CN103697285A - Wheel and crawler compounding radial adjustable pipeline robot - Google Patents

Abstract

The invention discloses a wheel and crawler compounding radial adjustable pipeline robot. A bionic type pipeline robot has low moving speed and great fluctuation, the structure of a crawler type pipeline robot is complicated, and a vehicle type pipeline robot cannot enter a vertical pipeline. The wheel and crawler compound radial adjustable pipeline robot comprises a plurality of wheel and crawler compounding mechanisms, wherein each wheel and crawler compounding mechanism comprises a main casing, a radial adjusting mechanism, a crawler driving walking mechanism and a wheel type support mechanism, two installing side plates are connected through a driving belt wheel installing shaft and a driven belt wheel installing shaft, a driving belt wheel is fixedly arranged on the driving belt wheel installing shaft, a driven belt wheel is fixedly arranged on the driven belt wheel installing shaft, the driving belt wheel is connected with the driven belt wheel through a crawler, the installing side plates are hinged to the main casing through a driven swinging rod, each wheel type support mechanism comprises a bottom plate and a pulley, two ends of the bottom plate are respectively hinged to the main casing through the driven swinging rod, and the driven swinging rod arranged at one end is hinged to the other end of a driving swinging rod. The wheel and crawler compounding radial adjustable pipeline robot has good moving stability and is applicable to various complicated pipelines.

Description

A wheel-track composite radially adjustable pipeline robot

technical field

The invention belongs to the technical field of robots, and relates to a pipeline robot, in particular to a wheel-track composite radially adjustable pipeline robot.

Background technique

At present, with the rapid development of transportation, energy, petroleum, chemical industry and urban construction, the application of pipelines is becoming more and more extensive. Pipeline robots have been widely used in the internal and external operations of pipes. However, the existing pipeline robots are mainly bionic movement type, crawler type, screw drive type, vehicle type and support wheel type, which have the following defects:

The bionic pipeline robot uses the principle of bionics to move through the expansion and contraction of the robot body. Its moving speed in the pipeline is slow and fluctuates greatly, its stability is poor, its driving ability and moving speed are limited, its motion efficiency is not easy to improve, and its practical application is rare.

The tracked pipeline robot can maintain a good walking posture under harsh conditions such as oil, mud, and obstacles, and has good obstacle-surmounting performance. However, this type of pipeline robot has a complex structure, relatively large dimensions, and is not flexible enough. It is generally used for pipelines with large diameters and complicated passage environments.

The car-type pipeline robot imitates the mechanism of ordinary cars and relies on differential speed to achieve flexible steering. Its structure is simple and its size is small, but its operating environment is limited by the direction of gravity. If there is no additional sealing force, only relying on the gravity of the robot itself to provide the sealing force, it can only satisfy the bottom movement of the horizontal pipeline, its traction is small, the climbing ability is extremely limited, and it cannot enter the vertical pipeline.

Contents of the invention

The purpose of the present invention is to address the deficiencies in the prior art, and provide a wheel-track composite radially adjustable pipeline robot. Complicated plumbing.

The present invention includes a plurality of wheel-track composite mechanisms connected in series through universal joints, each wheel-track composite mechanism includes a main casing, a radial adjustment mechanism, a crawler-driven walking mechanism and a wheel-type support mechanism; the main casing is two Both ends of the cylinder are fixed with end caps, and the side wall is provided with three notches evenly distributed along the circumference; two adjacent wheel-shoe composite mechanisms are connected by universal joints, and the two ends of the universal joints are respectively connected to the adjacent two. The end caps of the two wheel-track composite mechanisms are connected; the radial adjustment mechanism is integrally arranged inside the main casing, and the crawler belt driving travel mechanism and two wheel support mechanisms are evenly arranged outside the main casing along the circumferential direction.

