CN109760763A - A kind of detection repair robot - Google Patents
A kind of detection repair robot Download PDFInfo
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- CN109760763A CN109760763A CN201910157943.8A CN201910157943A CN109760763A CN 109760763 A CN109760763 A CN 109760763A CN 201910157943 A CN201910157943 A CN 201910157943A CN 109760763 A CN109760763 A CN 109760763A
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Abstract
The present invention provides a kind of detection repair robots, are mainly made of driving mechanism, bracket, bindiny mechanism and micro- sensing unit and control system；Wherein driving mechanism is connected by two Retractive legs by bracket, is welded with feed screw nut in bracket, can be cooperated with the screw rod on Retractive leg, complete the lifting action of Retractive leg；The robot includes at least three driving mechanisms, and two neighboring driving mechanism is connected by bindiny mechanism；Micro- sensing unit is mounted on robot front end；Driving motor drives Mecanum wheel movement that can effectively reduce the lateral of motor and places space by Bevel Gear Transmission.Driving device, bindiny mechanism, micro- sensing unit are both connected in control system.The present invention has the advantages that can be by carrying detection device and prosthetic device completion to the inspection of petrochemical plant and repairing task, the movement of the achievable all directions on the outside of pipeline increases the inspection integrity degree to petrochemical plant.
Description
Technical field
The present invention relates to petrochemical industries, refer specifically to a kind of detection repair robot.
Background technique
In petrochemical plant, the oil tank and pipeline being seen everywhere are very important equipment, in the long-term use,
Internal chemical attack and mechanical damage etc. are the major ways for causing oil tank and pipeline failure.Peace in petrochemical industry class industry
Full problem be it is highly important, for the safety for guaranteeing petrochemical plant, need to carry out various kinds of equipment in factory to check and to having
The equipment of damage is repaired.At present monitor and repairing work mainly is accomplished manually, due in petrochemical plant pipeline and
Oil tank is more intensive and complicated due to being distributed, and work can be mitigated by replacing staff to complete inspection and reparation task using robot
Make the workload of personnel and brings many conveniences.
Petrochemical enterprise is mainly completed to the detection of large oil tank inside and outside wall the application of climbing robot, paints and is removed
The work such as rust.But movement of the current robot on pipeline and oil tank cannot be throughout every nook and cranny and inflexible, pipeline point
Therefore the more complicated movement that also will affect robot of cloth designs a kind of flexible and efficient autonomous detection reparation machine of movement
People has positive effect to carry testing equipment and repaired item.
Summary of the invention
The object of the present invention is to provide a kind of detection repair robots.
The technical solution adopted by the present invention is that:
A kind of detection repair robot characterized by comprising driving mechanism, bracket, bindiny mechanism, micro- sensing unit,
Control system；
The driving mechanism is made of two Retractive legs and bracket；Retractive leg by Mecanum wheel, axle shaft member, gear box,
Flexible leg support, screw rod, shaft coupling, fixed plate, lifting motor, bearing, driving motor, bevel gear set at；
The bracket is formed by square tubes soldering and is welded with feed screw nut；
The bindiny mechanism by interconnecting piece, outer connector, adjust motor, shaft coupling, motor fixing frame, rotating bar, turn
Dynamic bearing composition.
Further, the bracket of four Retractive legs in the Retractive leg is embedded in bracket, stretch leg support and fixation
Plate static connection, fixed plate and lifting motor are connected by screw to, and the motor shaft of lifting motor is connected with screw rod by shaft coupling, silk
The inner ring of the bar other end and lifting and driving bearing is interference fitted, and the outer ring of lifting and driving bearing and gear box cooperate, Retractive leg branch
Frame and gear box static connection；Mecanum wheel, axle shaft member, bevel gear are sequentially connected, axle shaft member and bearing inner race interference fit, axis
The outer ring held and gear box interference fit, driving motor, which is connected by screw to, to be fixed on inside gear box, and the electricity of driving motor
Arbor is connect with bevel gear.
Further, for the bracket as made of square tubes soldering, two sides square tube and vertical direction angle α are 1~10 degree；Side
The geometric center of two square tubes of feed screw nut and feed screw nut is welded on the inside of pipe；Feed screw nut and screw rod cooperation, lifting motor
The relative rotation for driving screw rod to complete opposite feed screw nut can complete elevating movement of the Retractive leg relative to bracket.
Further, bindiny mechanism's interconnecting piece, rolling rod, rolling bearing, outer connector, motor fixing frame, tune
Section motor, shaft coupling are sequentially connected；Rolling bearing, interconnecting piece are all mounted in rotating bar and are interference fit, the axis of rolling
Bearing outer-ring and outer connector are using interference fit；Adjust motor be connected by screw to motor fixing frame, motor fixing frame and outside
Connector static connection；The motor shaft for adjusting motor is connect with rotating bar by shaft coupling, and adjusting motor can be by driving rotating bar
Rotation completes interconnecting piece and outer connector around the relative rotation of rotating bar, and outer connector and interconnecting piece and bracket are all fixed
Connection.
