尺寸;所述前弹性支撑轮通过伸缩套设置于前机壳的左右两侧。The front elastic supporting wheel (passive type) includes a telescopic shaft, a telescopic sleeve sleeved outside the telescopic shaft, and a wheel disposed at a top end of the telescopic shaft, and a second compression spring connected to the bottom of the telescopic shaft is disposed in the telescopic sleeve, The two compression spring realizes the telescopic movement of the telescopic shaft and the telescopic sleeve, thereby realizing the elastic adjustment of the length of the front elastic support wheel to adapt to the radial dimension of different pipes; the front elastic support wheel is disposed on the left and right sides of the front casing through the telescopic sleeve side.
优选的,所述后机体组件包括后机壳、后机架、上下两侧的后弹性伸缩臂以及左右两侧的后弹性支撑轮;其中,所述后机壳套装在后机架外,且与后机架固接;所述后弹性伸缩臂及后弹性支撑轮的结构(包括组件结构及与后机壳的连接关系)分别与前机体组件中的前弹性伸缩臂、前弹性支撑轮相同。Preferably, the rear body assembly comprises a rear casing, a rear frame, rear elastic telescopic arms on the upper and lower sides, and rear elastic support wheels on the left and right sides; wherein the rear casing is set outside the rear frame, and The structure of the rear elastic telescopic arm and the rear elastic support wheel (including the component structure and the connection relationship with the rear chassis) is the same as the front elastic telescopic arm and the front elastic support wheel in the front body assembly, respectively. .
优选的,所述传动组件包括旋转电机、刀盘驱动组件、前驱组件、后驱组件及中驱组件;其中,所述旋转电机设置于后机架前侧,其穿过后机架前侧板的输出轴上套设有第一直齿轮,且第一直齿轮与后机架前侧板的后侧相贴合;Preferably, the transmission assembly comprises a rotating electrical machine, a cutter drive assembly, a front drive assembly, a rear drive assembly and a middle drive assembly; wherein the rotary motor is disposed on a front side of the rear frame and passes through the front side of the rear frame a first spur gear is sleeved on the output shaft, and the first spur gear is matched with a rear side of the front side panel of the rear frame;
所述中驱组件包括连接前机架与后机架的若干导向机构、传动机构及曲柄连杆机构;所述导向机构包括设置于前机架后侧板上的导向杆及设置于后机架前侧板上的直线轴承,通过导向杆与直线轴承的滑动配合实现前机架与后机架的伸缩连接;The middle drive assembly includes a plurality of guiding mechanisms, a transmission mechanism and a crank linkage mechanism connecting the front frame and the rear frame; the guiding mechanism comprises a guiding rod disposed on a rear side plate of the front frame and disposed on the rear frame The linear bearing on the front side plate realizes the telescopic connection of the front frame and the rear frame through the sliding cooperation of the guide rod and the linear bearing;
所述传动机构包括一组相适配的滑动轴及轴承套,所述轴承套的侧壁上设置有长条形通槽,且滑动轴的侧壁上设置有圆柱销,通过圆柱销与通槽的滑动配合实现滑动轴与轴承套的同步转动及伸缩滑动;所述滑动轴远离轴承套的一侧贯穿前机架的后侧板,且滑动轴上设置有两个第一限位环,所述第一限位环分别与前机架后侧板的前后两侧相贴合,通过两个第一限位环限制滑动轴相对于前机架后侧板的轴向滑动;所述轴承套远离滑动轴的一侧贯穿后机架的前侧板,且轴承套上设置有第二限位环及第二直齿轮,所述第二限位环与后机架前侧板的前侧相贴合,第二直齿轮与后机架前侧板的后侧相贴合;通过第二限位环及第二直齿轮限制轴承套相对于后机架前侧板的轴向滑动,且第二直齿轮与第一直齿轮啮合传动,以实现旋转电机的输出轴至轴承套的转速传动;所述滑动轴远离轴承套的一端套设有第一锥齿轮,且轴承套远离滑动轴的一端套设有第二锥齿轮;The transmission mechanism includes a set of matching sliding shafts and bearing sleeves, the side walls of the bearing sleeves are provided with elongated through grooves, and the side walls of the sliding shafts are provided with cylindrical pins through which the cylindrical pins are connected. The sliding fit of the slot realizes the synchronous rotation and the telescopic sliding of the sliding shaft and the bearing sleeve; the side of the sliding shaft away from the bearing sleeve penetrates the rear side plate of the front frame, and the sliding shaft is provided with two first limiting rings, The first limiting ring is respectively engaged with the front and rear sides of the rear side panel of the front frame, and the axial sliding of the sliding shaft relative to the rear side panel of the front frame is restricted by the two first limiting rings; the bearing A side of the sleeve away from the sliding shaft extends through the front side panel of the rear frame, and the bearing sleeve is provided with a second limiting ring and a second spur gear, and the second limiting ring and the front side of the front side panel of the rear frame Fitted together, the second spur gear is matched with the rear side of the front side panel of the rear frame; the second limit ring and the second spur gear limit the axial sliding of the bearing sleeve relative to the front side panel of the rear frame, and The second spur gear meshes with the first spur gear to realize the speed transmission of the output shaft of the rotating electrical machine to the bearing sleeve ; Sliding away from the axis of the bearing sleeve is provided with a first bevel gear sleeve end, and the bearing sleeve away from the end of the slide shaft sleeve provided with a second bevel gear;
所述前驱组件包括设置于前机架内的前转轴、前非等休凸轮组及第三锥齿轮,且前非等休凸轮组及第三锥齿轮套设于前转轴上;所述第三锥齿轮与第一锥齿轮啮合传动,并带动前转轴及前非等休凸轮组的同步转动;所述前非等休凸轮组包括两个完全相同的前非等休凸轮(即凸轮的远休止角和近休止角不相等),且两个前非等休凸轮180°错位叠装;所述前机体组件中上下两侧的前弹性伸缩臂底部(偏置安装)的滚子分别与两个前非等休凸轮抵触安装,通过两个前非等休凸轮实现两个前弹性伸缩臂的同步径向伸缩调整;The front drive assembly includes a front rotation shaft, a front non-isochronous cam group and a third bevel gear disposed in the front frame, and the front non-equivalent cam group and the third bevel gear are sleeved on the front rotation shaft; The bevel gear meshes with the first bevel gear to drive synchronous rotation of the front rotation shaft and the front non-isochronous cam group; the front non-equivalent cam group includes two identical front non-isoche cams (ie, the far rest of the cam) The angles and the near angles of repose are not equal, and the two front non-isolating cams are 180° misaligned; the bottoms of the front and rear elastic telescopic arms of the front body assembly are (biased) and the rollers are respectively The front non-equivalent cam is in contact with the installation, and the synchronous radial expansion adjustment of the two front elastic telescopic arms is realized by two front non-isochronous cams;
所述后驱组件包括设置于后机架内的后转轴、后非等休凸轮组及第四锥齿轮,且后驱组件的连接结构与前驱组件相同;所述第四锥齿轮与第二锥齿轮啮合传动,并带动后转轴及后非等休凸轮组的同步转动;所述后非等休凸轮组包括两个完全相同的后非等休凸轮,通过两个后非等休凸轮实现两个后弹性伸缩臂的同步径向伸缩调整;The rear drive assembly includes a rear rotating shaft, a rear non-isochronous cam set and a fourth bevel gear disposed in the rear frame, and the connection structure of the rear drive assembly is the same as the front drive assembly; the fourth bevel gear and the second cone The gear meshes with the transmission, and drives the synchronous rotation of the rear rotating shaft and the rear non-isoche cam group; the rear non-isochronous cam group includes two identical rear non-isolating cams, and two through the two rear non-isoche cams Synchronous radial expansion adjustment of the rear elastic telescopic arm;
所述刀盘驱动组件包括第五锥齿轮、带传动机构及刀盘转轴,所述第五锥齿轮与第三锥齿轮啮合传动,并通过带传动机构带动刀盘转轴的转动,且清淤刀盘的轮盘套设于 刀盘转轴穿过前机架前侧板的一侧,从而实现清淤刀盘的同步旋转;The cutter drive assembly comprises a fifth bevel gear, a belt drive mechanism and a cutter shaft, wherein the fifth bevel gear meshes with the third bevel gear, and drives the rotation of the cutter shaft through the belt transmission mechanism, and the dredging cutter The wheel of the disk is sleeved on one side of the front side plate of the front frame of the cutter head, thereby realizing synchronous rotation of the dredging cutter head;
所述曲柄连杆机构包括设置于前机架及后机架左右两侧的连杆及曲柄,且曲柄套设于延伸至后机架外的后转轴上而与后转轴同步转动;所述连杆的一端铰接于前机架的左/右侧板上,其另一端铰接于该侧的曲柄上,通过曲柄连杆机构实现前机体组件和后机体组件之间的轴向伸缩调整。The crank link mechanism includes a connecting rod and a crank disposed on the left and right sides of the front frame and the rear frame, and the crank sleeve is sleeved on the rear rotating shaft extending to the outside of the rear frame to rotate synchronously with the rear rotating shaft; One end of the rod is hinged to the left/right side plate of the front frame, and the other end is hinged to the crank on the side, and the axial telescopic adjustment between the front body assembly and the rear body assembly is realized by the crank link mechanism.
