CN112728287A - Pipeline robot based on worm gear transmission - Google Patents

Pipeline robot based on worm gear transmission Download PDF

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Publication number
CN112728287A
CN112728287A CN202011331800.3A CN202011331800A CN112728287A CN 112728287 A CN112728287 A CN 112728287A CN 202011331800 A CN202011331800 A CN 202011331800A CN 112728287 A CN112728287 A CN 112728287A
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China
Prior art keywords
worm
wheel
support
shaft
connecting rod
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CN202011331800.3A
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Chinese (zh)
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CN112728287B (en
Inventor
刘善增
张克非
李怀展
沈刚
李允旺
李艾民
曹国华
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN202011331800.3A priority Critical patent/CN112728287B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a pipeline robot based on worm and gear transmission, which comprises a rack and three driving support legs connected with the rack, wherein the rack is the trunk of a robot system and is used for installing structural units such as a camera, a detection sensor, a detector, a control board card, a battery module, a sewage disposal device and the like; the six driving supporting legs are arranged in the robot system, a driving form combining a worm and gear mechanism, a link mechanism, a belt transmission mechanism and an extension spring is adopted, the motion capability of pipeline diameter-changing self-adaption is achieved, and the driving flexibility and the motion stability of the pipeline robot are improved. The robot has the advantages of simple structure, low economic cost, adjustable supporting leg height, good driving flexibility, high motion stability and the like, can be applied to the working occasions of welding, detection, monitoring, maintenance, cleaning, dredging and the like of common pipeline operation, and has wide application prospect in the fields of petroleum, chemical industry, natural gas, water supply and drainage, mining industry, nuclear industry and the like.