Further, strong electromagnet (14) are fitted under every Retractive leg.
Further, the driving mechanism, bracket, bindiny mechanism, micro- sensing unit are both connected in control system.
The beneficial effects of the present invention are:
1. the present invention is using Mecanum wheel as driving wheel, 360 degree of nothings are may be implemented in the characteristic of Mecanum wheel
The all-around mobile at dead angle.
It completes to advance 2. Retractive leg structure can replace lifting in robot crossing pipeline interface；Every Retractive leg lifting
All independently drive, can robot middle line and conduit axis not in the same plane when, can also be risen by adjusting every
The height for dropping leg, allows each wheel to be permanently connected to pipeline, guarantees the transmitting of power, cooperate the mobile spy of Mecanum wheel
Property, it realizes Omni-mobile (transverse shifting, forward-reverse, rotary motion, circular pipe motion etc.) of the robot on pipeline, mentions
The precision of high detection and the integrity degree of reparation.
3. the adjustability of driving mechanism quantity can carry different equipment for robot and provide more selection schemes,
It is adjusted flexibly according to actual needs.
4. bindiny mechanism can drive driving mechanism to complete new line and movement of bowing, robot is made to move and erect in the horizontal direction
Histogram, both can be mobile around corner medial movement or on the outside of corner into the mutually converting of movement.
5. two sides square tube and vertical direction angle α are 1~10 degree, Mecanum wheel cross section and pipeline normal weight can be made
It closes, improves mobile efficiency of the Mecanum wheel on non-horizontal surface.
Detailed description of the invention
Present pre-ferred embodiments are given, with reference to the accompanying drawing with the embodiment that the present invention will be described in detail.
Fig. 1 is entirety perspective view
Fig. 2 is Retractive leg schematic perspective view
Fig. 3 is bindiny mechanism's schematic perspective view
The two sides Fig. 4 square tube and vertical direction angle schematic diagram
In figure: 1- Mecanum wheel, 2- axle shaft member, 3- gear box, 4- bracket, 5- stretch leg support, 6- screw rod, 7- shaft coupling
Device, 8- fixed plate, 9- lifting motor, 10- interconnecting piece, 11- feed screw nut, 12- outer connector, 13- bearing, 14- strength electricity
Magnet, 15- lifting and driving bearing, 16- driving motor, 17- bevel gear, 18- adjust motor, 19- shaft coupling, and 20- motor is fixed
Frame, 21- rotating bar, 22- rolling bearing, the micro- sensing unit of 23-.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of detection repair robot, comprising: driving mechanism, bracket, bindiny mechanism, micro- sensing unit,
Control system；
The driving mechanism is made of two Retractive legs and bracket 4；Retractive leg is by Mecanum wheel 1, axle shaft member 2, transmission
Box 3, flexible leg support 5, screw rod 6, shaft coupling 7, fixed plate 8, lifting motor 9, bearing 13, driving motor 16,17 groups of bevel gear
At；
The bracket is formed by square tubes soldering and is welded with feed screw nut 11；
The bindiny mechanism by interconnecting piece 10, outer connector 12, adjust motor 18, shaft coupling 19, motor fixing frame 20,
Rotating bar 21, rolling bearing 22 form.
As shown in Figure 1 and Figure 2, the bracket 5 of four Retractive legs in the Retractive leg is embedded in bracket 4, and stretch leg support
5 and 8 static connection of fixed plate, fixed plate 8 and lifting motor 9 be connected by screw to, the motor shaft and screw rod 6 of lifting motor 9 pass through
Shaft coupling 7 connects, and the inner ring of 6 other end of screw rod and lifting and driving bearing 15 is interference fitted, the outer ring of lifting and driving bearing 15 with
Gear box 3 cooperates, 3 static connection of leg support 5 and gear box of stretching；Mecanum wheel 1, axle shaft member 2, bevel gear 17 are sequentially connected,
Axle shaft member 2 and 13 inner ring of bearing interference fit, the outer ring of bearing 13 and gear box 3 are interference fitted, and driving motor 16 passes through screw
It is fastened on inside gear box 3, and the motor shaft of driving motor 16 is connect with bevel gear 17.
As Figure 1 and Figure 4, for the bracket as made of square tubes soldering, two sides square tube and vertical direction angle α are 1~10
Degree；The geometric center of 11 two square tubes of feed screw nut 11 and feed screw nut is welded on the inside of square tube；Feed screw nut 11 and screw rod 6 are matched
It closes, the relative rotation that lifting motor 9 drives screw rod 6 to complete opposite feed screw nut 11 can complete Retractive leg relative to bracket 4
Elevating movement.
