WO2021017529A1

WO2021017529A1 - Manipulator clamp for robot for pipeline blockage

Info

Publication number: WO2021017529A1
Application number: PCT/CN2020/085194
Authority: WO
Inventors: 何正文; 王宇智
Original assignee: 南京驭逡通信科技有限公司
Priority date: 2019-07-28
Filing date: 2020-04-16
Publication date: 2021-02-04
Also published as: CN110315561B; CN110315561A; CN111251328A; CN111251328B

Abstract

Disclosed is a manipulator clamp (2) for a robot for pipeline blockage, the manipulator clamp comprising a pipeline robot body (1), wherein one end of the pipeline robot body (1) is provided with the manipulator clamp (2), two sides of the pipeline robot body (1) are each provided with a plurality of driving wheels (3), the side, away from the pipeline robot body (1), of the manipulator clamp (2) is provided with a jacking device (4), one side of the upper end of the jacking device (4) is provided with a camera (5), and a position, located on the other side of the upper end of the jacking device (4), of one side of the camera (5) is provided with a lighting lamp (6).

Description

Manipulator clamp used for pipe blocking robot

Technical field

The present invention relates to the field of robots, and in particular, to a manipulator clamp and control system for a pipeline blocking robot.

Background technique

At present, branch pipes are added to the gas transmission pipelines in use. In order not to affect the normal gas transmission of the gas transmission pipelines, the gas transmission pipelines need to be dredged frequently to prevent the pipeline from being blocked and affecting the gas transmission. The blockage operations in the prior art are usually It is done by technicians with the help of the plugging device. Gas is flammable and explosive. The operator has potential safety hazards, especially in high temperature environments, which is more dangerous. When the pipeline robot is used in the process of dredging the pipeline, it is still There is no robot clamp that can block the pipeline from inside to outside, and there is no corresponding control system to control the robot clamp.

technical problem

The technical task of the present invention is to address the above shortcomings and provide a manipulator clamp and control system for a pipeline blocking robot to solve the problem of unsafe pipeline dredging.

Technical solutions

A manipulator clamp and control system for a pipeline blocking robot, including a pipeline robot body, one end of the pipeline robot body is provided with a manipulator clamp, both sides of the pipeline robot body are provided with several driving wheels, the manipulator clamp A jacking device is provided on the side away from the main body of the pipeline robot, a camera is provided on one side of the upper end of the jacking device, and lighting is provided on one side of the camera and located on the other side of the upper end of the jacking device Lamp, wherein the jacking device includes a fixed frame, a partition is arranged on the inner side of the fixed frame, a movable tube is inserted between the fixed frame and the partition, and the inner side of the movable tube is inserted A movable rod, one end of the movable rod is provided with a gear one, the lower end of the gear one is provided with a gear two matching the gear one, and the center position of the gear two is connected with the output shaft of the motor one. The other end of the movable rod is provided with a pressing block, a thread is provided on the movable tube and located inside the fixed frame, and the upper end of the thread is provided with a gear that matches with the thread. The center of the third is connected with the output shaft of the second motor, and the second motor is located on the inner wall of the fixed frame.

Preferably, the first gear and the second gear are both bevel gears, and the first gear and the second gear are perpendicular to each other.

Preferably, the joints between the movable tube and the fixed frame and the partition are provided with through holes.

Preferably, the manipulator fixture includes a fixed plate, and one side of the fixed plate is connected to the pipeline robot body, a movable shaft is inserted through the fixed plate, and a motor is provided at one end of the movable shaft. In addition, the motor 3 is located inside the pipeline robot body, the other end of the movable shaft is provided with a movable block, one side of the movable block is connected to the fixed frame, and the movable shaft is located on the A fixing frame is provided on one side of the fixing plate.

Preferably, the fixing frame has a cross-shaped structure, and limiting grooves are provided on all sides of the fixing frame, and sliding blocks that cooperate with the limiting grooves are provided on the inner side of the limiting grooves.

Preferably, two sets of connecting blocks are arranged around the movable block, connecting rods are arranged on both sides of the upper end of the connecting block, connecting plates are arranged on the upper end of the connecting rod, and two ends of the connecting rod are respectively Both the connecting block and the connecting plate are connected by a rotating shaft, and the upper end of the connecting plate is provided with a top plate.

