CN112984276A - Mechanism capable of walking in rectangular air duct - Google Patents
Mechanism capable of walking in rectangular air duct Download PDFInfo
- Publication number
- CN112984276A CN112984276A CN202110218238.1A CN202110218238A CN112984276A CN 112984276 A CN112984276 A CN 112984276A CN 202110218238 A CN202110218238 A CN 202110218238A CN 112984276 A CN112984276 A CN 112984276A
- Authority
- CN
- China
- Prior art keywords
- motor
- rotating
- pair
- fixing device
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a mechanism capable of walking in a rectangular air duct, which comprises a base plate, wherein L-shaped connecting seats are arranged on the left side surface and the right side surface of the base plate, a first rotating motor and a second rotating motor are respectively arranged on the L-shaped connecting seats on the left side surface and the right side surface, the output ends of the first rotating motor and the second rotating motor are respectively connected with a first screw rod sliding block pair and a second screw rod sliding block pair, the lower end surfaces of the first screw rod sliding block pair and the second screw rod sliding block pair are both connected with a rotary connecting seat, the insides of the rotary connecting seats on the left side and the right side are respectively provided with a third rotary motor and a fourth rotary motor, the output ends of the third rotating motor and the fourth rotating motor are respectively connected with a third screw rod sliding block pair and a fourth screw rod sliding block pair, and the side surfaces of the third screw rod sliding block pair and the fourth screw rod sliding block pair are respectively provided with a first fixing device and a second fixing device. The base plate of the product can be connected with various manufacturing equipment and detection equipment to complete the work such as welding work, welding seam detection, state inspection and the like.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a mechanism capable of walking in a rectangular air duct.
Background
At present, the work of installing, detecting, maintaining and the like of the air pipes in the production line is basically completed manually. Personnel need to enter the air pipe to complete partial work in the installation, detection and maintenance processes, but the space in the air pipe is narrow, the arrangement of the reinforcing ribs is complex, and the space of the personnel working in the air pipe is limited; after part of the air pipes are operated for a period of time, a large amount of harmful substances are stored in the air pipes, so that the harm to the health of people is caused; when the air pipe is long, people need to be provided with enough ventilation before entering, and the risk of accidental escape is large. Aiming at the problems, the invention needs to provide a device which can replace personnel to enter the air pipe to complete the work inside the air pipe. Therefore, the mechanism capable of walking in the rectangular air pipe is matched with various production manufacturing and detection devices, so that the installation, detection and maintenance work of the air pipe system of the production line is realized, and an intelligent production line workshop system is perfected.
Disclosure of Invention
The invention aims to provide a mechanism capable of walking in a rectangular air duct, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a mechanism capable of walking in a rectangular air duct comprises a base plate, wherein L-shaped connecting seats are arranged on the left side surface and the right side surface of the base plate, a first rotating motor and a second rotating motor are respectively arranged on the L-shaped connecting seats on the left side and the right side, the output ends of the first rotating motor and the second rotating motor penetrate through the L-shaped connecting seat and are respectively connected with a first screw rod sliding block pair and a second screw rod sliding block pair, the lower end surfaces of the first screw rod sliding block pair and the second screw rod sliding block pair are both connected with a rotary connecting seat, the insides of the rotary connecting seats on the left side and the right side are respectively provided with a third rotary motor and a fourth rotary motor, the output ends of the third rotating motor and the fourth rotating motor penetrate through the rotating connecting seat and are respectively connected with a third screw rod sliding block pair and a fourth screw rod sliding block pair, and the side surfaces of the third screw rod sliding block pair and the fourth screw rod sliding block pair are respectively provided with a first fixing device and a second fixing device.
Preferably, the first screw slider pair, the second screw slider pair, the third screw slider pair and the fourth screw slider pair have the same structure and respectively comprise a stepping motor, a bearing connecting seat, a screw, a slider, a guide rail, a bearing and a bearing seat, the stepping motor is fixed on the motor and the bearing connecting seat, the output end of the stepping motor is connected with the screw, the screw is connected with the bearing of the bearing and the bearing seat and is fixed on the bearing seat of the bearing and the bearing seat, the motor and the bearing connecting seat are fixed at one end of the guide rail, the bearing and the bearing seat are fixed at the other end of the guide rail, and the screw is in threaded connection with the inside of the slider.
Preferably, the first fixing device and the second fixing device are electromagnets, the number of the electromagnets is four, and the four electromagnets are respectively located on the front side and the rear side of the third screw slider pair and the fourth screw slider pair.
Preferably, the first fixing device and the second fixing device are vacuum chucks, the number of the vacuum chucks is four, and the four vacuum chucks are respectively positioned at the front side and the rear side of the third screw slide block pair and the fourth screw slide block pair.
Preferably, the output ends of the first rotating motor, the second rotating motor, the third rotating motor and the fourth rotating motor are connected with the sliding block, the first fixing device and the second fixing device are installed on the outer side face of the guide rail, the first rotating connecting seat and the second rotating connecting seat are installed on the outer side face of the guide rail, the rotating connecting seats comprise connecting plates located on the upper side and the lower side and pillars used for connecting the two sides, the upper side of each connecting plate is connected with the bearing and the bearing seat, and the lower side of each connecting plate is used for installing the third rotating motor and the fourth rotating motor.