As shown in Figure 1, Figure 3, bindiny mechanism's interconnecting piece 10, rolling rod 21, rolling bearing 22, outer connector 12,
Motor fixing frame 20, adjusting motor 18, shaft coupling 19 are sequentially connected；Rolling bearing 22, interconnecting piece 10 are all mounted on rotating bar
It on 21 and is interference fit, 22 outer ring of rolling bearing and outer connector 12, which use, to be interference fitted；It adjusts motor 18 and motor is solid
Determine frame 20 to be connected by screw to, 12 static connection of motor fixing frame 20 and outer connector；Adjust the motor shaft and rotating bar of motor 18
21 are connected by shaft coupling, adjust motor 18 can by drive the rotation of rotating bar 21 complete interconnecting piece 10 and outer connector 12 around
The relative rotation of rotating bar 21, outer connector 12 and interconnecting piece 10 are all fixedly connected with bracket 4.
As shown in Figure 1, being fitted with strong electromagnet 14 under every Retractive leg.
The driving mechanism, bracket, bindiny mechanism, micro- sensing unit are both connected in control system.
Crossing pipeline interface mode one (the case where enumerating three driving mechanisms):
Step 1: most front-seat Retractive leg is in lifting motor when detecting that there is pipe joint in front by micro- sensing unit
Driving is lower to rise, and pushes robot to advance by driving mechanisms two rows of below, after front-seat Retractive leg has crossed pipe joint,
Lifting motor drives front-seat Retractive leg decline；
Step 2: the Retractive leg of an intermediate row rises under the driving of lifting motor, by front-seat and heel row driving mechanism
Robot is pushed to advance, after one row's Retractive leg has crossed pipe joint when centre, lifting motor drives intermediate row's Retractive leg
Decline；
Step 3: the Retractive leg of heel row rises under the driving of lifting motor, machine is pushed by the driving mechanism of front two rows
Device people advances, and after heel row Retractive leg has crossed pipe joint, lifting motor drives the decline of heel row Retractive leg；
Crossing pipeline interface mode two (the case where enumerating three driving mechanisms):
Step 1: connecting first row and second row driving mechanism when detecting that there is pipe joint in front by micro- sensing unit
Between bindiny mechanism in motor drive front-seat driving mechanism to carry out new line movement, be enough more piping in wheel rising height
When interface, robot is pushed to advance by driving mechanisms two rows of below, after front-seat driving mechanism has crossed pipe joint, even
Motor in connection mechanism drives front-seat driving mechanism to bow again, until front-seat Mecanum wheel contacts on pipeline；
Step 2: the motor in Liang Ge bindiny mechanism drives front-seat and heel row driving mechanism to carry out movement of bowing simultaneously,
Then the driving mechanism of an intermediate row just is lifted with respect to other two driving mechanism, is enough more piping in rising height and connects
When mouth, pushes robot to advance by front-seat and heel row driving mechanism, after intervening drive mechanisms have crossed pipe joint, connect
Motor in connection mechanism drives front-seat and heel row driving mechanism to carry out new line movement again, until the Mecanum wheel of an intermediate row
Contact is on pipeline；
Step 3: the motor that connection second row and third are arranged in the bindiny mechanism between driving mechanism drives heel row driving machine
Structure carries out new line movement, when wheel rising height is enough to cross pipe joint, pushes machine by the driving mechanism of front two rows
People advances, and after heel row driving mechanism has crossed pipe joint, the motor in bindiny mechanism drives heel row driving mechanism low again
Head, until the Mecanum wheel of heel row contacts on pipeline；
Strong electromagnet in robot kinematics, when Retractive leg needs to be lifted, below the Retractive leg
It needs to power off, reduces the resistance that lifting motor needs to overcome during lifting as far as possible；It is moved outside pipeline, the most common barrier
Hindering is exactly pipe joint, the two kinds provided herein motion modes for crossing pipe joint, convenient for setting robot carrying difference
There are more movement selections when standby.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited to
Above embodiment, those skilled in the art should be recognized that also have on the premise of without prejudice to spirit of the invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (6)
1. a kind of detection repair robot characterized by comprising driving mechanism, bracket, bindiny mechanism, micro- sensing unit, control
System processed；
The driving mechanism is made of two Retractive legs and bracket (4)；Retractive leg is by Mecanum wheel (1), axle shaft member (2), biography
Dynamic box (3), flexible leg support (5), screw rod (6), shaft coupling (7), fixed plate (8), lifting motor (9), bearing (13), driving electricity
Machine (16), bevel gear (17) composition；
The bracket is formed by square tubes soldering and is welded with feed screw nut (11)；
The bindiny mechanism is fixed by interconnecting piece (10), outer connector (12), adjusting motor (18), shaft coupling (19), motor
Frame (20), rotating bar (21), rolling bearing (22) composition.