Preferably, the top plate has an L-shaped structure, and one side of the top plate is connected with the sliding block, and the upper end of the top plate is provided with serrations.

Preferably, one end of the movable shaft is provided with an external thread located inside the movable block, and an internal thread matched with the external thread is provided on the inner side of the movable block.

Another, as an embodiment of the present invention, is a control system for a manipulator fixture of a pipe blocking robot, including a control module, a power supply module, a lighting module, a camera module, a drive module, and a remote control terminal, and The control module is respectively connected to one end of the power supply module, the lighting module, the camera module, the drive module and the remote control terminal.

Preferably, the other end of the drive module is respectively connected to the motor one, the motor two, the motor three and the drive mechanism, and the drive mechanism is connected to the drive wheel, and the other end of the lighting module One end is connected with the illuminating lamp, and the other end of the camera module is connected with the camera.

Beneficial effect

1. [0005] The pressure block of the present invention can be moved forwards and backwards through the action of the jacking device, which can clear the pipeline blockage, and the staff can observe the inside of the pipeline through the remote control terminal and find out in time Failure and cause, reduce the error rate of plugging;

2. The manipulator clamp of the present invention can be directly installed on the manipulator of an industrial robot for use, and has strong versatility. The manipulator clamp can replace manual plugging work, and has high work efficiency, safety and reliability;

3. The entire dredging operation can be completed by a single supervisor, and the supervisor only needs to input corresponding instructions to remotely control the dredging work, which greatly reduces the labor cost.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

Fig. 1 is a schematic structural diagram of a manipulator clamp for a pipe blocking robot according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a jacking device according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a manipulator clamp according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a manipulator fixture and control system for a pipe blocking robot according to an embodiment of the present invention.

In the picture:

1. Pipeline robot body; 2. Manipulator fixture; 3. Drive wheel; 4. Lifting device; 5. Camera; 6. Lighting; 7. Fixed frame; 8. Partition; 9. Movable tube; 10. Movable pole 11, gear one; 12, gear two; 13, motor one; 14, press block; 15, thread line; 16, gear three; 17, motor two; 18, fixed plate; 19, movable shaft; 20, motor three 21. Movable block; 22. Fixed frame; 23. Limit slot; 24. Slide block; 25. Connecting block; 26. Connecting rod; 27. Connecting plate; 28. Top plate; 29. Sawtooth; 30. Rotating shaft; 31. , Control module; 32, power supply module; 33, lighting module; 34, camera module; 35, drive module; 36, remote control terminal; 37, drive mechanism.

Embodiments of the invention

The present invention will be further described below in conjunction with the drawings and specific embodiments.

Embodiments, as shown in Figs. 1-3, a manipulator fixture and control system for a pipe blocking robot according to an embodiment of the present invention includes a pipe robot body 1. One end of the pipe robot body 1 is provided with a manipulator fixture 2, and the pipe Both sides of the robot body 1 are provided with a number of driving wheels 3, the side of the manipulator fixture 2 away from the pipe robot body 1 is provided with a jacking device 4, the upper side of the jacking device 4 is provided with a camera 5, one of the cameras 5 An illuminating lamp 6 is provided on one side and on the other side of the upper end of the jacking device 4.

The structure and function of the jacking device 4 are described in detail below.

As shown in Figure 2, the jacking device 4 includes a fixed frame 7, a partition 8 is provided on the inner side of the fixed frame 7, a movable tube 9 is inserted between the fixed frame 7 and the partition 8, and the inner side of the movable tube 9 is inserted Movable rod 10, one end of movable rod 10 is provided with gear 11, and the lower end of gear 11 is provided with gear 2 12 which is matched with gear 1 11. Both gear 1 11 and gear 2 12 are bevel gears, and the gear One 11 and gear two 12 are perpendicular to each other, the center position of gear two 12 is connected with the output shaft of motor one 13, the other end of the movable rod 10 is provided with a pressure block 14, and the movable tube 9 is opened on the inner side of the fixed frame 7. There is a thread line 15, and the upper end of the thread line 15 is provided with a gear three 16 that matches with the thread line 15. The center of the gear three 16 is connected with the output shaft of the motor two 17, and the motor two 17 is located on the inner wall of the fixed frame 7, The joints between the movable pipe 9 and the fixed frame 7 and the partition 8 are provided with through holes.