本发明的工作原理是:首先,由人工将装有传感器、摄像头以及清淤刀盘的管道机器人置入非水平管道,然后控制电机正转,通过连杆机构,齿轮和非等休凸轮机构的传动作用,使得前后机体沿着径向交替收缩与支撑的全过程中实现无间断强支撑(即任一时刻,两个机体中至少有一个机体处于强支撑状态),同时前后机体沿轴线方向也会交替伸缩,且清淤刀盘通过机构传动同时进行旋转,通过各运动部件间的协调配合,使得机器人沿管道蠕动行走的同时实施清理作业。当管道机器人在管内遇到严重障碍无法前行时,控制电机反转使机器人向后退出,以便采取其他应对措施。The working principle of the invention is: firstly, the pipeline robot equipped with the sensor, the camera and the dredging cutter is manually placed into the non-horizontal pipeline, and then the motor is controlled to rotate forward, through the linkage mechanism, the gear and the non-isochronous cam mechanism. The transmission function enables the front and rear bodies to alternately support and maintain the uninterrupted strong support in the whole process of radial contraction and support (ie, at least one of the two bodies is in a strong support state at any time), and the front and rear bodies are also along the axis direction. It will alternately expand and contract, and the dredging cutter will rotate at the same time through the mechanism transmission. Through the coordination and cooperation between the moving parts, the robot can perform the cleaning operation while walking along the pipeline. When the pipeline robot encounters a serious obstacle in the tube and cannot move forward, controlling the motor reversal causes the robot to exit backwards in order to take other countermeasures.
优选的,所述清淤刀盘的刀杆及清淤刀片均为可拆卸式,便于刀杆及清淤刀片的维修及更换,节约成本。Preferably, the cutter bar and the dredging blade of the dredging cutter are detachable, which facilitates maintenance and replacement of the cutter bar and the dredging blade, thereby saving cost.
优选的,所述支撑杆上开有第一长槽,且凹槽内开有第一螺纹孔,通过紧固螺栓穿过第一长槽后与第一螺纹孔的紧固配合实现支撑杆沿凹槽的伸缩调整,连接简单方便。Preferably, the support rod is provided with a first long groove, and the first threaded hole is opened in the groove, and the support rod edge is realized by the fastening cooperation of the fastening bolt and the first threaded hole after passing through the first long groove The telescopic adjustment of the groove makes the connection simple and convenient.
优选的,所述伸缩套的侧壁上开有第二长槽,且伸缩轴的侧壁上设置有第二圆柱销,通过第二圆柱销与第二长槽的配合限制伸缩轴沿伸缩套的伸缩运动,防止伸缩轴脱出。Preferably, the side wall of the telescopic sleeve is provided with a second long groove, and the second cylindrical pin is disposed on the side wall of the telescopic shaft, and the expansion of the telescopic shaft along the telescopic sleeve is restricted by the cooperation of the second cylindrical pin and the second long groove The telescopic movement prevents the telescopic shaft from coming out.
优选的,所述前非等休凸轮(与后非等休凸轮完全相同)的远休止角不小于180°,从而保证全过程连续强支撑。因为凸轮转动一周360°,只有当非等休凸轮的远休止角不小于180°,近休止角、升程角和回程角之和才不大于180°,那么运动全过程中才能保持连续强支撑。换句话说,如图14所示,任一时刻,前机体支撑状态曲线S1和后机体支撑状态曲线S2中至少有一个曲线是在纵坐标P1点上,P1点代表强支撑。Preferably, the front non-equivalent cam (which is identical to the rear non-equivalent cam) has a far angle of repose of not less than 180°, thereby ensuring continuous strong support throughout the entire process. Because the cam rotates 360° a week, only when the far-retention angle of the non-isolating cam is not less than 180°, and the sum of the near angle of repose, the angle of lift and the angle of return is not more than 180°, the continuous strong support can be maintained during the whole process of motion. . In other words, as shown in FIG. 14, at any one time, at least one of the front body support state curve S1 and the rear body support state curve S2 is at the ordinate P1 point, and the P1 point represents a strong support.
有益效果:本发明提供的全强支撑型单驱双向蠕行式管道清理机器人,相对于现有技术,具有以下优点:1、通过一个动力源和一套机构,能够实现在等径或极小变径竖直管道内的全过程强支撑和双向蠕动行走,在管道清理遇到特殊故障而无法继续向前行走时,能够向后退出管道,提高了管道机器人应对复杂管道环境的机动能力;2、机器人本体更加紧凑化和轻便化,大大提高了管道机器人的续航能力,同时能够保持全过程连续牵引,因而对于需要保持连续支撑力的等径或极小变径竖直管道,可实现全过程强支撑,对管道综合清理具有实际工程意义。Advantageous Effects: The full-strength support type single-drive two-way creeping pipeline cleaning robot provided by the present invention has the following advantages over the prior art: 1. Through a power source and a set of mechanisms, it can be realized in an equal diameter or a minimum The whole process strong support and two-way creeping walking in the vertical pipe of the variable diameter can withdraw the pipe backwards when the pipeline cleaning encounters a special fault and cannot continue to move forward, thereby improving the maneuverability of the pipeline robot to cope with the complicated pipeline environment; The robot body is more compact and lighter, which greatly improves the endurance of the pipeline robot, and at the same time keeps the whole process continuous traction. Therefore, the entire process can be realized for the vertical pipe with equal or minimum variable diameter that needs to maintain continuous support force. Strong support has practical engineering significance for comprehensive cleaning of pipelines.
附图说明DRAWINGS
图1是本发明实施例的整体结构示意图;1 is a schematic view showing the overall structure of an embodiment of the present invention;
图2是本发明实施例的主视图;Figure 2 is a front elevational view of an embodiment of the present invention;
图3是本发明实施例的内部结构示意图;3 is a schematic view showing the internal structure of an embodiment of the present invention;
图4是本发明实施例中清淤刀盘的结构示意图;4 is a schematic structural view of a dredging cutter head according to an embodiment of the present invention;
图5是本发明实施例中弹性伸缩臂的结构示意图;FIG. 5 is a schematic structural view of an elastic telescopic arm according to an embodiment of the present invention; FIG.
图6是本发明实施例中弹性支撑轮的结构示意图;6 is a schematic structural view of an elastic support wheel in an embodiment of the present invention;
图7是本发明实施例中传动组件的结构示意图;Figure 7 is a schematic structural view of a transmission assembly in an embodiment of the present invention;
图8是本发明实施例中传动组件的俯视图;Figure 8 is a plan view of the transmission assembly in the embodiment of the present invention;
图9和图10分别是本发明实施例中前非等休凸轮组和后非等休凸轮组的传动简图;9 and FIG. 10 are respectively schematic diagrams of transmissions of a front non-equivalent cam group and a rear non-equivalent cam group in an embodiment of the present invention;
图11是本发明实施例中曲柄连杆机构的运动简图;Figure 11 is a schematic view showing the movement of the crank link mechanism in the embodiment of the present invention;
图12是本发明实施例中传动机构的结构示意图;Figure 12 is a schematic structural view of a transmission mechanism in an embodiment of the present invention;
图13是本发明实施例中后非等休凸轮的转角位置图;Figure 13 is a view showing a position of a corner of a rear non-equivalent cam in the embodiment of the present invention;
图14是本发明实施例中前后机体支撑状态随凸轮转角变化图;Figure 14 is a diagram showing changes in the support state of the front and rear bodies with the cam angle in the embodiment of the present invention;
图15a~e是本发明实施例中机器人沿管道的运动流程图。15a-e are flow diagrams of movement of a robot along a pipe in an embodiment of the present invention.