Description

Pipeline robot based on worm gear transmission
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pipeline robot based on worm and gear transmission.
Background
The robot is a representative multi-disciplinary crossing high and new technology since the human being entered the twentieth century, is an important scientific field which is developing vigorously, and is widely concerned by scholars, enterprises and public institutions at home and abroad. The pipeline is widely applied as an important material conveying or structure mode in industries such as petroleum, chemical industry, natural gas, water supply and drainage, mining industry, nuclear industry and the like. However, due to the factors of narrow inside of the pipeline, special materials, severe environment and the like, the dismounting and welding, state monitoring, pipeline dredging, pipe wall detection and maintenance and the like of the inside of the pipeline are extremely troublesome. Since the eighties, the research and application of pipeline robots has brought about eosin to effectively solve the aforementioned problems. The pipeline robot is one of important branches in the robot field, research and development and application of a novel pipeline robot and related driving technologies thereof have very important significance for promoting social progress, safe production, economic development, improving life quality of people and the like.
Disclosure of Invention
The invention aims to solve the problem that a robot cannot smoothly move in a pipeline with turning, twisting, obstacles attached and concave-convex and fluctuant pipe walls in the prior art, and provides a pipeline robot based on worm and gear transmission.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pipeline robot based on worm gear transmission comprises a front rack supporting leg unit and a rear rack supporting leg unit, wherein the two rack supporting leg units are flexibly connected, and each rack supporting leg unit comprises a rack and at least three driving supporting legs which are equally divided around the rack in a circle;
the driving support leg comprises a worm, a belt wheel I, a synchronous belt I, a duplex belt wheel, a connecting rod II, a wheel axle, a synchronous belt II, a connecting rod I, a spring pin shaft I, a shaft II, a support, a worm wheel, a shaft I, a spring pin shaft II, an extension spring, a motor, a worm support and a belt wheel II;
the motor, the worm support and the worm wheel support are fixedly connected in the rack, the worm is limited in the worm support to rotate, the motor drives the worm to rotate, the first shaft is fixed in the worm wheel support, the first belt wheel and the worm wheel are arranged on the first shaft to rotate, the first belt wheel is fixedly connected with the worm wheel, and the worm wheel is meshed with the worm;
the support is fixedly connected outside the rack, the second shaft is fixed in the support, one end of the second connecting rod and one end of the first connecting rod are respectively movably connected to the second shaft, and the duplex belt wheel is positioned on the second shaft between the second connecting rod and the first connecting rod;
the wheel and the second belt wheel are positioned on the wheel shaft, the wheel is fixedly connected with the second belt wheel, the other end of the second connecting rod and the other end of the first connecting rod are respectively movably connected with the wheel shaft, and the wheel is positioned between the second connecting rod and the first connecting rod;
the synchronous belt I is wound between the belt wheel I and one belt wheel of the duplex belt wheel and penetrates through the rack;
the synchronous belt II is wound between the other belt wheel of the duplex belt wheel and the belt wheel II;
the first spring pin shaft is located on one side, facing the other rack supporting leg unit, of the support, the second spring pin shaft is located on one side, facing the other rack supporting leg unit, of the first connecting rod, and the extension spring is located between the first spring pin shaft and the second spring pin shaft.
As a further preferred scheme, the frame is a hollow hexagonal tubular structure, and three driving legs are arranged on the circumference of the frame.
As a further preferable scheme, the tail part of the frame of the front frame supporting leg unit is provided with a first clamping plate, the head part of the frame of the rear frame supporting leg unit is provided with a second clamping plate, and a flexible rod is arranged between the first clamping plate and the second clamping plate.
As a further preferable scheme, a motor bracket is fixedly arranged in the machine frame, and the motor is fixed on the motor bracket.
As a further preferred solution, a coupling is provided between the motor and the worm.
Compared with the prior art, the pipeline robot based on worm and gear transmission fully integrates the transmission characteristics of a worm and gear mechanism, a link mechanism and a belt transmission mechanism, and develops an innovative design, so that the pipeline robot has the advantages of simple structure, low economic cost, good maneuvering performance, strong adaptability and the like. The robot has outstanding advantages in the aspects of driving flexibility and motion stability, especially in the aspect of self-adaptive motion capability of pipeline reducing (such as pipeline joint, damage, concave-convex deformation and the like), can effectively solve the problem of robot jamming caused by pipeline turning, pipeline distortion, concave-convex fluctuation of a pipe wall, barrier adhesion to the pipe wall and the like in the moving process of a pipeline robot, improves the working performance of the robot, and has wide application prospects in the fields of petroleum, chemical industry, natural gas, water supply and drainage, mining, nuclear industry, municipal engineering and the like.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a partial A-view of the present invention;
FIG. 3 is a block diagram of a compliant steering mechanism of the present invention;
