CN111776100A

CN111776100A - Outer pipeline crawling robot with six-link mechanism

Info

Publication number: CN111776100A
Application number: CN202010650269.XA
Authority: CN
Inventors: 庄泽鑫; 陈寅; 何钢; 谭泽昊; 郭为忠
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2020-07-08
Filing date: 2020-07-08
Publication date: 2020-10-16
Anticipated expiration: 2040-07-08
Also published as: CN111776100B

Abstract

An external pipeline crawling robot comprising: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body; the front vehicle body includes: the universal wheel, the mechanical arm, the connecting disc and the power mechanism are arranged on the chassis; the arm includes: the device comprises a base, a six-link mechanism and a wheel set mechanism. The pipeline gripping device utilizes the motion and output force of three sets of driving systems as motion and force input, pipeline gripping is realized through the mechanical arm of the six-rod mechanism, various motion functions of adjusting the adaptive radius, linearly moving along the pipeline, rotating around the pipeline, overcoming right-angle turning obstacles and the like can be realized through the innovative wheel set design, the pipeline gripping device has the advantages of simple structure, easiness in manufacturing, low cost, capability of realizing motion on pipelines with different diameters, capability of carrying various pipeline detection devices according to needs, great reduction in manpower and material resources for monitoring work, and wide application prospect.

Description

Outer pipeline crawling robot with six-link mechanism

Technical Field

The invention relates to the technology in the field of pipeline crawling, in particular to an outer pipeline crawling robot with a six-link mechanism.

Background

In nuclear power stations, various factories, urban water supply systems and other places, pipeline systems are often very complex and need to be detected regularly to ensure safety. The manual detection is time-consuming and labor-consuming, the efficiency is low, most pipelines contain high-temperature, high-pressure, toxic and radioactive fluid, and therefore a pipeline detection robot is required to replace manual operation.

The pipeline detection robot is a robot integrating various sensors and operating devices, and can be mainly divided into an outer pipeline and an inner pipeline. The inner pipeline crawling robot mainly adopts rollers or tracks, realizes movement in pipelines, is suitable for climbing of thin pipe diameters, needs high flexibility of the robot, and cannot detect oil transportation and water drainage of the pipelines. The outer pipeline crawling robot realizes the grabbing and moving of the pipeline through the clamping mechanism and the wheel set, and then carries out detection work. The outer pipeline robot can carry out oil transportation and detection simultaneously, but is not suitable for the work of pipe diameter-variable pipelines or vertical pipelines, and has higher requirements on flexibility and transmission.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the outer pipeline crawling robot with the six-bar mechanism, the motion and output force of three sets of driving systems is used as the motion and force input, the pipeline gripping is realized through the mechanical arms of the six-bar mechanism, and the linear motion and the pipe winding rotation are realized through the innovative wheel set design.

The invention is realized by the following technical scheme:

the invention comprises the following steps: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body.

The front vehicle body comprises: chassis and set up universal wheel, arm, connection disc, power unit on the chassis, wherein: the universal wheels are arranged at the bottom of the chassis in the front and at the back, the power mechanism is arranged in the middle of the chassis and connected with the connecting disc, and the mechanical arms are symmetrically arranged on two sides of the chassis and connected with the power mechanism through the connecting disc.

The mechanical arm comprises: base, six link mechanism and wheelset mechanism, wherein: the base is arranged on the periphery of the chassis and connected with the six-connecting-rod mechanism, the six-connecting-rod mechanism is arranged on two sides of the chassis and connected with the connecting disc, and the wheel set mechanism is arranged at the tail end of the six-connecting-rod mechanism.

The six-bar linkage mechanism comprises: disc connecting rod, last pivot, lower pivot, arm connecting rod, wheelset support frame and bearing, wherein: disc connecting rod one end links to each other with the connection disc, and the other end links to each other with the arm connecting rod, and the arm connecting rod sets up in last pivot both ends to link to each other with the base through the bearing, the arm connecting rod other end sets up in lower pivot both ends, and links to each other with the wheelset support frame through pivot down.

The wheelset mechanism include: direct current motor, motor frame and cylindricality gyro wheel, wherein: the cylindrical roller is arranged on the six-bar mechanism, the motor frame is arranged on the six-bar mechanism and connected with the cylindrical roller, and the direct current motor is arranged on the motor frame.