图中包括:1、前机体组件,1-1、前机壳,1-2、清淤刀盘,1-3、前机架,1-4、前弹性伸缩臂,1-5、前弹性支撑轮,1-2-1、清淤刀片,1-2--2、刀杆,1-2-3、轮盘,1-4-1、弹性橡胶垫,1-4-2、滑动杆,1-4-3、第一压簧,1-4-4、弹簧限位片,1-4-5、滚子,1-4-6、凹槽,1-4-7、支撑杆,1-5-1、轮子,1-5-2、伸缩轴,1-5-3、伸缩套,The figure includes: 1, front body components, 1-1, front casing, 1-2, dredging cutters, 1-3, front frame, 1-4, front elastic telescopic arms, 1-5, front elastic Support wheel, 1-2-1, dredging blade, 1-2--2, arbor, 1-2-3, roulette, 1-4-1, elastic rubber pad, 1-4-2, sliding rod ,1-4-3, first compression spring, 1-1-4, spring limit piece, 1-4-5, roller, 1-4-6, groove, 1-4-7, support rod, 1-5-1, wheels, 1-5-2, telescopic shaft, 1-5-3, telescopic sleeve,
2、传动组件,2-1、刀盘转轴,2-2、带传动机构,2-3、前非等休凸轮组,2-4、导向杆,2-5、直线轴承,2-6、旋转电机,2-7、第一直齿轮,2-8、后转轴,2-9、后非等休凸轮组,2-10、第四锥齿轮,2-11、曲柄,2-12、传动机构,2-13、连杆,2-14、第三锥齿轮,2-15、前转轴,2-16、第五锥齿轮,2-12-1、第一锥齿轮,2-12-2、第一限位环,2-12-3、滑动轴,2-12-4、圆柱销,2-12-5、轴承套,2-12-6、通槽,2-12-7、第二限位环,2-12-8、第二直齿轮,2-12-9、第二锥齿轮,2, transmission components, 2-1, cutter head shaft, 2-2, belt drive mechanism, 2-3, front non-equivalent cam group, 2-4, guide rod, 2-5, linear bearing, 2-6, Rotating motor, 2-7, first spur gear, 2-8, rear shaft, 2-9, rear non-equivalent cam group, 2-10, fourth bevel gear, 2-11, crank, 2-12, transmission Mechanism, 2-13, connecting rod, 2-14, third bevel gear, 2-15, front shaft, 2-16, fifth bevel gear, 2-12-1, first bevel gear, 2-12-2 , first limit ring, 2-12-3, sliding shaft, 2-12-4, cylindrical pin, 2-12-5, bearing sleeve, 2-12-6, through slot, 2-12-7, Two limit ring, 2-12-8, second spur gear, 2-12-9, second bevel gear,
3、后机体组件,3-1、后机壳,3-2、后机架,3-3、后弹性伸缩臂,3-4、后弹性支撑轮。3. Rear body components, 3-1, rear casing, 3-2, rear frame, 3-3, rear elastic telescopic arms, 3-4, rear elastic support wheels.
具体实施方式detailed description
下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
如图1、2所示为全强支撑型单驱双向蠕行式管道清理机器人,包括前机体组件1、传动组件2和后机体组件3;As shown in Figure 1, 2 is a full-strength support type single-drive two-way creeping pipeline cleaning robot, comprising a front body assembly 1, a transmission assembly 2 and a rear body assembly 3;
其中,所述传动组件2由一个动力驱动,且通过连杆机构、齿轮机构和非等休凸轮机构的传动作用,使得前机体组件1和后机体组件3沿径向交替收缩与支撑的全过程中实现无间断的强支撑作用(即任一时刻,前后机体中至少有一个机体处于强支撑状态),同时实现前机体组件1和后机体组件3之间的轴向交替伸缩,以及清淤刀盘1-2的同步旋转,从而实现机器人沿非水平管道的全过程强支撑作用、双向蠕动行走和管道清理作业。Wherein, the transmission assembly 2 is driven by a power, and the transmission process of the link body mechanism, the gear mechanism and the non-isochronous cam mechanism causes the front body assembly 1 and the rear body assembly 3 to alternately contract and support in the radial direction. Achieve uninterrupted strong support (ie, at least one of the front and rear bodies is in a strong support state at any one time), and at the same time realize axial axial expansion and contraction between the front body assembly 1 and the rear body assembly 3, and a dredging knife Synchronous rotation of the disc 1-2, thereby achieving the full support of the robot along the non-horizontal pipeline, two-way creep walking and pipeline cleaning operations.
如图3所示,所述前机体组件1包括前机壳1-1、清淤刀盘1-2、前机架1-3、上下两侧的前弹性伸缩臂1-4以及左右两侧的前弹性支撑轮1-5;As shown in FIG. 3, the front body assembly 1 includes a front casing 1-1, a dredging cutter 1-2, a front frame 1-3, front and rear elastic telescopic arms 1-4 on the upper and lower sides, and left and right sides. Front elastic support wheel 1-5;
其中,所述前机壳1-1套装在前机架1-3外,且与前机架1-3固接;如图4所示,清淤刀盘1-2设置于前机架1-3前侧,其包括轮盘1-2-3、沿轮盘1-2-3周向均布的刀杆1-2-2以及与刀杆1-2-2固接的清淤刀片1-2-1;The front casing 1-1 is disposed outside the front frame 1-3 and is fixed to the front frame 1-3; as shown in FIG. 4, the dredging cutter 1-2 is disposed on the front frame 1 -3 front side, which includes a wheel 1-2-3, a circumferentially uniform shank 1-2-2 along the wheel 1-2-3, and a dredging blade 1 fixed to the shank 1-2-2 2-1;
如图5所示,所述前弹性伸缩臂1-4包括弹性橡胶垫1-4-1、滑动杆1-4-2、第一压簧1-4-3、弹簧限位片1-4-4以及滚子1-4-5,且弹性橡胶垫1-4-1设置于滑动杆1-4-2的顶端;所述第一压簧1-4-3套装在滑动杆1-4-2上,并通过滑动杆1-4-2底部的弹簧限位片1-4-4实现第一压簧1-4-3的下限位;滑动杆1-4-2一侧外壁处设置有连通底部的凹槽1-4-6,所述滚子1-4-5通过支撑杆1-4-7安装于凹槽1-4-6底部,并通过支撑杆1-4-7沿凹槽1-4-6的滑动 固定实现滚子1-4-5与滑动杆1-4-2间距的调整,以适应不同管道的径向尺寸;所述前弹性伸缩臂1-4的底部穿过前机壳1-1,并通过前机壳1-1实现滑动杆1-4-2上第一压簧1-4-3的上限位;As shown in FIG. 5, the front elastic telescopic arms 1-4 include an elastic rubber pad 1-4-1, a sliding rod 1-4-2, a first compression spring 1-4-3, and a spring limiting piece 1-4. -4 and roller 1-4-5, and elastic rubber pad 1-4-1 is disposed at the top end of the sliding bar 1-4-2; the first compression spring 1-4-3 is set on the sliding bar 1-4 -2, and the lower limit position of the first compression spring 1-4-3 is realized by the spring limiting piece 1-4-4 at the bottom of the sliding rod 1-4-2; the outer wall of the sliding rod 1-4-2 is disposed at one side There is a groove 1-4-6 connecting the bottom, and the roller 1-4-5 is mounted on the bottom of the groove 1-4-6 through the support rod 1-4-7, and is passed along the support rod 1-4-7 The sliding fixing of the grooves 1-4-6 realizes the adjustment of the spacing between the rollers 1-4-5 and the sliding rods 1-4-2 to accommodate the radial dimensions of different pipes; the bottom of the front elastic telescopic arms 1-4 Passing through the front casing 1-1 and realizing the upper limit position of the first compression spring 1-4-3 on the sliding rod 1-4-2 through the front casing 1-1;
如图6所示,所述前弹性支撑轮1-5包括伸缩轴1-5-2、套设于伸缩轴1-5-2外的伸缩套1-5-3及设置于伸缩轴1-5-2顶端的轮子1-5-1,且伸缩套1-5-3内设置有与伸缩轴1-5-2底部相连的第二压簧,通过第二压簧实现伸缩轴1-5-2与伸缩套1-5-3的伸缩运动,以适应不同管道的径向尺寸;所述前弹性支撑轮1-5通过伸缩套1-5-3设置于前机壳1-1的左右两侧。As shown in FIG. 6, the front elastic supporting wheel 1-5 includes a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the telescopic shaft 1-5-2, and a telescopic shaft 1- 5-2 The top wheel 1-5-1, and the telescopic sleeve 1-5-3 is provided with a second compression spring connected to the bottom of the telescopic shaft 1-5-2, and the telescopic shaft 1-5 is realized by the second compression spring. -2 and telescopic movement of the telescopic sleeve 1-5-3 to accommodate the radial dimension of different pipes; the front elastic support wheel 1-5 is disposed on the left and right sides of the front casing 1-1 through the telescopic sleeve 1-5-3 On both sides.