The radial adjustment mechanism includes a radial adjustment motor, a radial adjustment driving cylindrical gear, a radial adjustment driven cylindrical gear, a radial adjustment driving bevel gear, a radial adjustment driven bevel gear, a worm, a worm wheel, a lead screw and Lead screw nut; the radial adjustment motor is fixed on the inner wall of the main housing, the output shaft is fixed to the radial adjustment driving cylindrical gear, and the radial adjustment driven cylindrical gear and the radial adjustment driving bevel gear are fixed on the driven On the shaft, the radially adjusted driven bevel gear is fixed on the worm, and the worm wheel is fixed on the lead screw; the driven shaft, worm and lead screw are all connected with the main housing through bearings. The radial adjustment active cylindrical gear meshes with the radial adjustment driven cylindrical gear, the radial adjustment active bevel gear meshes with the radial adjustment driven bevel gear, and the worm meshes with the worm wheel; On the bar and the slide bar, and threaded with the lead screw, the lead screw nut has three supports evenly distributed along the circumference, each support is hinged with one end of an active swing bar, and each active swing bar stretches out of the corresponding notch. The sliding rod is fixed on the inner wall of the main casing.

The crawler drive traveling mechanism includes a side plate, a drive pulley installation shaft, a driven pulley installation shaft, a drive pulley, a driven pulley, a crawler belt, a crawler drive motor and a reduction gear set; One end is connected with the installation shaft of the driving pulley through a bearing, and the other end is connected with the installation shaft of the driven pulley through a bearing; The driven swing rod is hinged with the other end of a driving swing rod; two drive pulleys are fixedly arranged on the drive pulley installation shaft, and two driven pulleys are fixedly arranged on the driven pulley installation shaft, Each driving pulley is connected to the corresponding driven pulley through a crawler; the crawler driving motor is fixedly arranged on a mounting side plate, and drives the driving pulley to rotate through a reduction gear set.

The reduction gear set includes a three-stage cylindrical gear pair and a three-stage bevel gear pair; the output shaft of the crawler drive motor is fixed with a first-stage driving cylindrical gear, the first-stage driven cylindrical gear and the first-stage driving bevel gear Fixed on the same gear installation shaft, the first-stage driven bevel gear and the second-stage driving cylindrical gear are fixed on the same gear installation shaft, and the second-stage driven cylindrical gear and the third-stage driving cylindrical gear are fixed on the same shaft On the gear installation shaft, the third-stage driven cylindrical gear and the second-stage driving bevel gear are fixed on the same gear installation shaft, and the second-stage driven bevel gear and the third-stage driving bevel gear are fixed on the same gear installation shaft , the third-stage driven bevel gear is fixed on the drive pulley installation shaft; all gear installation shafts and installation side plates are connected by bearings.

The wheeled support mechanism includes a bottom plate and a pulley; both ends of the bottom plate are hinged to the main housing through a driven swing rod, one end of the driven swing rod is hinged to the other end of a driving swing rod, and the other end is hinged to the main housing. The driven swing link is connected with the main casing through a spring; the two pulleys are respectively hinged with the bottom two ends of the bottom plate. The active swing link hinged with the two wheel-type supporting mechanisms and the active swing link hinged with the crawler-driven traveling mechanism face the same end of the main housing; the active swing link hinged with the crawler-driven traveling mechanism and hinged with the two wheel-type supporting mechanisms The lengths are all equal, and the lengths of all driven swing bars hinged with the crawler-driven traveling mechanism and hinged with the wheel support mechanism are all equal.

Beneficial effects of the present invention:

1. The wheel-track composite mechanism of the present invention is connected by a universal joint to ensure smooth bending when encountering a curve; the radial adjustment mechanism composed of a worm wheel, a worm mechanism and a screw nut pair can generate a relatively large force to make the track Strong adhesion to the pipe wall; when the wheel support mechanism is unfolded, the pressure of the spring increases the adhesion of the pipe; the crawler-driven walking mechanism and the two wheel support mechanisms expand and contract synchronously along the radial direction of the pipe, when the robot When walking in the pipe and encountering changes in pipe diameter or operating conditions, the central axis of the present invention is always consistent with the central axis of the pipe, so it can be firmly supported on the pipe wall, and the movement stability is good.

2. The present invention is applicable to detection tasks of variable-diameter pipelines, bends and vertical pipelines.

3. The crawler-driven traveling mechanism of the present invention has relatively large frictional force against the pipe wall, and the use of the wheel support mechanism can effectively reduce the weight of the present invention.

Description of drawings

Fig. 1 is the perspective view of the overall structure of the present invention;

Fig. 2 is the perspective view of the wheel-shoe composite mechanism in Fig. 1;

Fig. 3 is a perspective view of the radial adjustment mechanism in the present invention;

Fig. 4 is the three-dimensional view of crawler-driven traveling mechanism among the present invention;

Fig. 5 is a schematic diagram of the transmission principle of the crawler-driven traveling mechanism in the present invention;

Fig. 6 is an assembly perspective view of the wheeled support mechanism and the main housing in the present invention;

Fig. 7 is a perspective view of the wheel-track composite mechanism in the pipeline in the present invention.