The following specifically introduces the structure and function of the manipulator clamp 2.

As shown in Fig. 3, the manipulator fixture 2 includes a fixed plate 18, and one side of the fixed plate 18 is connected to the pipeline robot body 1. The fixed plate 18 is interspersed with a movable shaft 19, and one end of the movable shaft 19 is provided with a motor three 20. And, the motor three 20 is located inside the pipeline robot body 1, the other end of the movable shaft 19 is provided with a movable block 21, one side of the movable block 21 is connected to the fixed frame 7, and the movable shaft 19 is located on one side of the fixed plate 18. A fixing frame 22 is provided. The fixing frame 22 has a cross-shaped structure. The fixing frame 22 is provided with a limit slot 23 around the limit slot 23. The inner side of the limit slot 23 is provided with a sliding block 24 that matches the limit slot 23, and a movable block 21 There are two sets of connecting blocks 25 on the four sides. The upper ends of the connecting blocks 25 are provided with connecting rods 26 on both sides. The upper ends of the connecting rods 26 are provided with connecting plates 27. Both ends of the connecting rods 26 are connected to the connecting block 25 and the connecting plate. 27 are connected by a rotating shaft 30, the upper end of the connecting plate 27 is provided with a top plate 28, the top plate 28 has an L-shaped structure, and one side of the top plate 28 is connected with the slider 24, and the upper end of the top plate 28 is provided with serrations 29, the movable shaft One end of 19 is provided with an external thread inside the movable block 21, and an internal thread matched with the external thread is provided on the inner side of the movable block 21.

As shown in FIG. 4, according to the embodiment of the present invention, a control system for a manipulator fixture of a pipe clogging robot is also provided, including a control module 31, a power supply module 32, a lighting module 33, a camera module 34, a driving module 35 and The remote control terminal 36, and the control module 31 is connected to one end of the power module 32, the lighting module 33, the camera module 34, the drive module 35, and the remote control terminal 36 respectively, and the other end of the drive module 35 is connected to the motor one 13 and the motor two respectively. 17. The motor three 20 is connected to the driving mechanism 37, and the driving mechanism 37 is connected to the driving wheel 3, the other end of the lighting module 33 is connected to the lighting lamp 6, and the other end of the camera module 34 is connected to the camera 5.

In order to facilitate the understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process will be described in detail below.

In actual application: by putting the pipeline robot into the pipeline, at this time, the staff gives instructions to the control module 31 through the remote control terminal 36, so that the control module 31 sends a signal to the drive module 35, and then the drive module 35 drives the drive mechanism 37 works, the driving mechanism 37 drives the driving wheel 3 to move, so that the pipeline robot body 1 walks in the pipeline. The staff can observe the internal situation of the pipeline through the lighting lamp 6 and the camera 5. When a blockage is encountered, the motor three 20 is driven Work makes the motor three 20 drive the movable shaft 19 to move, because one end of the movable shaft 19 is provided with an external thread, and the inside of the movable block 21 is provided with an internal thread that matches the external thread, and the rotation of the movable shaft 19 drives the movable block 21 to move The movement of the movable block 21 drives the connecting block 25 to move, so that the connecting block 25 drives the connecting rod 26 and the connecting plate 27 to move to the outside of the movable block 21, and then the connecting plate 27 drives the top plate 28 to move, so that the top plate 28 drives the slider 24 in the limit. The position groove 23 moves up, and the serration 29 on the side of the top plate 28 contacts the pipe, so that the pipe robot body 1 is fixed to the inner wall of the pipe, and then the motor 13 and the motor 2 17 are driven to work, and the motor 2 17 drives the gear 3 16 to move. In addition, the gear three 16 meshes with the thread 15 and the rotation of the gear three 16 drives the movable tube 9 to move, so that the movable tube 9 drives the pressure block 14 to move back and forth, and the operation of the motor 13 drives the gear two 12 to move, so that the gear two 12 The gear 11 is driven to work, and the gear 11 drives the movable rod 10 to rotate. Therefore, the pressure block 14 can not only move back and forth, but also rotate to complete the dredging of the pipeline.