本实施例中,所述后机体组件3包括后机壳3-1、后机架3-2、上下两侧的后弹性伸缩臂3-3以及左右两侧的后弹性支撑轮3-4;其中,所述后机壳3-1套装在后机架3-2外,且与后机架3-2固接;所述后弹性伸缩臂3-3及后弹性支撑轮3-4的结构(包括组件结构及与后机壳3-1的连接关系)分别与前机体组件1中的前弹性伸缩臂1-4、前弹性支撑轮1-5相同(前后为完全相同的通用组件)。In this embodiment, the rear body assembly 3 includes a rear casing 3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 on the upper and lower sides, and rear elastic support wheels 3-4 on the left and right sides; The rear casing 3-1 is disposed outside the rear frame 3-2 and is fixed to the rear frame 3-2; the structure of the rear elastic telescopic arm 3-3 and the rear elastic supporting wheel 3-4 (including the component structure and the connection relationship with the rear casing 3-1) are the same as the front elastic telescopic arms 1-4 and the front elastic support wheels 1-5 in the front body assembly 1, respectively (the front and rear are identical common components).
如图7、8所示,所述传动组件2包括旋转电机2-6、刀盘驱动组件、前驱组件、后驱组件及中驱组件;As shown in FIGS. 7 and 8, the transmission assembly 2 includes a rotary electric machine 2-6, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a middle drive assembly;
其中,所述旋转电机2-6设置于后机架3-2前侧,其穿过后机架3-2前侧板的输出轴上套设有第一直齿轮2-7,且第一直齿轮2-7与后机架3-2前侧板的后侧相贴合;Wherein, the rotating electrical machine 2-6 is disposed on the front side of the rear frame 3-2, and the first spur gear 2-7 is sleeved on the output shaft of the front side plate of the rear frame 3-2, and the first straight The gears 2-7 are attached to the rear side of the front side panel of the rear frame 3-2;
所述中驱组件包括连接前机架1-3与后机架3-2的若干导向机构、传动机构2-12及曲枘连杆机构;所述导向机构包括设置于前机架1-3后侧板上的导向杆2-4及设置于后机架3-2前侧板上的直线轴承2-5,通过导向杆2-4与直线轴承2-5的滑动配合实现前机架1-3与后机架3-2的伸缩连接;The middle drive assembly includes a plurality of guiding mechanisms for connecting the front frame 1-3 and the rear frame 3-2, a transmission mechanism 2-12, and a crank link mechanism; the guiding mechanism includes a front frame 1-3 The guide bar 2-4 on the rear side plate and the linear bearing 2-5 disposed on the front side plate of the rear frame 3-2, the front frame 1 is realized by the sliding cooperation of the guide bar 2-4 and the linear bearing 2-5 -3 is telescopically connected to the rear frame 3-2;
如图12所示,所述传动机构2-12包括一组相适配的滑动轴2-12-3及轴承套2-12-5,所述轴承套2-12-5的侧壁上设置有长条形通槽2-12-6,且滑动轴2-12-3的侧壁上设置有圆柱销2-12-4,通过圆柱销2-12-4与通槽2-12-6的滑动配合实现滑动轴2-12-3与轴承套2-12-5的同步转动及伸缩滑动;所述滑动轴2-12-3远离轴承套2-12-5的一侧贯穿前机架1-3的后侧板,且滑动轴2-12-3上设置有两个第一限位环2-12-2,所述第一限位环2-12-2分别与前机架1-3后侧板的前后两侧相贴合,通过两个第一限位环2-12-2限制滑动轴2-12-3相对于前机架1-3后侧板的轴向滑动;所述轴承套2-12-5远离滑动轴2-12-3的一侧贯穿后机架3-2的前侧板,且轴承套2-12-5上设置有第二限位环2-12-7及第二直齿轮2-12-8,所述第二限位环2-12-7与后机架3-2前侧板的前侧相贴合,第二直齿轮2-12-8与后机架3-2前侧板的后侧相贴合;通过第二限位环2-12-7及第二直齿轮2-12-8限制轴承套2-12-5相对于后机架3-2前侧板的轴向滑动,且第二直齿轮2-12-8与第一直齿轮2-7啮合传动,以实现旋转电机2-6的输出轴至轴承套2-12-5的转速传动;所述滑动轴2-12-3远离轴承套2-12-5的一端套设有第一锥齿轮2-12-1,且轴承套2-12-5远离滑动轴2-12-3的一端套设有第二锥齿轮2-12-9;As shown in FIG. 12, the transmission mechanism 2-12 includes a set of matching sliding shafts 2-12-3 and bearing sleeves 2-12-5, which are disposed on the side walls of the bearing sleeves 2-12-5. There is a long groove 2-12-6, and the side wall of the sliding shaft 2-12-3 is provided with a cylindrical pin 2-12-4, through the cylindrical pin 2-12-4 and the through groove 2-12-6 The sliding fit realizes the synchronous rotation and the telescopic sliding of the sliding shaft 2-12-3 and the bearing sleeve 2-12-5; the side of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5 runs through the front frame The rear side plate of 1-3, and the sliding axis 2-12-3 is provided with two first limiting rings 2-12-2, and the first limiting ring 2-12-2 and the front frame 1 respectively -3 the front and rear sides of the rear side panel are fitted together, and the axial sliding of the sliding shaft 2-12-3 with respect to the rear side panel of the front frame 1-3 is restricted by the two first limiting rings 2-12-2; The side of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3 penetrates the front side plate of the rear frame 3-2, and the second limiting ring 2 is disposed on the bearing sleeve 2-12-5. 12-7 and the second spur gear 2-12-8, the second limit ring 2-12-7 is engaged with the front side of the front side plate of the rear frame 3-2, and the second spur gear 2-12 -8 is attached to the rear side of the front side panel of the rear frame 3-2; through the second limit ring 2-12 -7 and the second spur gear 2-12-8 limit the axial sliding of the bearing sleeve 2-12-5 relative to the front side plate of the rear frame 3-2, and the second spur gear 2-12-8 and the first straight The gears 2-7 are meshed and transmitted to realize the rotational speed transmission of the output shaft of the rotary electric machine 2-6 to the bearing sleeve 2-12-5; the sliding shaft 21-2 is sleeved away from the end of the bearing sleeve 2-12-5 The first bevel gear 2-12-1, and the end of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3 is provided with a second bevel gear 2-12-9;
所述前驱组件包括设置于前机架1-3内的前转轴2-15、前非等休凸轮组2-3及第三锥齿轮2-14,且前非等休凸轮组2-3及第三锥齿轮2-14套设于前转轴2-15上;所述第三锥齿轮2-14与第一锥齿轮2-12-1啮合传动,并带动前转轴2-15及前非等休凸轮组2-3的同步转动;如图9所示,所述前非等休凸轮组2-3包括两个完全相同的前非等休凸轮2-3a,2-3b,且 两个前非等休凸轮180°错位叠装;所述前机体组件1中上下两侧的前弹性伸缩臂1-4a,1-4b底部的滚子1-4-5分别与两个前非等休凸轮2-3a,2-3b抵触安装,通过两个前非等休凸轮实现两个前弹性伸缩臂1-4的同步径向伸缩调整;The front drive assembly includes a front rotating shaft 2-15, a front non-isochronous cam group 2-3 and a third bevel gear 2-14 disposed in the front frame 1-3, and the front non-equivalent cam group 2-3 and The third bevel gear 2-14 is sleeved on the front rotating shaft 2-15; the third bevel gear 2-14 meshes with the first bevel gear 2-12-1, and drives the front rotating shaft 2-15 and the front non-equal Synchronous rotation of the rest cam group 2-3; as shown in FIG. 9, the front non-equivalent cam group 2-3 includes two identical front non-equivalent cams 2-3a, 2-3b, and two front Non-isochronous cam 180° misaligned stacking; front and rear elastic telescopic arms 1-4a, 1-4b at the bottom of the front body assembly 1 are respectively 1-2-5 and two front non-isolating cams 2-3a, 2-3b are in contact with the installation, and the synchronous radial expansion and contraction adjustment of the two front elastic telescopic arms 1-4 is realized by two front non-isochronous cams;
所述后驱组件包括设置于后机架3-2内的后转轴2-8、后非等休凸轮组2-9及第四锥齿轮2-10,且后驱组件的连接结构与前驱组件相同(前后为完全相同的通用组件);所述第四锥齿轮2-10与第二锥齿轮2-12-9啮合传动,并带动后转轴2-8及后非等休凸轮组2-9的同步转动;如图10所示,所述后非等休凸轮组2-9包括两个完全相同的后非等休凸轮2-9a,2-9b,通过两个后非等休凸轮实现两个后弹性伸缩臂3-3a,3-3b的同步径向伸缩调整;所述传动机构2-12在转动时,通过锥齿轮组的啮合传动,同时带动所述前驱组件和后驱组件的反向等速转动,使得前非等休凸轮组2-3和后非等休凸轮组2-9也作反向等速转动。The rear drive assembly includes a rear rotating shaft 2-8, a rear non-isochronous cam set 2-9 and a fourth bevel gear 2-10 disposed in the rear frame 3-2, and the connection structure and the front drive assembly of the rear drive assembly The same (the front and rear are identical common components); the fourth bevel gear 2-10 meshes with the second bevel gear 2-12-9, and drives the rear rotating shaft 2-8 and the rear non-equivalent cam group 2-9 Synchronous rotation; as shown in FIG. 10, the rear non-equivalent cam group 2-9 includes two identical rear non-equivalent cams 2-9a, 2-9b, which are realized by two rear non-equivalent cams. Synchronous radial expansion and adjustment of the rear elastic telescopic arms 3-3a, 3-3b; when the transmission mechanism 2-12 rotates, the meshing transmission of the bevel gear set drives the reverse of the front drive assembly and the rear drive assembly The rotation to the constant speed causes the front non-equivalent cam group 2-3 and the rear non-equivalent cam group 2-9 to also rotate in the reverse constant speed.