Detailed ways

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

As shown in Figures 1 and 2, a wheel-track composite radially adjustable pipeline robot includes three wheel-track composite mechanisms 1 connected in series through universal joints 3, each wheel-track composite mechanism 1 includes a main shell 2, a radial Adjusting mechanism 6, crawler belt driving mechanism 4 and wheel support mechanism 5; the main casing 2 is a cylinder with end caps fixed at both ends, and the side wall is provided with three notches 2-1 uniformly distributed along the circumference, Two adjacent wheel-shoe composite mechanisms 1 are connected by a universal joint 3, and the two ends of the universal joint 3 are respectively connected to the end covers of two adjacent wheel-shoe composite mechanisms 1; the radial adjustment mechanism 6 is integrally arranged in the main casing 2. Inside, the crawler-driven traveling mechanism 4 and two wheel support mechanisms 5 are evenly distributed outside the main casing 2 along the circumferential direction.

As shown in Figures 2 and 3, the radial adjustment mechanism 6 includes a radial adjustment motor 6-1, a radial adjustment driving cylindrical gear 6-2, a radial adjustment driven cylindrical gear 6-3, and a radial adjustment driving bevel gear 6 -4, radial adjustment driven bevel gear 6-5, worm screw 6-6, worm wheel 6-7, lead screw 6-8 and lead screw nut 6-9; radial adjustment motor 6-1 is fixed on the main housing 2 On the inner wall of , the output shaft is fixed to the radial adjustment driving cylindrical gear 6-2, the radial adjustment driven cylindrical gear 6-3 and the radial adjustment driving bevel gear 6-4 are all fixed on the driven shaft, and the radial adjustment is from The movable bevel gear 6-5 is fixed on the worm 6-6, and the worm wheel 6-7 is fixed on the lead screw 6-8; the driven shaft, the worm 6-6 and the lead screw 6-8 are all connected with the main casing 2 through bearings . The radial adjustment active cylindrical gear 6-2 meshes with the radial adjustment driven cylindrical gear 6-3, the radial adjustment active bevel gear 6-4 meshes with the radial adjustment driven bevel gear 6-5, and the worm 6-6 meshes with the worm gear 6-7 meshing; the lead screw nut 6-9 is sleeved on the lead screw 6-8 and the sliding rod 6-10, and is threadedly connected with the lead screw 6-8, and the lead screw nut 6-9 has three supports evenly distributed along the circumferential direction , each support is hinged with one end of an active fork 7, and each active fork 7 stretches out of the corresponding notch 2-1. The sliding rods 6-10 are fixed on the inner wall of the main housing 2.

As shown in Figures 2, 4 and 5, the crawler belt drive traveling mechanism 4 includes an installation side plate 4-1, a drive pulley installation shaft 4-2, a driven pulley installation shaft 4-3, a drive pulley 4-4, Drive pulley 4-5, crawler belt 4-6, crawler belt driving motor 4-7 and reduction gear group; One end of two installation side plates 4-1 is all connected with drive pulley installation shaft 4-2 by bearing, and the other end is all It is connected with the driven pulley installation shaft 4-3 through bearings; the two ends of each installation side plate 4-1 are hinged with the main housing 2 through the driven swing rod 8, and the driven swing rod 8 at one end is connected with a driving The other end of the pendulum 7 is hinged; the drive pulley installation shaft 4-2 is fixedly provided with two drive pulleys 4-4, and the driven pulley installation shaft 4-3 is fixedly provided with two driven pulleys 4-4. 5. Each driving pulley 4-4 is connected to the corresponding driven pulley 4-5 through the crawler belt 4-6; the crawler belt driving motor 4-7 is fixedly installed on a side plate 4-1, and is connected through the reduction gear set Drive driving pulley 4-4 to rotate.

