CN103672295A - Peristaltic pipeline robot crawling mechanism - Google Patents

Abstract

The invention provides a peristaltic pipeline robot crawling mechanism which is suitable for the pipeline diameter between 160mm and 220mm. The three-segment modularization design is adopted in the structure of the mechanism, the tail portion and the end portion of the mechanism are provided with a front locking mechanism and a rear locking mechanism respectively, and the middle of the mechanism is a telescopic mechanism. When the peristaltic pipeline robot crawling mechanism moves forward in a pipeline, the front locking mechanism firstly loosens, the rear locking mechanism is locked, the telescopic mechanism extends and pushes out the front locking mechanism forward, then the front locking mechanism is locked, the rear locking mechanism loosens, the telescopic mechanism retracts and drives the rear locking mechanism to move forward to finish an advancing period, the peristaltic pipeline robot crawling mechanism moves circularly, and accordingly periodical advancing of a peristaltic pipeline robot is achieved. Otherwise, periodical back moving of the peristaltic pipeline robot is achieved. By means of the modularized design, the peristaltic pipeline robot crawling mechanism has certain pipe diameter change adaptive capacity and bent pipe passing capacity, and peristaltic advancing or back moving of the robot in the pipeline can be achieved.

Description

Peristaltic Pipeline Robot Crawling Mechanism

technical field

The invention relates to a crawling mechanism of a peristaltic pipeline robot.

Background technique

At present, pipelines are widely used in many industries such as petroleum, chemical industry, water supply and drainage, etc. After a long period of use, these pipelines are prone to corrosion, fatigue damage or damage, which may cause leakage accidents. Therefore, the pipeline needs to be regularly maintained and overhauled. However, because the environment where the pipeline is located is often limited or out of reach of manpower, the overhaul is very difficult. The research on pipeline robots provides new technical means for pipeline detection and maintenance, and changes the single mode of traditional pipeline excavation and sampling inspection. Domestic research on pipeline robots has a certain foundation, but there is still a certain gap compared with foreign countries.

At present, the robots developed at home and abroad can be divided into wheeled, crawler, peristaltic and other types according to the moving mode. The wheeled pipeline robot has a large traction force, a high carrying capacity, and is easy to design and manufacture. But its ability to overcome obstacles is weak, and its pipeline adaptability is poor. The crawler-type pipeline robot overcomes the shortcomings of the wheel-type pipeline robot, but the excessive friction between the crawler and the pipeline wall will impact the inner wall of the pipeline and easily damage the pipeline. Peristaltic robots have strong obstacle-surmounting ability and stable operation, but peristaltic robots using shape memory alloys, piezoelectric metals, and electromagnetic drives have high requirements on pipelines, poor adaptability, relatively slow running speed, and weak carrying capacity.

Therefore, on the basis of overcoming the shortcomings of the above three pipeline robots, a new type of peristaltic pipeline robot crawling mechanism is designed and developed. has important practical significance.

Contents of the invention

The object of the present invention is to provide a peristaltic pipeline robot crawling mechanism, which adopts a modular design and can adapt to pipeline diameters between 160-220mm.

The purpose of the present invention is achieved through the following technical solutions:

The peristaltic pipeline robot crawling mechanism includes a front locking mechanism, a telescopic mechanism and a rear locking mechanism. It is characterized in that the front locking mechanism is installed on the front end of the telescopic mechanism through a coupling, and the rear locking mechanism is installed on the The rear end of the telescoping mechanism.

When the pipeline robot moves forward, the front locking mechanism is first released, and the rear locking mechanism is locked. When the telescopic mechanism is extended, the front locking mechanism is driven to move forward, and then the front locking mechanism is locked, and the rear locking mechanism is released. , when the telescopic mechanism shrinks, it drives the rear locking mechanism to move forward, realizing a forward motion cycle of the pipeline robot;

When the pipeline robot moves backwards, the front locking mechanism is first locked, and the rear locking mechanism is released. When the telescopic mechanism is extended, the rear locking mechanism is driven to move backward, and then the front locking mechanism is released, and the rear locking mechanism is locked. , when the telescopic mechanism shrinks, it drives the front locking mechanism to move backward, realizing a backward movement cycle of the pipeline robot;

When both the front locking mechanism and the rear locking mechanism are locked, the pipeline robot can be stably stopped at a certain place, providing a working platform for the pipeline robot to perform operations such as pipeline inspection and maintenance.