in the figure: the device comprises a frame 1, a worm 2, a first belt wheel 3, a first synchronous belt 4, a double-link belt wheel 5, a second connecting rod 6, a wheel 7, a wheel shaft 8, a second synchronous belt 9, a first connecting rod 10, a first spring pin shaft 11, a second spring pin shaft 12, a support 13, a worm wheel support 14, a worm wheel 15, a first clamping plate 16, a first clamping plate 17, a second spring pin shaft 18, an extension spring 19, a motor 20, a flexible rod 21, a coupling 22, a second clamping plate 23, a motor support 24, a worm support 25 and a second belt wheel 26.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in figures 1 and 2, the invention relates to a pipeline robot based on worm gear transmission, which comprises a front frame supporting leg unit and a rear frame supporting leg unit, wherein the two frame supporting leg units are flexibly connected, and each frame supporting leg unit comprises a frame and three driving supporting legs connected with the frame.
The frame 1 can be made by regular hexagon section bar, and its structural dimension is the same, front and back frame 1 symmetrical arrangement for connect fixed drive leg portion, also be used for installing constitutional unit such as camera, detection sensor, detector, control integrated circuit board, battery module, device of decontaminating.
The three driving support legs at the front and the back of the robot have the same structural composition and size and are arranged at 120 degrees, and the driving support legs can be assembled in a Y-shaped or inverted Y-shaped structural combination mode according to the motion stability of the robot or the requirement of an application occasion.
The three middle planes of the three wheels 7 in the front and rear three driving legs are required to be respectively converged on the axial central line of the frame 1 during installation.
The driving support leg adopts a driving form combining a worm and gear mechanism, a link mechanism, a belt transmission mechanism and an extension spring, the adaptability of the robot to the change of the inner diameter of a pipeline is improved, and the driving support leg mainly comprises a motor 20, a motor support 24, a coupler 22, a worm 2, a worm support 25, a worm wheel 15, a worm gear support 14, a first shaft 16, a first belt wheel 3, a first synchronous belt 4, a double-link belt wheel 5, a second synchronous belt 9, a second belt wheel 26, a support 13, a second shaft 12, a first spring pin shaft 11, a first connecting rod 10, a wheel shaft 8, a wheel 7, a second spring pin shaft 18 and an extension spring 19, and the driving support leg and the extension spring.
The axes of the motor 20 and the worm 2 are aligned to coincide with the center line of the regular hexagon of the frame during assembly.
The motor 20 is fixed to the motor bracket 24 by screws.
The motor bracket 24 is fixed on the frame 1 through bolts.
The motor 20 is connected to the worm 2 via a coupling 22.
Two ends of the worm 2 are respectively supported on a worm support 25 through rolling bearings and are axially fixed by elastic check rings, and the worm support 25 is fixed on the frame 1 through bolts.
The worm wheel 15 and the worm 2 form a worm wheel and worm transmission, and the three worm wheels 15 are uniformly arranged at intervals of 120 degrees in the circumferential direction of the worm 2.
The worm wheel 15 and the first belt wheel 3 are fixedly connected together through screws, fixedly supported on the first shaft 16 through rolling bearings and axially fixed through elastic check rings.
Two ends of the first shaft 16 are respectively supported on the worm wheel support 14, so that the worm wheel support 14 is designed to be L-shaped and symmetrically installed in pairs in order to facilitate installation of a worm wheel and a worm, and the worm wheel support 14 and the rack 1 are fixed through screws.
The support 13 is fixedly connected with the frame 1 through screws.
The supports 13 are in L-shaped structures, are assembled in pairs and are respectively supported at two ends of the second shaft 12.
The duplex belt wheel 5 is fixedly supported on the second shaft 12 through a rolling bearing and an elastic retainer ring.
The belt wheel I3, the synchronous belt I4 and the duplex belt wheel 5 form a first-stage belt transmission mechanism.
The wheel 7 and the second belt wheel 26 are fixedly connected into a whole through screws, and the two rotate coaxially at a constant speed.
The wheel 7 and the second belt wheel 26 are fixedly supported on the wheel shaft 8 through a rolling bearing and an elastic retainer ring.
The duplex belt wheel 5, the synchronous belt II 9 and the belt wheel II 26 form a second-stage belt transmission mechanism.
Two ends of the first connecting rod 10 and the second connecting rod 6 are respectively connected with the second shaft 12 and the wheel shaft 8 through revolute pairs and are used for supporting the wheel 7 and the second belt wheel 26.
The central lines of the first connecting rod 10 and the second connecting rod 6 are parallel to each other.
The axes of the first shaft 16, the second shaft 12 and the wheel shaft 8 are all parallel to each other.
The middle plane of the wheel 7 is coincident with the middle plane of the worm wheel 15 and the worm 2.
The first spring pin shaft 11 is fixed on the support 13 through threaded connection.
The second spring pin 18 is fixed on the first connecting rod 10 through threaded connection.
Two ends of the extension spring 19 are respectively connected to the first spring pin 11 and the second spring pin 18, and when the robot system works, the extension spring 19 is in a stretched state, and the type and the length of the extension spring 19 are preferably selected.
The flexible steering mechanism comprises a plurality of U-shaped clamping plates 17, a flexible rod 21 and the like.
Two ends of the flexible rod 21 are respectively connected with the first clamping plate 17 and the second clamping plate 23 through screws.
The axes of the four compliant rods 21 in the robotic system are parallel to each other.
Three or a plurality of flexible joints are processed on the flexible rod 21 so as to be beneficial to the stress stability of the front and rear frames 1 and the coordination of turning and movement fluctuation, and the structural form of the material and the flexible joints of the flexible rod 21 is preferably selected according to the total load of the robot system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (5)