所述刀盘驱动组件包括第五锥齿轮2-16、带传动机构2-2及刀盘转轴2-1,所述第五锥齿轮2-16与第三锥齿轮2-14啮合传动,并通过带传动机构2-2带动刀盘转轴2-1的转动,且清淤刀盘1-2的轮盘1-2-3套设于刀盘转轴2-1穿过前机架1-3前侧板的一侧,从而实现清淤刀盘1-2的同步旋转;The cutter drive assembly includes a fifth bevel gear 2-16, a belt drive mechanism 2-2, and a cutter spindle 2-1, and the fifth bevel gear 2-16 is meshed with the third bevel gear 2-14, and The rotation of the cutter shaft 2-1 is driven by the belt transmission mechanism 2-2, and the wheel 1-1-2 of the dredging cutter head 1-2 is sleeved on the cutter shaft 2-1 through the front frame 1-3. One side of the front side plate, thereby achieving synchronous rotation of the dredging cutter head 1-2;
如图11所示,所述曲柄连杆机构包括设置于前机架1-3及后机架3-2左右两侧的连杆2-13及曲柄2-11,且曲枘2-11套设于延伸至后机架3-2外的后转轴2-8上而与后转轴2-8同步转动;所述连杆2-13的一端铰接于前机架1-3的左/右侧板上,其另一端铰接于该侧的曲柄2-11上,通过曲柄连杆机构实现前机体组件1和后机体组件3之间的轴向伸缩调整。As shown in FIG. 11, the crank link mechanism includes connecting rods 2-13 and cranks 2-11 disposed on the left and right sides of the front frame 1-3 and the rear frame 3-2, and the cranks 2-11 sets. Provided on the rear rotating shaft 2-8 extending outside the rear frame 3-2 to rotate synchronously with the rear rotating shaft 2-8; one end of the connecting rod 2-13 is hinged to the left/right side of the front frame 1-3 The other end of the plate is hinged to the crank 2-11 on the side, and the axial telescopic adjustment between the front body assembly 1 and the rear body assembly 3 is realized by the crank link mechanism.
本实施例中,所述清淤刀盘1-2的刀杆1-2-2及清淤刀片1-2-1均为可拆卸式;所述支撑杆1-4-7上开有第一长槽,且凹槽1-4-6内开有第一螺纹孔,通过紧固螺栓穿过第一长槽后与第一螺纹孔的紧固配合实现支撑杆1-4-7沿凹槽1-4-6的伸缩调整。In the embodiment, the cutter bar 1-2-2 and the dredging blade 1-2-1 of the dredging cutter head 1-2 are all detachable; the support bar 1-4-7 has a first a long groove, and a first threaded hole is opened in the groove 1-4-6, and the support rod 1-4-7 is concave along the first threaded hole after the first long groove is fastened by the fastening bolt Telescopic adjustment of slots 1-4-6.
本实施例中,所述伸缩套1-5-3的侧壁上开有第二长槽,且伸缩轴1-5-2的侧壁上设置有第二圆柱销,通过第二圆柱销与第二长槽的配合限制伸缩轴1-5-2沿伸缩套1-5-3的伸缩运动。In this embodiment, a second long slot is defined in a sidewall of the telescopic sleeve 1-5-3, and a second cylindrical pin is disposed on a sidewall of the telescopic shaft 1-5-2, and the second cylindrical pin is The cooperation of the second long groove limits the telescopic movement of the telescopic shaft 1-5-2 along the telescopic sleeve 1-5-3.
本实施例中,所述非等休凸轮2-3a,2-3b,2-9a,2-9b的远休止角取180°,其近休止角为144°,推程角和回程角均为18°。由于采用非等休凸轮的远休止角为180°,所以在运动全过程中,前机体或后机体中至少有一个处于强支撑状态。因此,在竖直管道内运动时,前后机体能够在交替支撑管壁的过程中,不会因支撑不足而失稳。此外,在基圆大小一定且不超过许用压力角的前提下,由于本发明要求非等休凸轮的远休止角不小于180°,所以当近休止角一定时,使得非等休凸轮相对于等休凸轮的径向变化范围较小,因而本发明只适用于在小变径和等径管道内运动。特别说明的是,本发明要求的非等休凸轮的远休止角只要求数值不小于180°,所以本发明实施不限于此特定角度。In this embodiment, the non-equivalent cams 2-3a, 2-3b, 2-9a, 2-9b have a far angle of repose of 180°, and the near angle of repose is 144°, and both the range and the return angle are 18°. Since the far-away angle of the non-isochronous cam is 180°, at least one of the front body or the rear body is in a strong supporting state during the whole movement. Therefore, when moving in a vertical pipe, the front and rear bodies can be unstable in the process of alternately supporting the pipe wall without being insufficiently supported. In addition, under the premise that the base circle size is constant and does not exceed the allowable pressure angle, since the present invention requires that the non-isochronous cam has a far angle of repose of not less than 180°, when the near-rest angle is constant, the non-equivalent cam is opposite to The radial variation range of the isochronous cam is small, and thus the present invention is only applicable to movement in small variable diameter and equal diameter pipes. Specifically, the far angle of repose of the non-equivalent cam required by the present invention requires only a value of not less than 180°, so the embodiment of the present invention is not limited to this particular angle.
本发明的具体实施方式如下:Specific embodiments of the invention are as follows:
管道机器人行走过程,如图13、14、15a~e所示。根据图13中后非等休凸轮的转角位置变化,图14中的S1和S2分别代表前机体和后机体的径向支撑状态。为叙述方便,将机器人划分成三部分,分别是前机体B1(径向伸缩),中机体B2(轴向伸缩)和后机体B3(径向伸缩)。同时,将各部分的伸缩状态按伸展程度划分为三种,分别是全伸,中间,全缩状态。其中,径向全缩状态对管壁不起支撑作用,径向中间状态对管壁起到弱支撑作用,径向全伸状态对管壁起强支撑作用。管道机器人行走过程具体阐述如下:The walking process of the pipeline robot is shown in Figures 13, 14, 15a-e. According to the change in the rotational position of the rear non-isolating cam in Fig. 13, S1 and S2 in Fig. 14 represent the radial support states of the front body and the rear body, respectively. For convenience of description, the robot is divided into three parts, namely the front body B1 (radial expansion and contraction), the middle body B2 (axial expansion) and the rear body B3 (radial expansion). At the same time, the expansion and contraction state of each part is divided into three according to the degree of extension, which are the full extension, the middle, and the full contraction state. Among them, the radial full contraction state does not support the tube wall, the radial intermediate state plays a weak supporting role on the tube wall, and the radial full extension state plays a strong supporting role on the tube wall. The walking process of the pipeline robot is elaborated as follows:
第一步,曲柄2-11顺时针转动0°。如图15a所示,此时曲柄2-11上的铰接孔处于1号位。由图14可知,前机体B1为径向全伸状态,中机体B2为轴向全缩状态,后机体B3为径向全伸状态。In the first step, the crank 2-11 turns 0° clockwise. As shown in Fig. 15a, the hinge hole on the crank 2-11 is now at the 1st position. As can be seen from Fig. 14, the front body B1 is in the fully extended state, the middle body B2 is in the axially fully retracted state, and the rear body B3 is in the fully extended state.
