CN109307124B

CN109307124B - Arching mechanism

Info

Publication number: CN109307124B
Application number: CN201811318250.4A
Authority: CN
Inventors: 杨晓辉; 李泽林; 张敬豪
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2018-11-07
Filing date: 2018-11-07
Publication date: 2020-09-04
Anticipated expiration: 2038-11-07
Also published as: CN109307124A

Abstract

The invention relates to an arching mechanism, wherein a motor a and a motor B are respectively fixed at two ends of a sleeve, a screw rod is positioned in the sleeve, the motor a is connected with the screw rod, a screw nut is in threaded fit with the screw rod, a sliding block and a compression spring are positioned in a sliding groove of a supporting rod, one end of a short rod is hinged at the middle side of a long rod, the other end of the short rod is hinged with the screw nut, one end of the long rod is hinged with the sleeve, the other end of the long rod is hinged with the sliding block, one end of an extension spring is fixed at one side of the supporting rod far away from the sliding block, the end part of the supporting rod at the side is defined as a C end, the other end of the extension spring is defined as a B end, the other end of. The mechanism can walk in a specific reducing pipeline, can cross holes with sudden change of radial size, can carry different working machines and is low in cost.

Description

Arching mechanism

Technical Field

The present invention relates to a pipeline robot, and is a mechanism capable of moving in a pipeline or a hole with a large radial dimension variation.

Background

At present, a plurality of walking mechanisms of pipeline robots are provided, most of the walking mechanisms are used for pipelines with unchanged pipe diameters, and a plurality of mechanisms capable of moving in variable diameter pipelines, particularly pipelines or holes with large radial size changes are provided.

Disclosure of Invention

Object of the Invention

The invention provides a mechanism capable of moving in a pipeline or a hole with large radial dimension change, and aims to solve the problem of the moving of a pipeline robot in a complex pipeline.

Technical scheme

The invention is realized by the following technical scheme:

an arching mechanism, characterized by: motor a and motor B are fixed in telescopic both ends respectively, the lead screw is located the sleeve, motor a and screw connection, screw and lead screw thread fit, slider and compression spring are located the sliding tray of branch, quarter butt one end articulates the centre side at the stock, the other end of quarter butt is articulated with the screw, the one end and the sleeve of stock are articulated, the other end and the slider of stock are articulated, extension spring's one end is fixed in one side that the slider was kept away from to branch, the tip definition of this side of branch is the C end, another tip definition is the B end, extension spring's the other end is fixed in the centre side of stock, motor B links to each other with the reel, the one end of line is fixed in on the reel, the other end is fixed in the B.

The lead screw is positioned in the sleeve and is coaxial with the sleeve.

The lead screw penetrates through the rolling bearing, and the rolling bearing is fixed in the sleeve.

The sleeve is replaced by a frame.

The B end of the supporting rod is of a wheel type structure.

The C end of the support rod is made of an anti-skid structure, and the static friction coefficient between the surface of the support rod and the pipeline is greater than or equal to 0.80.

The anti-slip structure is rubber.

The rubber surface of the anti-skid structure is provided with a plurality of circular bulges, and the height of the bulges is gradually reduced from the end part of the cambered surface to the outer surface far away from the end part of the cambered surface.

Through the implementation of the technical scheme of the invention, the pipeline robot can move in a pipeline or a hole with large radial dimension change.

The invention has the advantages and positive effects that:

1. due to the large working area of the travel pawl, the mechanism can cross holes with abrupt radial dimensions.

2. Different working machines can be carried to realize working in a specific reducing pipeline. For example, the method can be used for cleaning burrs in a complex casting cavity, complex pipeline detection, mine detection and exploration, tunnel acceptance inspection, earthquake search and rescue radiation, toxic environment and the like.

3. And the cost is lower due to the adoption of flexible transmission of a connecting rod, a spring, a line and the like.

Drawings

FIG. 1 is a diagrammatic view of an arching mechanism;

figure 2 is a schematic view of a strut.