Technical effects

The invention solves the problem that the complex pipeline system can not be fully automatically detected in industrial production. The invention can work on pipelines with different pipe diameters (200 +/-20 mm) without disassembly and assembly; the straight-line motion speed can reach 0.5m/s and the average bending time is 10s through a composite pipeline system comprising a right-angle pipeline and a T-shaped pipeline; can realize detecting around pipe circumferential direction.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a robot arm of the present invention at different opening angles;

FIG. 3 is a schematic view of the force applied between the wheel set and the pipe according to the present invention;

FIG. 4 is a schematic view of the movement of the present invention through a right angle elbow;

FIGS. 5 a-c are schematic views illustrating the working states of the embodiment;

in the figure: the device comprises a chassis 1, a mechanical arm 2, a base 3, a bearing 4, a universal wheel 5, a connecting disc 6, a disc connecting rod 7, a power mechanism 8, an upper rotating shaft 9, a lower rotating shaft 10, a wheel set supporting frame 11, an arm connecting rod 12, a motor frame 13, a direct current motor 14, a cylindrical roller 15, a vehicle body connecting piece 16, a driving device 17, a front vehicle body 18, a rear vehicle body 19, a wheel set mechanism 20, a six-connecting-rod mechanism 21 and an upper arm connecting rod 22.

Detailed Description

As shown in fig. 1 to 3, the external pipeline crawling robot according to the present embodiment includes: front and

rear bodies

18, 19 of the same structure, and a body joint 16 and a driving device 17 for controlling the pivoting of the front and rear bodies, wherein: the vehicle body attachment 16 is attached to a front vehicle body 18 and a rear vehicle body 19, respectively, and the drive unit 17 is provided on the front vehicle body 18 and the rear vehicle body 19.

The front vehicle body 18 includes: a chassis 1 and two universal wheels 5, two sets of arms 2, connection disc 6, power unit 8 that set up on the chassis for support and connection, wherein: universal wheel 5 sets up in 1 bottom on the chassis around through locknut, power unit 8 sets up in 1 intermediate position on the chassis and links to each other with

connection disc

6, 2 symmetries of arm set up in 1 both sides on the chassis and link to each other with power unit 8 through connecting disc 6, drive arrangement 8 drives connection disc 6 and rotates, transmission through a series of connecting rods, change into the synchronous opening and shutting of left and right sides arm 2 for hold tightly the pipeline and provide certain pretightning force, arm 2 is about 45 degrees contained angles with the pipeline when holding tightly.

The mechanical arm 2 comprises: base 3, six link mechanism 21 and wheelset mechanism 20, wherein: the base 3 is arranged around the chassis 1 through locknuts and connected with the six-bar mechanism 21, the six-bar mechanism 21 is arranged on two sides of the chassis 1 and connected with the connecting disc 6, and the wheel set mechanism 20 is arranged at the tail end of the six-bar mechanism 21.

The six-bar linkage 21 includes: disc connecting rod 7, last pivot 9, lower pivot 10, arm connecting rod 12, wheelset support frame 11, bearing 4 and upper arm connecting rod 22, wherein: one end of a disc connecting rod 7 is connected with the connecting disc 6, the other end of the disc connecting rod is connected with an arm connecting rod 12, the arm connecting rod 12 is arranged at two ends of the upper rotating shaft 9 and is connected with the base 3 through a bearing 4, and the other end of the arm connecting rod 12 is arranged at two ends of the lower rotating shaft 10 and is connected with the wheel set supporting frame 11 through the lower rotating shaft 10.

The wheel set mechanism 20 includes: direct current motor 14, motor frame 13 and cylindricality gyro wheel 15, wherein: cylindrical rollers 15 are arranged between the wheel set support frames 11, the motor frame 13 is arranged on the wheel set support frames 11 and connected with the cylindrical rollers 15, and the direct current motor 14 is arranged on the motor frame 13.

The surface of the universal wheel 5 is covered with silicon rubber.

The six connecting rods of the mechanical arms can simultaneously control the mechanical arms on two sides to synchronously move; the mechanical arm can adapt to pipelines with different pipe diameters by controlling the rotation angle of the disc; through the length of each connecting rod, the transmission angle and the pressure angle of the whole mechanism are reasonably designed, and the large tail end pretightening force can be output by small motor driving torque.