According to one aspect of the present invention, a peristaltic pipeline robot crawling mechanism is provided, which is characterized by comprising:

telescopic mechanism;

a front coupling connected to the front end of the telescoping mechanism,

a rear coupling connected to the rear end of the telescoping mechanism,

The front locking mechanism, which is connected to the front end of the telescopic mechanism through the front coupling, is used to lock or loosen the inner wall of the pipeline;

The rear locking mechanism is connected to the rear end of the telescopic mechanism through a rear coupling, and is used for locking or releasing the inner wall of the pipeline.

According to a further aspect of the present invention, a crawling method of a peristaltic pipeline robot crawling mechanism is provided, which is characterized by comprising:

A) Make the second motor in the front locking mechanism rotate forward, so that the second screw nut is driven to rotate forward through the second coupling, so that the second screw nut moves to the left, and the crank slider mechanism is driven to make the hinged on the The upper support arm of the large guide rod moves inward, thereby realizing the loosening of the front locking mechanism and the pipe wall; the second motor in the rear locking mechanism is reversed to realize the locking of the rear locking mechanism and the pipe wall;

B) Make the first motor in the telescopic mechanism rotate forward, thereby driving the first lead screw to rotate forward through the first coupling. Since the rear locking mechanism and the pipeline are in a locked state, at this time, the rear coupling is locked with the rear The rear end cover connected by the mechanism is fixed, and the first lead screw nut, the fixed block, and the casing are also in a fixed state, so that the first motor, the first coupling, and the first lead screw rotate around their own axes to drive the first screw. A front end cover, a first guide rod, a first front box, a first middle box, a first rear box, a first round nut, a first sleeve, and a first bearing move as a whole;

C) The second motor in the front locking mechanism is reversed, so that the second screw is driven to reverse through the second coupling, the second screw nut is moved, and the crank slider mechanism is driven to make the hinge on the large guide The support arm on the rod moves outward, so as to realize the locking of the front locking mechanism and the pipe wall; make the second motor in the rear locking mechanism rotate forward, so as to realize the release of the rear locking mechanism and the pipe wall;

D) Reverse the first motor in the telescopic mechanism, thereby driving the first lead screw to reverse through the first coupling. Since the front locking mechanism and the pipeline are in a locked state, at this time, the front coupling is locked with the front The first front end cover, the first guide rod, the first front box, the first middle box, the first rear box, the first round nut, the first sleeve, and the first bearing connected by the mechanism are fixed as a whole , and the first lead screw nut drives the fixed block, the casing, the rear end cover, the rear coupling and the rear locking mechanism to move as a whole.

The outstanding substantive features and remarkable progress of the technical solution of the present invention are mainly reflected in:

The present invention has the advantages of compact structure, easy realization, strong obstacle surmounting ability, strong pipeline adaptability, and strong obstacle surmounting ability. Its power source is no longer provided by the friction between the driving wheel and the pipe wall, so it will not It impacts the inner wall of the pipe and runs stably. The pipeline robot can be applied to different pipe diameters between 160-220mm, and the application prospect is promising.

According to one aspect of the present invention, a peristaltic pipeline robot crawling mechanism is provided, which is characterized by comprising:

The front locking mechanism and the rear locking mechanism are used to loosen or lock the pipeline robot and the inner wall of the pipeline;

The telescopic mechanism cooperates with the front locking mechanism and the rear locking mechanism to realize the peristaltic forward or backward movement of the pipeline robot in the pipeline.

Description of drawings

Below in conjunction with accompanying drawing, technical solution of the present invention will be further described:

Fig. 1 is a schematic diagram of the overall structure of a crawling mechanism of a peristaltic pipeline robot according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a telescoping mechanism according to an embodiment of the present invention.