第二步,曲柄2-11顺时针转动90°。如图15b所示,此时曲柄2-11上的铰接孔处于2号位。由图14可知,前机体B1为径向全缩状态,中机体B2为轴向中间状态,后机体B3为径向全伸状态。In the second step, the crank 2-11 is rotated 90° clockwise. As shown in Fig. 15b, the hinge hole on the crank 2-11 is now at the 2nd position. As can be seen from Fig. 14, the front body B1 is in a radially fully retracted state, the intermediate body B2 is in an axially intermediate state, and the rear body B3 is in a radially fully extended state.
第三步,曲柄2-11顺时针转动180°。如图15c所示,此时曲柄2-11上的铰接孔处于3号位。由图14可知,前机体B1为径向全伸状态,中机体B2为轴向全伸状态,后机体B3为径向全伸状态。In the third step, the crank 2-11 is rotated 180° clockwise. As shown in Fig. 15c, the hinge hole on the crank 2-11 is now at the 3 position. As can be seen from Fig. 14, the front body B1 is in the fully extended state, the middle body B2 is in the axially extended state, and the rear body B3 is in the fully extended state.
第四步,曲柄2-11顺时针转动270°。如图15d所示,此时曲柄2-11上的铰接孔处于4号位。由图14可知,前机体B1为径向全伸状态,中机体B2为轴线中间状态,后机体B3为径向全缩状态。In the fourth step, the crank 2-11 is rotated 270° clockwise. As shown in Fig. 15d, the hinge hole on the crank 2-11 is now at the 4 position. As can be seen from Fig. 14, the front body B1 is in the radially extended state, the middle body B2 is in the intermediate state of the axis, and the rear body B3 is in the radially fully contracted state.
第五步,曲柄2-11顺时针转动360°。如图15e所示,此时曲柄2-11上的铰接孔回到1号位。由图14可知,前机体B1为径向全伸状态,中机体B2为轴向全缩状态,后机体B3为径向全伸状态。In the fifth step, the crank 2-11 rotates 360° clockwise. As shown in Fig. 15e, the hinge hole on the crank 2-11 is now returned to the 1st position. As can be seen from Fig. 14, the front body B1 is in the fully extended state, the middle body B2 is in the axially fully retracted state, and the rear body B3 is in the fully extended state.
通过观察图15a~e中的标线(A-F),可以清楚的观察到该管道机器人沿管道向左蠕行,且全过程实现无间断强支撑行走。By observing the reticle (A-F) in Figs. 15a-e, it can be clearly observed that the pipe robot squirms to the left along the pipe, and the whole process realizes uninterrupted strong support walking.
本发明通过连杆机构,齿轮传动和非等休凸轮机构组合,即一个动力和一套机构实现了机器人前后机体的径向收缩与扩张,以及前后机体间距的缩放,从而实现竖直管道内的全过程强支撑和正反双向蠕动式行走,同时在行走的过程中实现管道清理,增强管道了管道清理作业的稳定性和可靠性。The invention realizes the radial contraction and expansion of the front and rear bodies of the robot, and the scaling of the front and rear body spacings by the combination of the linkage mechanism, the gear transmission and the non-isochronous cam mechanism, that is, a power and a mechanism, thereby realizing the vertical pipe. The whole process is strongly supported and the two-way peristaltic walking is carried out. At the same time, the pipeline cleaning is realized during the walking process, and the stability and reliability of the pipeline cleaning operation are enhanced.
本发明基于非等休凸轮组的协调作用,在前后机体支撑状态交替变化过程中实现连续无间断牵引和全过程强支撑。所以,本发明不仅适用于极小变径的非水平管道清理(如竖直管道),也同样适用于极小变径的水平管道,对管道综合清理具有实际工程意义。The invention is based on the coordination function of the non-isochronous cam group, and realizes continuous uninterrupted traction and strong support in the whole process in the process of alternating support state of the front and rear body. Therefore, the present invention is not only applicable to non-horizontal pipeline cleaning (such as vertical pipeline) with extremely small diameter, but also to horizontal pipelines with extremely small reduction, which has practical engineering significance for comprehensive cleaning of pipelines.
以上所述仅是本发明的优选实施方式,应当指出:对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims (8)

  1. 一种全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,包括前机体组件(1)、传动组件(2)和后机体组件(3);A full-strength support type single-drive two-way creeping pipeline cleaning robot, characterized by comprising a front body assembly (1), a transmission assembly (2) and a rear body assembly (3);
    其中,所述传动组件(2)由一个动力驱动,且通过连杆机构、齿轮机构和非等休凸轮机构的传动作用,使得前机体组件(1)和后机体组件(3)沿径向交替收缩与支撑的全过程中实现无间断的强支撑作用,同时实现前机体组件(1)和后机体组件(3)之间的轴向伸缩,以及清淤刀盘(1-2)的同步旋转,从而实现机器人沿非水平管道的全过程强支撑、双向蠕动行走和管道清理作业。Wherein, the transmission assembly (2) is driven by a power, and the front body assembly (1) and the rear body assembly (3) are alternated in the radial direction by the transmission action of the link mechanism, the gear mechanism and the non-isochronous cam mechanism. Uninterrupted strong support during the whole process of shrinkage and support, while achieving axial expansion between the front body assembly (1) and the rear body assembly (3), and simultaneous rotation of the dredging cutter (1-2) In order to achieve the full process of the robot along the non-horizontal pipeline, two-way creep walking and pipeline cleaning operations.