As shown in fig. 4 and 5 a-c, the end of the robotic arm 2 grips the pipe when the drive 17 on the robotic arm 2 is rotated clockwise and releases the pipe when rotated counterclockwise. The opening angle of the mechanical arm 2 can be adjusted by controlling the rotation angle of the driving device 17, so that the adaptive radius can be adjusted, and the robot can work on pipelines with different diameters (200 +/-20 mm).

When the cylindrical roller 15 rotates, friction along and perpendicular to the pipe diameter is generated. If the cylindrical rollers 15 on the two sides rotate reversely, the friction forces generated on the two sides and perpendicular to the pipe diameter are mutually offset, and the friction forces along the axis are mutually superposed, so that the robot can move linearly; if the cylindrical rollers 15 on the two sides rotate in the same direction, the friction forces along the shaft diameter generated on the two sides are mutually offset, and the friction forces vertical to the shaft axis are mutually superposed, so that the robot can rotate around the pipe.

The driving device 17 can control the relative movement of the two vehicle bodies to form a certain included angle; when through right angle type pipeline, earlier through rotating the adjustment robot to suitable position around the pipe, then the arm 2 of preceding automobile body 18 opens, and the pipeline is gripped to the arm of back automobile body 19, and the driving device control front truck through the middle part lifts up to the front and back automobile body and is 90 degrees, and then back automobile body 19 drives and makes the robot straight line advance, supports the pipeline and grasps until preceding automobile body 18, then the back car loosens the pipeline, and the front truck drives, can pass through right angle type pipeline.

Through specific practical experiment, under diameter 200 mm's PVC pipeline to 12V power is 60kg steering wheel power supplies, and the wheel crust material is silicon rubber, operates above-mentioned device, and the experimental data that can obtain are: the positive pressure on the pipe wall is 11.12N, and the traction force provided by the wheels on the two sides is 4.72N.

Compared with the prior art, the device uses smaller working voltage and steering engine to realize larger pretightening force and traction force, and meets the power requirement of complex motion of the mechanism. Meanwhile, the structure is simplified, the whole weight and energy consumption are reduced, and the operation efficiency is improved.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. An outer pipe crawling robot, comprising: the same preceding automobile body of structure, back automobile body and automobile body connecting piece and drive arrangement, wherein: the vehicle body connecting piece is respectively connected with the front vehicle body and the rear vehicle body, and the driving device is arranged on the front vehicle body and the rear vehicle body;

the front vehicle body comprises: chassis and set up universal wheel, arm, connection disc, power unit on the chassis, wherein: the universal wheels are arranged at the bottom of the chassis in front and at the back, the power mechanism is arranged in the middle of the chassis and connected with the connecting disc, and the mechanical arms are symmetrically arranged at two sides of the chassis and connected with the power mechanism through the connecting disc;

2. The external pipe crawling robot of claim 1, wherein said six-bar linkage comprises: disc connecting rod, last pivot, lower pivot, arm connecting rod, wheelset support frame and bearing, wherein: one end of a disc connecting rod is connected with the connecting disc, the other end of the disc connecting rod is connected with an arm connecting rod, the arm connecting rod is arranged at two ends of the upper rotating shaft and is connected with the base through a bearing, the other end of the arm connecting rod is arranged at two ends of the lower rotating shaft and is connected with the wheel set supporting frame through the lower rotating shaft, and the mechanical arm can adapt to pipelines with different pipe diameters by controlling the rotation angle of the disc; and outputting larger terminal pretightening force by smaller motor driving torque based on the length of each connecting rod, the transmission angle and the pressure angle of the whole mechanism.

3. The external pipe crawling robot of claim 1, wherein said wheel set mechanism comprises: direct current motor, motor frame and cylindricality gyro wheel, wherein: the cylindrical roller is arranged on the six-bar mechanism, the motor frame is arranged on the six-bar mechanism and connected with the cylindrical roller, and the direct current motor is arranged on the motor frame.

4. The outer pipe crawling robot of claim 1, wherein the surface of the universal wheel is covered with silicone rubber.