Fig. 3 is a structural schematic diagram of a front locking mechanism or a rear locking mechanism according to an embodiment of the present invention.

Reference signs:

Detailed ways

Referring to Fig. 1, Fig. 2 and Fig. 3, the crawling mechanism of the peristaltic pipeline robot according to an embodiment of the present invention adopts a modular design and is divided into three modules: a front locking mechanism, a telescopic mechanism, and a rear locking mechanism.

The front locking mechanism 1 and the rear locking mechanism 3 have the same structure, and are respectively installed on the front end and the rear end of the telescopic mechanism 2 through the front coupling 4 and the rear coupling 5, each including a second front end cover 21, a second leading screw 22. The second guide rod 23, the second screw nut 24, the second front box 25, the second middle box 26, the second rear box 27, the second motor 28, the second coupling 29, the second Round nut 30, second sleeve 31, second bearing 32, small guide rod 33, support arm 34, bolt 35, nut 36, bearing pin 37, large guide rod 38, fixed block 39.

Wherein the small guide rod 33, the large guide rod 38, the fixed block 39 and the second guide rod 23 form a group of slider crank mechanisms, and 3 groups of the slider crank mechanisms are distributed symmetrically at 120 degrees in the entire circumferential direction. The second motor 28 and the second lead screw 22 are connected together through a second coupling 29 , and the second lead screw 22 is supported on the second front box body 25 through a second bearing 32 and a second round nut 30 . The second front box body 25 , the second middle box body 26 , and the second rear box body 27 are connected together with bolts 44 , 45 . The second lead screw nut 24 is mounted on the second lead screw 22 and moves left and right along the second guide rod 23 . The fixed block 39 and the second lead screw nut 24 are installed together by the locking bolt 40, and move together with the second lead screw nut 24, and then drive the slider crank mechanism to move, so that the support arm 34 hinged with the large guide rod 38 moves to Inward or outward movement, so as to realize the loosening or locking of the robot and the pipe wall.

Referring to Fig. 2, the telescoping mechanism 2 includes a first front end cover 6, a fixed block 7, a first guide rod 8, a first lead screw nut 9, a housing 10, a first lead screw 11, a first front box 12, a first middle Box body 13 , first rear box body 14 , rear end cover 15 , first motor 16 , first coupling 17 , first round nut 18 , first sleeve 19 , and first bearing 20 .

Wherein, the first motor 16 and the first lead screw 11 are connected together through a first coupling 17 , and the first lead screw 11 is supported on the first front box body 12 through a first bearing 20 and a first round nut 18 . The first front box body 12 , the first middle box body 13 , and the first rear box body 14 are connected together with bolts 41 , 42 . The first lead screw nut 9 is mounted on the first lead screw 11 and moves left and right along the first guide rod 8 . The first lead screw nut 9, the fixed block 7, the shell 10 and the rear end cover 15 are connected together by bolts 43, and the first guide rod 8 and the first front end cover 6 are connected together by the threads at the front end of the first guide rod 8.

In a specific application, when the pipeline robot moves forward (assuming that the forward direction is to the left in the figure), the whole process can be divided into four steps.

The first step: the second motor 28 in the front locking mechanism 1 rotates forward, drives the second lead screw 22 to rotate forward through the second coupling 29, and the second lead screw nut 24 on it moves to the left, driving three groups of cranks The action of the slider mechanism makes the supporting arm 34 hinged on the large guide rod 38 move inward, thereby realizing the unclamping of the front locking mechanism 1 and the pipe wall. According to the same principle, the second motor 28 in the rear locking mechanism 3 is reversed to realize the locking of the rear locking mechanism 3 and the pipe wall.