Description of reference numerals:

1. the motor a, the motor b, the motor 3, the sleeve, the rolling bearing 4, the lead screw 5, the screw nut 6, the short rod 7, the long rod 8, the extension spring 9, the support rod 10, the slide block 11, the compression spring 12, the winding wheel 13 and the wire 14.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

as shown in fig. 1, in the arching mechanism, a motor a 1 and a motor b 2 are respectively fixed at two ends of a sleeve 3, a screw 5 is positioned in the sleeve 3, the motor a 1 is connected with the screw 5, the screw 5 is positioned in the sleeve 3 and coaxial with the sleeve 3, the screw 5 passes through a rolling bearing 4, and the rolling bearing 4 is fixed in the sleeve 3. Screw 6 and 5 screw-thread fit of lead screw, slider 11 and compression spring 12 are located the sliding tray of

branch

10, 7 one ends of quarter butt articulate in the centre side of stock 8, the other end of quarter butt 7 is articulated with screw 6, the one end of stock 8 is articulated with sleeve 3, the other end of stock 8 is articulated with slider 11, extension spring 9's one end is fixed in the one side that slider 11 was kept away from to branch 10, the tip definition of this side of branch 10 is the C end, another tip definition is the B end, extension spring 9's the other end is fixed in the centre side of stock 8, motor B2 links to each other with reel 13, the one end of line 14 is fixed in on reel 13, the other end is fixed in the B end of branch 10.

Fig. 2 is a schematic structural view of the bar 10. The B end of the supporting rod 10 is of a wheel type structure, the C end of the supporting rod is of an anti-skidding structure made of a material with a large friction coefficient, and the static friction coefficient between the surface of the supporting rod and a pipeline is larger than or equal to 0.80. Preferably, the anti-slip structure is rubber, the surface of the rubber is provided with a plurality of circular bulges, and the heights of the bulges are gradually reduced from the end part of the cambered surface to the outer surface far away from the end part of the cambered surface.

The sleeve 3 has openings that do not interfere with the short bars 7 and the wires 14, and the support bar 10 has openings that do not interfere with the long bar 8, so that no interference occurs during transmission.

The sleeve 3 can also be replaced by supports with internal slots or side slots such as a frame and the like, and the technical requirements of the invention are met.

The arching mechanism of the invention is a single claw in a pipeline robot walking device. The running gear of the pipeline robot in practical application is a group of multi-claw structures formed by combining three or more single claws (arching mechanisms), and the two groups of multi-claw structures work cooperatively to finish running in the pipeline. The two groups of multi-claw structures can be in rigid connection or flexible connection.

The arching mechanism works as shown in figure 1, the rotation direction of a screw 5 is controlled by a motor a 1 to enable a screw nut 6 to move back and forth, a short rod 7 with one end hinged to the screw nut swings back and forth along with the movement of the screw nut 6, and the long rod 8 is driven to swing by the swing of the short rod 7; the thread 14 can be extended and shortened according to the rotation direction of the reel 13, and the thread 14 and the long rod 8 work together to make the strut 10 perform the actions of supporting (the C end of the strut 10 is in contact with the pipe wall) and contracting (the B end of the strut 10 is in contact with the sleeve, and the length of the thread 14 is 0).

When the pipeline robot walks, a single claw of one group of multi-claw structures is simultaneously contacted (supported) with the pipe wall, and the other group of multi-claw structures is in a contraction state. The two groups of multi-claw structures alternately perform supporting and contracting actions to finish walking in the pipeline.

Claims

1. An arching mechanism, characterized by: the motor a and the motor B are respectively fixed at two ends of the sleeve, the screw rod is positioned in the sleeve, the motor a is connected with the screw rod, the screw nut is in threaded fit with the screw rod, the sliding block and the compression spring are positioned in the sliding groove of the supporting rod, one end of the short rod is hinged to the middle side of the long rod, the other end of the short rod is hinged to the screw nut, one end of the long rod is hinged to the sleeve, the other end of the long rod is hinged to the sliding block, one end of the extension spring is fixed at one side, away from the sliding block, of the supporting rod, the end portion of the supporting rod at the side is defined as a C end, the other end of the supporting rod is defined as a B end, the other end of;

the B end of the support rod is of a wheel type structure;

2. An arching mechanism according to claim 1, wherein: the lead screw is positioned in the sleeve and is coaxial with the sleeve.

3. An arching mechanism according to claim 2, wherein: the lead screw penetrates through the rolling bearing, and the rolling bearing is fixed in the sleeve.

4. An arching mechanism according to claim 1, wherein: the sleeve is replaced by a frame.

5. An arching mechanism according to claim 1, wherein: the anti-slip structure is rubber.

6. An arching mechanism according to claim 5, wherein: the rubber surface of the anti-skid structure is provided with a plurality of circular bulges, and the height of the bulges is gradually reduced from the end part of the cambered surface to the outer surface far away from the end part of the cambered surface.