The reduction gear set includes a three-stage cylindrical gear pair and a three-stage bevel gear pair; the first-stage driving cylindrical gear 4-8 is fixedly arranged on the output shaft of the crawler drive motor 4-7, and the first-stage driven cylindrical gear 4-9 and The first-stage driving bevel gear 4-10 is fixed on the same gear installation shaft, the first-stage driven bevel gear 4-11 and the second-stage driving cylindrical gear 4-12 are fixed on the same gear installation shaft, and the second-stage The driven cylindrical gear 4-13 and the third-stage driving cylindrical gear 4-14 are fixed on the same gear installation shaft, and the third-stage driven cylindrical gear 4-15 is fixed on the same gear installation shaft as the second-stage driving bevel gear 4-16. On the gear installation shaft, the second-stage driven bevel gear 4-17 and the third-stage driving bevel gear 4-18 are fixed on the same gear installation shaft, and the third-stage driven bevel gear 4-19 is fixed on the drive pulley On shaft 4-2; all gear installation shafts and installation side plates are bearing connections. The crawler drive motor 4-7 drives the first-stage driving cylindrical gear 4-8 to rotate, and transmits power to the third-stage driven bevel gear 4-19, and then drives the driving pulley 4-4 to rotate.

As shown in Figure 6, the wheeled support mechanism 5 includes a bottom plate 5-1 and a pulley 5-2; It is hinged with the other end of a driving swing link 7, and the driven swing link 8 at the other end is connected with the main housing 2 through a spring 9; two pulleys 5-2 are hinged with the bottom two ends of the bottom plate 5-1 respectively. The active swing link 7 hinged with the two wheel support mechanisms 5 and the active swing link 7 hinged with the crawler drive travel mechanism 4 are towards the same end of the main housing 2; The lengths of the active fork 7 hinged by the mechanism 5 are all equal, and the lengths of all the driven fork 8 articulated with the crawler-driven traveling mechanism 4 and with the wheel support mechanism 5 are all equal.

The working principle of the wheel-track composite radially adjustable pipeline robot:

Radial adjustment motor 6-1 drives radial adjustment active cylindrical gear 6-2 to rotate, through radial adjustment driven cylindrical gear 6-3, radial adjustment active bevel gear 6-4 and radial adjustment driven bevel gear 6- 5. The power is transmitted to the worm 6-6. After the worm gear 6-7 and the large transmission ratio of the worm 6-6 decelerate and increase the torque, the screw 6-8 is given enough torque to drive the screw nut 6-9 on the sliding rod 6- Do reciprocating movement on 10. The active swing link 7 hinged with the lead screw nuts 6-9 drives the crawler-driven traveling mechanism 4 and the wheel support mechanism 5 to perform synchronous telescopic movement along the radial direction of the pipeline and to cling to the inner wall of the pipeline. The crawler drive motor 4-7 drives the first-stage driving cylindrical gear 4-8 to rotate, and the power is transmitted to the driving pulley 4-4 through the third-stage cylindrical gear pair and the third-stage bevel gear pair, and the driving pulley 4-4 is connected with the driven belt The wheel 4-5 transmits power through the crawler belt 4-6, thereby realizing the walking function of the crawler belt driven traveling mechanism 4.

When the wheel-track composite radially adjustable pipeline robot passes through a bend, the universal joint 3 acts as a flexible connection; when entering a vertical pipeline, the radial adjustment motor 6-1 starts to drive the crawler to drive the traveling mechanism 4 and the wheeled support mechanism 5 are attached to the inner wall of the pipeline. The spring 9 is in a compressed state before the wheeled support mechanism 5 is deployed. When the wheeled support mechanism 5 is deployed, the pressure of the spring 9 pushes the driven fork 8 to move upwards, thereby increasing the adhesion of the pipeline.

As shown in Figure 7, the wheel-track composite radially adjustable pipeline robot is tensioned and supported on the inner wall of the pipeline through the crawler drive mechanism and the wheel support mechanism 5, and can walk axially in the pipeline. Since the crawler-driven traveling mechanism 4 and the two wheel-type supporting mechanisms 5 expand and contract synchronously along the radial direction of the pipeline, when the robot encounters changes in the pipe diameter or operating conditions while walking in the pipe, the central axis of the wheel-track composite radially adjustable pipeline robot will It is always consistent with the central axis of the pipe, so it can be firmly supported on the pipe wall and has good movement stability. At the same time, the radial adjustment mechanism 6 composed of a worm wheel, a worm mechanism and a screw nut pair can generate a relatively large force, so that the caterpillars 4-6 can generate strong adhesion to the pipe wall, and is suitable for various complicated pipes and applications. The prospects are broad.