2. a kind of detection repair robot according to claim 1, it is characterised in that: four in the Retractive leg are flexible
The bracket (5) of leg is embedded in bracket (4), and stretch leg support (5) and fixed plate (8) static connection, fixed plate (8) and lifting motor
(9) be connected by screw to, the motor shaft and screw rod (6) of lifting motor (9) are connected by shaft coupling (7), screw rod (6) other end with
The inner ring of lifting and driving bearing (15) is interference fitted, and the outer ring of lifting and driving bearing (15) and gear box (3) cooperate, Retractive leg branch
Frame (5) and gear box (3) static connection；Mecanum wheel (1), axle shaft member (2), bevel gear (17) are sequentially connected, axle shaft member (2) and
Bearing (13) inner ring interference fit, the outer ring of bearing (13) and gear box (3) interference fit, driving motor (16) are connected by screw
It connects and is fixed on gear box (3) inside, and the motor shaft of driving motor (16) is connect with bevel gear (17).
3. a kind of detection repair robot according to claim 1, it is characterised in that: the bracket is formed by square tubes soldering
, two sides square tube and vertical direction angle α are 1~10 degree；Feed screw nut (11) and feed screw nut (11) are welded on the inside of square tube
The geometric center of two square tubes；Feed screw nut (11) and screw rod (6) cooperation, lifting motor (9) drive screw rod (6) to complete opposite silk
The relative rotation of stem nut (11) can complete elevating movement of the Retractive leg relative to bracket (4).
4. a kind of detection repair robot according to claim 1, it is characterised in that: bindiny mechanism's interconnecting piece
(10), rolling rod (21), rolling bearing (22), outer connector (12), motor fixing frame (20), adjusting motor (18), shaft coupling
(19) it is sequentially connected；Rolling bearing (22), interconnecting piece (10) are all mounted on rotating bar (21) and are interference fits, roll
Bearing (22) outer ring and outer connector (12) are using interference fit；Motor (18) and motor fixing frame (20) are adjusted to connect by screw
It connects, motor fixing frame (20) and outer connector (12) static connection；The motor shaft and rotating bar (21) for adjusting motor (18) pass through connection
The connection of axis device, adjust motor (18) can by drive rotating bar (21) rotation complete interconnecting piece (10) and outer connector (12) around
The relative rotation of rotating bar (21), outer connector (12) and interconnecting piece (10) are all fixedly connected with bracket (4).
5. people is repaired in a kind of detection according to claim 1, it is characterised in that: be fitted with strength electricity under every Retractive leg
Magnet (14).
6. people is repaired in a kind of detection according to claim 1, it is characterised in that: the driving mechanism, bracket, connection machine
Structure, micro- sensing unit are both connected in control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157943.8A CN109760763A (en) | 2019-03-02 | 2019-03-02 | A kind of detection repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157943.8A CN109760763A (en) | 2019-03-02 | 2019-03-02 | A kind of detection repair robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760763A true CN109760763A (en) | 2019-05-17 |
Family
ID=66457705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910157943.8A Pending CN109760763A (en) | 2019-03-02 | 2019-03-02 | A kind of detection repair robot |
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| Country | Link |
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| CN (1) | CN109760763A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN110614623A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Self-adaptive variable-radius pipeline detection robot |
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| CN205292846U (en) * | 2015-12-13 | 2016-06-08 | 温州大学城市学院 | Relief of disaster mechanical device of three axle construction |
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| CN108638041A (en) * | 2018-05-14 | 2018-10-12 | 南京蜘蛛侠智能机器人有限公司 | A kind of modularization robot |
| CN208036471U (en) * | 2018-02-07 | 2018-11-02 | 河北省安装工程有限公司 | A kind of obstacle negotiation trucks |
| CN109008828A (en) * | 2018-09-13 | 2018-12-18 | 西南石油大学 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
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|---|---|---|---|---|
| US4022290A (en) * | 1974-08-08 | 1977-05-10 | Societe Anonyme Secmafer | Off-road vehicle |
| CN101973028A (en) * | 2010-10-15 | 2011-02-16 | 北京航空航天大学 | Multi-joint series wheeled mobile robot |
| CN205292846U (en) * | 2015-12-13 | 2016-06-08 | 温州大学城市学院 | Relief of disaster mechanical device of three axle construction |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN110509738B (en) * | 2019-08-15 | 2022-07-08 | 燕山大学 | Six-freedom-degree series branched chain leg based on ground sealing |
| CN110614623A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Self-adaptive variable-radius pipeline detection robot |
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Application publication date: 20190517 |
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