In summary, with the help of the above technical solution of the present invention, the press block 14 of the present invention can move back and forth under the action of the jacking device 4, so that the blockage of the pipeline can be dredged, and the staff Through the remote control terminal 36, the inside of the pipeline can be observed, faults and causes can be found in time, and the error rate of plugging can be reduced; the manipulator clamp 2 of the present invention can be directly installed on the manipulator of an industrial robot for use, and has strong versatility. The manipulator clamp 2 can replace Manually carry out the plugging work, which is efficient and safe and reliable; The entire dredging operation can be completed by a supervisor, and the supervisor only needs to input corresponding instructions to remotely control the dredging work, which greatly reduces the labor cost.

Through the above specific embodiments, those skilled in the technical field can easily implement the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. Based on the disclosed embodiments, those skilled in the technical field can arbitrarily combine different technical features to realize different technical solutions.

Claims

A manipulator clamp for a pipeline blocking robot, which is characterized by comprising a pipeline robot body (1), one end of the pipeline robot body (1) is provided with a manipulator clamp (2), the pipeline robot body (1) There are several driving wheels (3) on both sides, and the side of the manipulator clamp (2) away from the pipe robot body (1) is provided with a jacking device (4). The jacking device (4) A camera (5) is provided on one side of the upper end, and an illumination lamp (6) is provided on one side of the camera (5) and on the other side of the upper end of the lifting device (4), wherein the lifting device ( 4) It includes a fixed frame (7), a partition (8) is arranged on the inner side of the fixed frame (7), and a movable tube (9) is inserted between the fixed frame (7) and the partition (8) ), the inner side of the movable tube (9) is inserted with a movable rod (10), one end of the movable rod (10) is provided with a gear one (11), and the lower end of the gear one (11) is provided with a The gear one (11) is matched with the gear two (12), the center position of the gear two (12) is connected with the output shaft of the motor one (13), and the other end of the movable rod (10) is provided with a pressure block (14) A thread (15) is provided on the movable tube (9) and located inside the fixed frame (7), and the upper end of the thread (15) is provided with the thread (15) The center of the matching gear three (16) is connected with the output shaft of the motor two (17), and the motor two (17) is located on the inner wall of the fixed frame (7).
The manipulator clamp for a pipe blocking robot according to claim 1, wherein the gear one (11) and the gear two (12) are bevel gears, and the gear one ( 11) It is perpendicular to the second gear (12).
The manipulator clamp for a pipe blocking robot according to claim 2, wherein the joint between the movable pipe (9) and the fixed frame (7) and the partition (8) All have through holes.
The manipulator clamp for a pipe blocking robot according to claim 3, wherein the manipulator clamp (2) includes a fixing plate (18), and one side of the fixing plate (18) is The pipeline robot body (1) is connected, the fixed plate (18) is interspersed with a movable shaft (19), one end of the movable shaft (19) is provided with a motor three (20), and the motor three ( 20) Located inside the pipeline robot body (1), the other end of the movable shaft (19) is provided with a movable block (21), one side of the movable block (21) is connected to the fixed frame (7) Connected, a fixing frame (22) is provided on the movable shaft (19) and located on one side of the fixed plate (18).
The manipulator clamp for a pipe blocking robot according to claim 4, characterized in that the fixing frame (22) has a cross-shaped structure, and the fixing frame (22) is provided with limit slots (23) all around it. ), the inner side of the limiting groove (23) is provided with a sliding block (24) matched with the limiting groove (23).
A manipulator clamp for a pipe blocking robot according to claim 5, characterized in that, two sets of connecting blocks (25) are provided around the movable block (21), and the connecting block (25) Both sides of the upper end are provided with connecting rods (26), the upper end of the connecting rod (26) is provided with a connecting plate (27), and both ends of the connecting rod (26) are connected to the connecting block (25) and the The connecting plates (27) are all connected by a rotating shaft (30), and the upper end of the connecting plate (27) is provided with a top plate (28).
The manipulator clamp for a pipe blocking robot according to claim 6, characterized in that the top plate (28) has an L-shaped structure, and one side of the top plate (28) is connected to the sliding block ( 24) Connection, the upper end of the top plate (28) is provided with serrations (29).
The manipulator clamp for a pipe blocking robot according to claim 7, characterized in that, one end of the movable shaft (19) and the inside of the movable block (21) are provided with external threads, and the movable The inner side of the block (21) is provided with an internal thread matched with the external thread.