Claims (3)

1. A wheel-track composite radially adjustable pipeline robot, comprising a plurality of wheel-track composite mechanisms connected in series through universal joints, characterized in that: Each of the wheel-shoe composite mechanisms includes a main housing, a radial adjustment mechanism, a crawler belt driving mechanism and a wheel support mechanism; the main housing is a cylinder with end caps fixed at both ends, and the side wall There are three notches evenly distributed along the circumference; two adjacent wheel-track composite mechanisms are connected by a universal joint, and the two ends of the universal joint are respectively connected with the end covers of the adjacent two wheel-track composite mechanisms; The radial adjustment mechanism is integrally arranged inside the main casing, and the crawler-driven traveling mechanism and two wheel support mechanisms are evenly arranged outside the main casing along the circumferential direction; The radial adjustment mechanism includes a radial adjustment motor, a radial adjustment driving cylindrical gear, a radial adjustment driven cylindrical gear, a radial adjustment driving bevel gear, a radial adjustment driven bevel gear, a worm, a worm wheel, a lead screw and Lead screw nut; the radial adjustment motor is fixed on the inner wall of the main housing, the output shaft is fixed to the radial adjustment driving cylindrical gear, and the radial adjustment driven cylindrical gear and the radial adjustment driving bevel gear are fixed on the driven On the shaft, the radially adjusted driven bevel gear is fixed on the worm, and the worm wheel is fixed on the lead screw; the driven shaft, worm and lead screw are all connected to the main housing through bearings; the radially adjusted driving cylindrical gear is connected to the radial The radial adjustment driven bevel gear meshes with the radial adjustment driven bevel gear, and the worm meshes with the worm gear; connection, the lead screw nut is evenly distributed along the circumferential direction with three supports, each support is hinged with one end of an active swing rod, and each active swing rod protrudes out of the corresponding notch; the sliding rod is fixed on the main casing on the inner wall; The crawler drive traveling mechanism includes a side plate, a drive pulley installation shaft, a driven pulley installation shaft, a drive pulley, a driven pulley, a crawler belt, a crawler drive motor and a reduction gear set; One end is connected with the installation shaft of the driving pulley through a bearing, and the other end is connected with the installation shaft of the driven pulley through a bearing; The driven swing rod is hinged with the other end of a driving swing rod; two drive pulleys are fixedly arranged on the drive pulley installation shaft, and two driven pulleys are fixedly arranged on the driven pulley installation shaft, Each driving pulley is connected to the corresponding driven pulley through a track; the track driving motor is fixedly arranged on a mounting side plate, and drives the driving pulley to rotate through a reduction gear set; The wheeled support mechanism includes a bottom plate and a pulley; both ends of the bottom plate are hinged to the main housing through a driven swing rod, one end of the driven swing rod is hinged to the other end of a driving swing rod, and the other end is hinged to the main housing. The driven swing link is connected to the main casing through a spring; the two pulleys are respectively hinged to the bottom ends of the bottom plate; the active swing link hinged to the two wheel support mechanisms and the active swing link hinged to the crawler drive travel mechanism face the main casing the same end of the body. 2. A wheel-track composite radially adjustable pipeline robot according to claim 1, characterized in that: the reduction gear set includes a three-stage cylindrical gear pair and a three-stage bevel gear pair; the output shaft of the crawler drive motor The first-stage driving cylindrical gear is fixed on the top, the first-stage driven cylindrical gear and the first-stage driving bevel gear are fixed on the same gear installation shaft, the first-stage driven bevel gear and the second-stage driving cylindrical gear are fixed on the On the same gear installation shaft, the second-stage driven cylindrical gear and the third-stage driving cylindrical gear are fixed on the same gear installation shaft, and the third-stage driven cylindrical gear and the second-stage driving bevel gear are fixed on the same gear installation On the shaft, the second-stage driven bevel gear and the third-stage driving bevel gear are fixed on the same gear installation shaft, and the third-stage driven bevel gear is fixed on the drive pulley installation shaft; all gear installation shafts are connected to the installation side plate Both are bearing connections. 3. A wheel-track composite radially adjustable pipeline robot according to claim 1, characterized in that: the length of the active swing link hinged with the crawler-driven traveling mechanism and hinged with the two wheeled support mechanisms is equal, The lengths of all driven swing links hinged with the crawler-driven traveling mechanism and hinged with the wheel support mechanism are equal.

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