  2. 根据权利要求1所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述前机体组件(1)包括前机壳(1-1)、清淤刀盘(1-2)、前机架(1-3)、上下两侧的前弹性伸缩臂(1-4)以及左右两侧的前弹性支撑轮(1-5);The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 1, wherein the front body assembly (1) comprises a front casing (1-1) and a dredging cutter (1-) 2), the front frame (1-3), the front elastic telescopic arms (1-4) on the upper and lower sides, and the front elastic support wheels (1-5) on the left and right sides;
    其中,所述前机壳(1-1)套装在前机架(1-3)外,且与前机架(1-3)固接;清淤刀盘(1-2)设置于前机架(1-3)前侧,其包括轮盘(1-2-3)、沿轮盘(1-2-3)周向均布的刀杆(1-2-2)以及与刀杆(1-2-2)固接的清淤刀片(1-2-1);Wherein, the front casing (1-1) is set outside the front frame (1-3) and is fixed to the front frame (1-3); the dredging cutter head (1-2) is set in the front machine The front side of the frame (1-3), which includes a wheel (1-2-3), a circumferentially uniform shank (1-2-2) along the wheel (1-2-3), and a shank (1- 2-2) fixed dredging blade (1-2-1);
    所述前弹性伸缩臂(1-4)包括弹性橡胶垫(1-4-1)、滑动杆(1-4-2)、第一压簧(1-4-3)、弹簧限位片(1-4-4)以及滚子(1-4-5),且弹性橡胶垫(1-4-1)设置于滑动杆(1-4-2)的顶端;所述第一压簧(1-4-3)套装在滑动杆(1-4-2)上,并通过滑动杆(1-4-2)底部的弹簧限位片(1-4-4)实现第一压簧(1-4-3)的下限位;滑动杆(1-4-2)一侧外壁处设置有连通底部的凹槽(1-4-6),所述滚子(1-4-5)通过支撑杆(1-4-7)安装于凹槽(1-4-6)底部,并通过支撑杆(1-4-7)沿凹槽(1-4-6)的滑动固定实现滚子(1-4-5)与滑动杆(1-4-2)间距的调整;所述前弹性伸缩臂(1-4)的底部穿过前机壳(1-1),并通过前机壳(1-1)实现滑动杆(1-4-2)上第一压簧(1-4-3)的上限位;The front elastic telescopic arms (1-4) include an elastic rubber pad (1-4-1), a sliding rod (1-4-2), a first compression spring (1-4-3), and a spring limiting piece ( 1-4-4) and a roller (1-4-5), and an elastic rubber pad (1-4-1) is disposed at a top end of the slide bar (1-4-2); the first compression spring (1) -4-3) Set on the slide bar (1-4-2) and realize the first compression spring (1-1) by the spring limit piece (1-4-4) at the bottom of the slide bar (1-4-2) The lower limit of 4-3); the outer wall of one side of the sliding rod (1-4-2) is provided with a groove (1-4-6) communicating with the bottom, and the roller (1-4-5) passes through the support rod (1-4-7) Installed on the bottom of the groove (1-4-6) and fixed by the sliding support of the support rod (1-4-7) along the groove (1-4-6) (1- 4-5) Adjustment of the distance from the sliding rod (1-4-2); the bottom of the front elastic telescopic arm (1-4) passes through the front casing (1-1) and passes through the front casing (1- 1) realizing the upper limit position of the first compression spring (1-4-3) on the sliding rod (1-4-2);
    所述前弹性支撑轮(1-5)包括伸缩轴(1-5-2)、套设于伸缩轴(1-5-2)外的伸缩套(1-5-3)及设置于伸缩轴(1-5-2)顶端的轮子(1-5-1),且伸缩套(1-5-3)内设置有与伸缩轴(1-5-2)底部相连的第二压簧,通过第二压簧实现伸缩轴(1-5-2)与伸缩套(1-5-3)的伸缩运动;所述前弹性支撑轮(1-5)通过伸缩套(1-5-3)设置于前机壳(1-1)的左右两侧。The front elastic supporting wheel (1-5) includes a telescopic shaft (1-5-2), a telescopic sleeve (1-5-3) sleeved outside the telescopic shaft (1-5-2), and a telescopic shaft. (1-5-2) The top wheel (1-5-1), and the telescopic sleeve (1-5-3) is provided with a second compression spring connected to the bottom of the telescopic shaft (1-5-2). The second compression spring realizes the telescopic movement of the telescopic shaft (1-5-2) and the telescopic sleeve (1-5-3); the front elastic support wheel (1-5) is set by the telescopic sleeve (1-5-3) On the left and right sides of the front case (1-1).
  3. 根据权利要求2所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述后机体组件(3)包括后机壳(3-1)、后机架(3-2)、上下两侧的后弹性伸缩臂(3-3)以及左右两侧的后弹性支撑轮(3-4);其中,所述后机壳(3-1)套装在后机架(3-2)外,且与后机架(3-2)固接;所述后弹性伸缩臂(3-3)及后弹性支撑轮(3-4)的结构分别与前机体组件(1)中的前弹性伸缩臂(1-4)、前弹性支撑轮(1-5)相同。The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 2, wherein the rear body assembly (3) comprises a rear casing (3-1) and a rear frame (3-2) ), rear elastic telescopic arms (3-3) on the upper and lower sides, and rear elastic support wheels (3-4) on the left and right sides; wherein the rear casing (3-1) is set in the rear frame (3- 2) externally, and fixed to the rear frame (3-2); the structures of the rear elastic telescopic arm (3-3) and the rear elastic support wheel (3-4) are respectively associated with the front body assembly (1) The front elastic telescopic arms (1-4) and the front elastic support wheels (1-5) are identical.
  4. 根据权利要求3所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述传动组件(2)包括旋转电机(2-6)、刀盘驱动组件、前驱组件、后驱组件及中驱组件;其中,所述旋转电机(2-6)设置于后机架(3-2)前侧,其穿过后机架(3-2)前侧板的输出轴上套设有第一直齿轮(2-7),且第一直齿轮(2-7)与后机架(3-2)前侧板的后侧相贴合;The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 3, wherein the transmission assembly (2) comprises a rotary electric machine (2-6), a cutter drive assembly, a front drive assembly, and a rear a drive assembly and a middle drive assembly; wherein the rotary electric machine (2-6) is disposed on a front side of the rear frame (3-2), and is disposed on an output shaft of the front side plate of the rear frame (3-2) There is a first spur gear (2-7), and the first spur gear (2-7) is in contact with the rear side of the front side plate of the rear frame (3-2);
    所述中驱组件包括连接前机架(1-3)与后机架(3-2)的若干导向机构、传动机构(2-12)及曲柄连杆机构;所述导向机构包括设置于前机架(1-3)后侧板上的导向杆(2-4)及设置于后机架(3-2)前侧板上的直线轴承(2-5),通过导向杆(2-4)与直线轴承(2-5)的滑动配合实现前机架(1-3)与后机架(3-2)的伸缩连接;The middle drive assembly includes a plurality of guiding mechanisms, a transmission mechanism (2-12) and a crank linkage mechanism connecting the front frame (1-3) and the rear frame (3-2); the guiding mechanism comprises a front set Guide rods (2-4) on the rear side of the frame (1-3) and linear bearings (2-5) on the front side of the rear frame (3-2), through the guide rods (2-4) ) a sliding fit of the linear bearing (2-5) to achieve a telescopic connection between the front frame (1-3) and the rear frame (3-2);
    所述传动机构(2-12)包括一组相适配的滑动轴(2-12-3)及轴承套(2-12-5),所述轴承 套(2-12-5)的侧壁上设置有长条形通槽(2-12-6),且滑动轴(2-12-3)的侧壁上设置有圆柱销(2-12-4),通过圆柱销(2-12-4)与通槽(2-12-6)的滑动配合实现滑动轴(2-12-3)与轴承套(2-12-5)的同步转动及伸缩滑动;所述滑动轴(2-12-3)远离轴承套(2-12-5)的一侧贯穿前机架(1-3)的后侧板,且滑动轴(2-12-3)上设置有两个第一限位环(2-12-2),所述第一限位环(2-12-2)分别与前机架(1-3)后侧板的前后两侧相贴合,通过两个第一限位环(2-12-2)限制滑动轴(2-12-3)相对于前机架(1-3)后侧板的轴向滑动;所述轴承套(2-12-5)远离滑动轴(2-12-3)的一侧贯穿后机架(3-2)的前侧板,且轴承套(2-12-5)上设置有第二限位环(2-12-7)及第二直齿轮(2-12-8),所述第二限位环(2-12-7)与后机架(3-2)前侧板的前侧相贴合,第二直齿轮(2-12-8)与后机架(3-2)前侧板的后侧相贴合;通过第二限位环(2-12-7)及第二直齿轮(2-12-8)限制轴承套(2-12-5)相对于后机架(3-2)前侧板的轴向滑动,且第二直齿轮(2-12-8)与第一直齿轮(2-7)啮合传动;所述滑动轴(2-12-3)远离轴承套(2-12-5)的一端套设有第一锥齿轮(2-12-1),且轴承套(2-12-5)远离滑动轴(2-12-3)的一端套设有第二锥齿轮(2-12-9);The transmission mechanism (2-12) includes a set of matching sliding shafts (2-12-3) and bearing sleeves (2-12-5), and sidewalls of the bearing sleeves (2-12-5) A long strip groove (2-12-6) is arranged on the side, and a cylindrical pin (2-12-4) is arranged on the side wall of the sliding shaft (2-12-3), and the cylindrical pin (2-12- 4) Synchronous rotation and telescopic sliding of the sliding shaft (2-12-3) and the bearing sleeve (2-12-5) with the sliding fit of the through groove (2-12-6); the sliding shaft (2-12) -3) The side away from the bearing sleeve (2-12-5) penetrates the rear side plate of the front frame (1-3), and the sliding shaft (2-12-3) is provided with two first limit rings. (2-12-2), the first limit ring (2-12-2) is respectively attached to the front and rear sides of the rear side plate of the front frame (1-3), and passes through two first limit positions. The ring (2-12-2) limits the axial sliding of the sliding shaft (2-12-3) relative to the rear side plate of the front frame (1-3); the bearing sleeve (2-12-5) is away from the sliding axis One side of (2-12-3) penetrates the front side plate of the rear frame (3-2), and the second limit ring (2-12-7) is disposed on the bearing sleeve (2-12-5) and a second spur gear (2-12-8), the second limit ring (2-12-7) is in contact with the front side of the front side plate of the rear frame (3-2), and the second spur gear ( 2-12-8) with rear frame (3-2) front side panel The rear side is fitted; the bearing sleeve (2-12-5) is restrained relative to the rear frame by the second limit ring (2-12-7) and the second spur gear (2-12-8) (3- 2) axial sliding of the front side plate, and the second spur gear (2-12-8) meshes with the first spur gear (2-7); the sliding shaft (2-12-3) is away from the bearing sleeve ( 2-12-5) is provided with a first bevel gear (2-12-1) at one end, and the second end of the bearing sleeve (2-12-5) away from the sliding shaft (2-12-3) is provided with a second Bevel gear (2-12-9);