1. The utility model provides a pipeline robot based on worm gear transmission which characterized in that: the support leg unit comprises a frame (1) and at least three driving support legs equally distributed around the frame (1);
the driving support leg comprises a worm (2), a first belt wheel (3), a first synchronous belt (4), a duplex belt wheel (5), a second connecting rod (6), a wheel (7), a wheel shaft (8), a second synchronous belt (9), a first connecting rod (10), a first spring pin shaft (11), a second shaft (12), a support (13), a worm wheel support (14), a worm wheel (15), a first shaft (16), a second spring pin shaft (18), an extension spring (19), a motor (20), a worm support (25) and a second belt wheel (26);
the motor (20), the worm support (25) and the worm wheel support (14) are fixedly connected in the rack (1), the worm (2) is limited in the worm support (25) to rotate, the motor (20) drives the worm (2) to rotate, the first shaft (16) is fixed in the worm wheel support (14), the first belt wheel (3) and the worm wheel (15) are arranged on the first shaft (16) to rotate, the first belt wheel (3) is fixedly connected with the worm wheel (15), and the worm wheel (15) is meshed with the worm (2);
the support (13) is fixedly connected outside the rack (1), the second shaft (12) is fixed in the support (13), one end of the second connecting rod (6) and one end of the first connecting rod (10) are respectively movably connected to the second shaft (12), and the duplex belt wheel (5) is positioned on the second shaft (12) between the second connecting rod (6) and the first connecting rod (10);
the wheel (7) and the second belt wheel (26) are positioned on the wheel shaft (8), the wheel (7) is fixedly connected with the second belt wheel (26), the other end of the second connecting rod (6) and the other end of the first connecting rod (10) are movably connected to the wheel shaft (8) respectively, and the wheel (7) is positioned between the second connecting rod (6) and the first connecting rod (10);
the synchronous belt I (4) is wound between the belt wheel I (3) and one belt wheel of the duplex belt wheel (5), and the synchronous belt I (4) penetrates through the rack (1);
a second synchronous belt (9) is wound between the other belt wheel of the duplex belt wheel (5) and a second belt wheel (26);
the first spring pin shaft (11) is located on one side, facing the other rack supporting leg unit, of the support (13), the second spring pin shaft (18) is located on one side, facing the other rack supporting leg unit, of the first connecting rod (10), and the extension spring (19) is located between the first spring pin shaft (11) and the second spring pin shaft (18).
2. The pipeline robot based on worm and gear transmission of claim 1, wherein: the frame (1) is a hollow hexagonal tubular structure, and three driving support legs are arranged on the periphery of the frame (1).
3. The pipeline robot based on worm and gear transmission of claim 1, wherein: the tail of the frame (1) of the front frame supporting leg unit is provided with a first clamping plate (17), the head of the frame (1) of the rear frame supporting leg unit is provided with a second clamping plate (23), and a flexible rod (21) is arranged between the first clamping plate (17) and the second clamping plate (23).
4. The pipeline robot based on worm and gear transmission of claim 1, wherein: a motor support (24) is also fixedly arranged in the frame (1), and the motor (20) is fixed on the motor support (24).
5. The pipeline robot based on worm and gear transmission of claim 1, wherein: a coupling (22) is arranged between the motor (20) and the worm (2).
CN202011331800.3A 2020-11-24 2020-11-24 Pipeline robot based on worm gear transmission Active CN112728287B (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114923101A (en) * 2022-05-09 2022-08-19 中国石油大学(华东) Fixing device for butt joint pipe measuring and cutting equipment
CN115013640A (en) * 2022-06-17 2022-09-06 浙江管迈环境科技有限公司 Adjusting structure and adjusting method for pipeline detection-based robot

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114923101A (en) * 2022-05-09 2022-08-19 中国石油大学(华东) Fixing device for butt joint pipe measuring and cutting equipment
CN114923101B (en) * 2022-05-09 2023-05-23 中国石油大学(华东) Fixing device for butt joint pipe measuring and cutting equipment
CN115013640A (en) * 2022-06-17 2022-09-06 浙江管迈环境科技有限公司 Adjusting structure and adjusting method for pipeline detection-based robot
CN115013640B (en) * 2022-06-17 2024-02-02 浙江管迈环境科技有限公司 Adjusting structure and adjusting method for pipeline detection robot

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