The second step: the first motor 16 in the telescopic mechanism 2 rotates forward, and the first screw 11 is driven to rotate forward by the first coupling 17, and since the rear locking mechanism 3 and the pipeline are in a locked state, at this time through the rear coupling The rear end cover 15 that the shaft device 5 is connected with the rear locking mechanism 3 is fixed, and then the first lead screw nut 9, the fixed block 7, and the casing 10 are also in a fixed state, so that the first motor 16, the first shaft coupling 17, the first lead screw 11 rotates around its own axis, and drives the first front end cover 6, the first guide rod 8, the first front box body 12, the first middle box body 13, the first rear box body 14, the first circle The nut 18, the first sleeve 19, and the first bearing 20 move to the left as a whole.

The third step: the second motor 28 in the front locking mechanism 1 reverses, and the second screw 22 is driven to reverse through the second coupling 29, and the second screw nut 24 on it moves to the right, driving 3 groups of cranks The action of the slider mechanism makes the support arm 34 hinged on the large guide rod 38 move outwards, thereby realizing the locking of the front locking mechanism 1 and the pipe wall. According to the same principle, the second motor 28 in the rear locking mechanism 3 rotates forward to realize the release of the rear locking mechanism 3 and the pipe wall.

Step 4: The first motor 16 in the telescopic mechanism 2 reverses, and the first lead screw 11 is driven to reverse through the first coupling 17. Since the front locking mechanism 1 and the pipeline are in a locked state, at this time, the front coupling The first front end cover 6, the first guide rod 8, the first front box body 12, the first middle box body 13, the first rear box body 14, the first round nut 18, the first front end cover 6 connected with the front locking mechanism 1 of the shaft device 4, The first sleeve 19 and the first bearing 20 are fixed as a whole, and the first lead screw nut 9 drives the fixed block 7, the casing 10, the rear end cover 15, the rear coupling 5 and the rear locking mechanism 3 as a whole move to the left.

So far, a forward movement cycle has been completed, and the peristaltic forward movement of the pipeline robot can be realized by cycling the above four steps. When the above four-step motion control is reversed, the peristaltic retreat of the pipeline robot can be realized.

When both the front locking mechanism 1 and the rear locking mechanism 3 are locked, the pipeline robot can be stably stopped somewhere in the pipeline, providing a working platform for inspection, maintenance and other operations.

The peristaltic pipeline robot crawling mechanism according to an embodiment of the present invention is suitable for a pipeline diameter of about 160-220mm, and can realize peristaltic forward and backward in the pipeline, and can also be used as a working platform to stably stay somewhere inside the pipeline.

The above are only specific application examples of the present invention, and do not constitute any limitation to the protection scope of the present invention. All technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.

Claims (7)