    所述前驱组件包括设置于前机架(1-3)内的前转轴(2-15)、前非等休凸轮组(2-3)及第三锥齿轮(2-14),且前非等休凸轮组(2-3)及第三锥齿轮(2-14)套设于前转轴(2-15)上;所述第三锥齿轮(2-14)与第一锥齿轮(2-12-1)啮合传动,并带动前转轴(2-15)及前非等休凸轮组(2-3)的同步转动;所述前非等休凸轮组(2-3)包括两个完全相同的前非等休凸轮,且两个前非等休凸轮180°错位叠装;所述前机体组件(1)中上下两侧的前弹性伸缩臂(1-4)底部的滚子(1-4-5)分别与两个前非等休凸轮抵触安装,通过两个前非等休凸轮实现两个前弹性伸缩臂(1-4)的同步径向伸缩调整;The front drive assembly includes a front rotating shaft (2-15), a front non-isochronous cam group (2-3) and a third bevel gear (2-14) disposed in the front frame (1-3), and the front non- The idle cam group (2-3) and the third bevel gear (2-14) are sleeved on the front rotating shaft (2-15); the third bevel gear (2-14) and the first bevel gear (2- 12-1) engaging the transmission and driving the synchronous rotation of the front rotation shaft (2-15) and the front non-equivalent cam group (2-3); the front non-equivalent cam group (2-3) includes two identical The front non-equivalent cam, and the two front non-isolating cams are 180° misaligned; the front body assembly (1) has rollers on the bottom of the front elastic telescopic arms (1-4) on the upper and lower sides (1) 4-5) respectively, in combination with the two front non-isochronous cams, the synchronous radial expansion adjustment of the two front elastic telescopic arms (1-4) is realized by two front non-isochronous cams;
    所述后驱组件包括设置于后机架(3-2)内的后转轴(2-8)、后非等休凸轮组(2-9)及第四锥齿轮(2-10),且后驱组件的连接结构与前驱组件相同;所述第四锥齿轮(2-10)与第二锥齿轮(2-12-9)啮合传动,并带动后转轴(2-8)及后非等休凸轮组(2-9)的同步转动;所述后非等休凸轮组(2-9)包括两个完全相同的后非等休凸轮,通过两个后非等休凸轮实现两个后弹性伸缩臂(3-3)的同步径向伸缩调整;The rear drive assembly includes a rear rotating shaft (2-8), a rear non-isochronous cam group (2-9), and a fourth bevel gear (2-10) disposed in the rear frame (3-2), and thereafter The connection structure of the drive assembly is the same as that of the front drive assembly; the fourth bevel gear (2-10) meshes with the second bevel gear (2-12-9), and drives the rear shaft (2-8) and the rear non-equivalent Synchronous rotation of the cam sets (2-9); the rear non-equivalent cam sets (2-9) include two identical rear non-equivalent cams, and two rear elastic expansions are realized by two rear non-isoche cams Synchronous radial expansion adjustment of the arm (3-3);
    所述刀盘驱动组件包括第五锥齿轮(2-16)、带传动机构(2-2)及刀盘转轴(2-1),所述第五锥齿轮(2-16)与第三锥齿轮(2-14)啮合传动,并通过带传动机构(2-2)带动刀盘转轴(2-1)的转动,且清淤刀盘(1-2)的轮盘(1-2-3)套设于刀盘转轴(2-1)穿过前机架(1-3)前侧板的一侧;The cutter drive assembly includes a fifth bevel gear (2-16), a belt transmission mechanism (2-2), and a cutter shaft (2-1), the fifth bevel gear (2-16) and the third cone The gear (2-14) meshes with the transmission, and drives the rotation of the cutter shaft (2-1) through the belt transmission mechanism (2-2), and the wheel of the dredging cutter (1-2) (1-2-3) ) is disposed on a side of the cutter shaft (2-1) passing through the front side panel of the front frame (1-3);
    所述曲柄连杆机构包括设置于前机架(1-3)及后机架(3-2)左右两侧的连杆(2-13)及曲柄(2-11),且曲柄(2-11)套设于延伸至后机架(3-2)外的后转轴(2-8)上而与后转轴(2-8)同步转动;所述连杆(2-13)的一端铰接于前机架(1-3)的左/右侧板上,其另一端铰接于该侧的曲柄(2-11)上,通过曲柄连杆机构实现前机体组件(1)和后机体组件(3)之间的轴向伸缩调整。The crank link mechanism includes a connecting rod (2-13) and a crank (2-11) disposed on the left and right sides of the front frame (1-3) and the rear frame (3-2), and the crank (2- 11) sleeved on the rear rotating shaft (2-8) extending outside the rear frame (3-2) and rotating synchronously with the rear rotating shaft (2-8); one end of the connecting rod (2-13) is hinged to The left/right side plate of the front frame (1-3) is hinged to the crank (2-11) on the side, and the front body assembly (1) and the rear body assembly are realized by the crank linkage mechanism (3). ) Axial telescopic adjustment between.
  5. 根据权利要求4所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述清淤刀盘(1-2)的刀杆(1-2-2)及清淤刀片(1-2-1)均为可拆卸式。The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 4, wherein the blade (1-2-2) of the dredging cutter (1-2) and the dredging blade (1-2-1) are all detachable.
  6. 根据权利要求4所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述支撑杆(1-4-7)上开有第一长槽,且凹槽(1-4-6)内开有第一螺纹孔,通过紧固螺栓穿过第一长槽后与第一螺纹孔的紧固配合实现支撑杆(1-4-7)沿凹槽(1-4-6)的伸缩调整。The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 4, wherein the support rod (1-4-7) has a first long groove and a groove (1- 4-6) The first threaded hole is opened inside, and the support rod (1-4-7) is along the groove (1-4-) by the fastening of the first long groove through the fastening bolt and the first threaded hole. 6) Telescopic adjustment.
  7. 根据权利要求4所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,伸缩套(1-5-3)的侧壁上开有第二长槽,且伸缩轴(1-5-2)的侧壁上设置有第二圆柱销,通过第二圆柱销与第二长槽的配合限制伸缩轴(1-5-2)沿伸缩套(1-5-3)的伸缩运动。The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 4, wherein the side wall of the telescopic sleeve (1-5-3) is provided with a second long groove, and the telescopic shaft (1) -2-2) is provided with a second cylindrical pin on the side wall, and the expansion and contraction of the telescopic shaft (1-5-2) along the telescopic sleeve (1-5-3) is restricted by the cooperation of the second cylindrical pin and the second long groove motion.
  8. 根据权利要求4所述的全强支撑型单驱双向蠕行式管道清理机器人,其特征在于,所述前非等休凸轮的远休止角不小于180°。The full-strength support type single-drive two-way creeping pipeline cleaning robot according to claim 4, wherein the front non-equivalent cam has a far angle of repose of not less than 180°.
PCT/CN2018/085976 2017-05-11 2018-05-08 Complete strong supporting single drive two-way crawling type pipeline cleaning robot WO2018205920A1 (en)

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CN109780373A (en) * 2019-03-21 2019-05-21 广州市天驰测绘技术有限公司 A kind of underground piping detection device
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CN110171007A (en) * 2019-06-28 2019-08-27 中铁工程装备集团有限公司 Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection
CN110215089A (en) * 2019-06-11 2019-09-10 朱龙云 A kind of remote control children creep training aids
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CN110566753A (en) * 2019-10-05 2019-12-13 河北工业大学 Self-adaptive self-steering wheel type pipeline robot
CN110670709A (en) * 2019-09-27 2020-01-10 中国地质大学(武汉) Pipeline dredging vehicle based on crank-rocker mechanism
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CN106925575B (en) 2019-02-19
AU2018264305A1 (en) 2019-05-23
CA3045865A1 (en) 2018-11-15
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GB2569931B (en) 2020-04-15
CN106925575A (en) 2017-07-07

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