1. A crawling mechanism for a peristaltic pipeline robot, characterized in that it comprises: telescopic mechanism (2); the front coupling (4) connected to the front end of the telescoping mechanism (2), the rear coupling (5) connected to the rear end of the telescoping mechanism (2), The front locking mechanism (1), which is connected to the front end of the telescopic mechanism (2) through the front coupling (4), is used to lock or loosen the inner wall of the pipeline; The rear locking mechanism (3) is connected to the rear end of the telescopic mechanism (2) through the rear coupling (5), and is used for locking or releasing the inner wall of the pipeline. 2. The peristaltic pipeline robot crawling mechanism according to claim 1, characterized in that the front locking mechanism (1) and the rear locking mechanism (3) have the same structure, each comprising: Constitute a small guide rod (33), a large guide rod (38), a fixed block (39) and a second guide rod (23) of a slider crank mechanism; second coupling (29); A second motor (28) and a second lead screw (22) connected together through a second coupling (29); The second front box (25), the second middle box (26), the second rear box (27) and the motor (28), wherein the second front box (25), the second middle box (26) , the second rear box (27) and the motor (28) are fixedly connected together; The second bearing (32) and the second round nut (30); the second lead screw (22) is supported on the second front box (25) through the second bearing (32) and the second round nut (30); A second lead screw nut 24, which is mounted on the second lead screw 22 and moves along the second guide rod 23; The support arm 34 hinged with the large guide rod 38, Wherein, the fixed block 39 and the second lead screw nut 24 are connected together by the locking bolt 40, and move together with the second lead screw nut 24, and then drive the crank slider mechanism to move, so that the support arm hinged with the large guide rod 38 34 moves inwardly or outwardly, thereby realizes the unclamping or locking of robot and pipe wall. 3. The peristaltic pipeline robot crawling mechanism according to claim 2, characterized in that the front locking mechanism (1) and the rear locking mechanism (3) each include 3 sets of crank sliders distributed symmetrically at 120 degrees in the circumferential direction mechanism. 4. The peristaltic pipeline robot crawling mechanism according to any one of claims 1-3, characterized in that the telescopic mechanism 2 includes: Along the first guide rod 8, The first front box body 12, the first middle box body 13, the first rear box body 14 and the first motor 16, The first bearing 20 and the first round nut 18, first coupling 17, The first motor 16 and the first lead screw 11 connected together by the first coupling 17, wherein the first lead screw 11 is supported on the first front box body 12 by the first bearing 20 and the first round nut 18, the first lead screw 11 A front box body 12, the first middle box body 13, the first rear box body 14 and the first motor 16 are fixedly connected together, The first lead screw nut 9 mounted on the first lead screw 11 moves along the first guide rod 8, the first front end cover 6, Fixed block 7, shell 10 and rear end cover 15, wherein The first lead screw nut 9 , the fixing block 7 , the housing 10 and the rear end cover 15 are fixedly connected together, and the first guide rod 8 and the first front end cover 6 are fixedly connected together. 5. the crawling method of peristaltic pipeline robot crawling mechanism, described peristaltic pipeline robot crawling mechanism according to claim 4, is characterized in that comprising: A) Make the second motor 28 in the front locking mechanism 1 rotate forward, thereby driving the second lead screw 22 to rotate forward through the second coupling 29, so that the second lead screw nut 24 moves to the left, and drives the slider crank mechanism Action, so that the support arm 34 hinged on the large guide rod 38 moves inward, thereby realizing the loosening of the front locking mechanism 1 and the pipe wall; making the second motor 28 in the rear locking mechanism 3 reverse to realize rear locking Locking mechanism 3 and pipe wall; B) Make the first motor 16 in the telescoping mechanism 2 rotate forward, thereby driving the first screw 11 to rotate forward through the first coupling 17. Since the rear locking mechanism 3 and the pipeline are in a locked state, at this time through the rear coupling The rear end cover 15 connected by the device 5 to the rear locking mechanism 3 is fixed, and then the first lead screw nut 9, the fixed block 7, and the housing 10 are also in a fixed state, so that the first motor 16, the first coupling 17. The first lead screw 11 rotates around its own axis, driving the first front end cover 6, the first guide rod 8, the first front box 12, the first middle box 13, the first rear box 14, and the first round nut 18. The first sleeve 19 and the first bearing 20 move as a whole; C) Reverse the second motor 28 in the front locking mechanism 1, thereby driving the second lead screw 22 to reverse through the second coupling 29, moving the second lead screw nut 24, and driving the crank slider mechanism to move, Make the support arm 34 hinged on the large guide rod 38 move outwards, so as to realize the locking of the front locking mechanism 1 and the pipe wall; make the second motor 28 in the rear locking mechanism 3 rotate forward, thereby realizing the rear locking mechanism 3 Loosening from the pipe wall; D) Reverse the first motor 16 in the telescopic mechanism 2, so that the first lead screw 11 is driven to reverse through the first coupling 17. Since the front locking mechanism 1 and the pipeline are in a locked state, at this time through the front coupling The first front end cover 6, the first guide rod 8, the first front box body 12, the first middle box body 13, the first rear box body 14, the first round nut 18, the first front end cover 6 connected with the front locking mechanism 1 of the device 4 A sleeve 19 and the first bearing 20 are fixed as a whole, and the first lead screw nut 9 drives the fixed block 7, the casing 10, the rear end cover 15, the rear coupling 5 and the rear locking mechanism 3 as a whole move. 6. The method according to claim 5, characterized in that: Cycle through steps A)-B)-C)-D) in sequence. 7. The method according to claim 5, characterized in that: Cycle steps D)-C)-B)-A) in sequence.

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