Preferably, the first fixing device, the second fixing device and the guide rail, the first rotating motor, the second rotating motor and the L-shaped connecting seat, and the third rotating motor, the fourth rotating motor and the rotating connecting seat are fixedly connected through bolts.
Preferably, the joints of the two L-shaped connecting seats and the base plate are provided with reinforcing plates.
Preferably, the rotating connection seat comprises three support columns which are distributed on the periphery of the connecting plates on the two sides, and a gap for mounting a third rotating motor or a fourth rotating motor is reserved between the three support columns.
Preferably, the bed plate is used for installing different equipment, the bed plate with equipment cooperation work realizes different functions.
Preferably, the screw rod mechanism further comprises a fifth screw rod sliding block pair and a sixth motor, the fifth screw rod sliding block pair is identical to the first screw rod sliding block pair in mechanism, an L-shaped connecting plate is installed on the sixth motor, the output end of the sixth motor penetrates through the L-shaped connecting plate and is connected with the fifth screw rod sliding block pair, and the fifth screw rod sliding block pair and the base plate, and the sixth motor and the L-shaped connecting plate are fixedly connected through bolts.
Compared with the prior art, the invention has the beneficial effects that:
1. the product can move in X \ Y \ Z three directions, has a rotation function, can move on the horizontal plane, the vertical plane and the elbow curved surface of the air pipe, and realizes the function of walking in the air pipe.
2. The fixing mode of the product is selected as electromagnet fixing, and when the product mechanism is used for walking on the surface of a non-magnetic object, the product mechanism can be realized by using a vacuum chuck instead.
3. The application range of the product is not limited to walking in the rectangular air pipe, and the product can also walk on flat plate pieces and simple curved objects. When walking on a curved surface, the speed of motion is relatively slow.
4. The base plate of the product can be provided with various different production and manufacturing equipment, detection equipment, movement mechanisms and the like, so that multiple functions are realized. The product of the invention is used as mechanical hardware and is incorporated into an intelligent system of a production workshop in cooperation with an intelligent control system, so that the functions of online detection, maintenance and the like in the intelligent system are realized.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the X-direction motion of the present invention;
FIG. 3 is a schematic view of the Y motion of the present invention;
FIG. 4 is a schematic view of the rotational movement of the present invention;
FIG. 5 is a schematic front view of the present invention;
FIG. 6 is a schematic side view of the present invention;
fig. 7 is a schematic top view of the present invention.
In the figure: the device comprises a base plate 1, a 2-L-shaped connecting seat, a 3-first rotating motor, a 4-second rotating motor, a 5-first screw rod sliding block pair, a 6-second screw rod sliding block pair, a 7-rotating connecting seat, a 701-connecting plate, a 702-supporting column, an 8-third rotating motor, a 9-fourth rotating motor, a 10-third screw rod sliding block pair, a 11-fourth screw rod sliding block pair, a 12-first fixing device, a 13-stepping motor, a 14-motor and bearing connecting seat, a 15-screw rod, a 16-sliding block, a 17-guide rail, an 18-bearing and bearing seat, a 19-fifth screw rod sliding block pair, a 20-sixth motor, a 21-L-shaped connecting plate and a 22-second fixing device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: a mechanism capable of walking in a rectangular air duct comprises a base plate 1, wherein L-shaped connecting seats 2 are arranged on the left side surface and the right side surface of the base plate 1, a first rotating motor 3 and a second rotating motor 4 are respectively arranged on the L-shaped connecting seats 2 on the left side and the right side surface, output ends of the first rotating motor 3 and the second rotating motor 4 penetrate through the L-shaped connecting seats 3 and are respectively connected with a first lead screw slider pair 5 and a second lead screw slider pair 6, lower end surfaces of the first lead screw slider pair 5 and the second lead screw slider pair 6 are respectively connected with a rotating connecting seat 7, a third rotating motor 8 and a fourth rotating motor 9 are respectively arranged inside the rotating connecting seats 7 on the left side and the right side surfaces, output ends of the third rotating motor 8 and the fourth rotating motor 9 penetrate through the rotating connecting seats 7 and are respectively connected with a third lead screw slider pair 10 and a fourth lead screw slider pair 11, and the first fixing device 12 and the second fixing device 22 are respectively arranged on the side surfaces of the third screw slider pair 10 and the fourth screw slider pair 11, so that the mechanism is fixed on the surface of the air pipe, and the function of walking in the air pipe is realized.
Specifically, the first screw-slide pair 5, the second screw-slide pair 6, the third screw-slide pair 10 and the fourth screw-slide pair 11 are used for achieving the moving function of the mechanism, have the same structure, and all include a stepping motor 13, a motor and bearing connecting seat 14, a screw 15, a slide 16, a guide rail 17 and a bearing and bearing seat 18, the stepping motor 13 is fixed on the motor and bearing connecting seat 14, the output end of the stepping motor 13 is connected with the screw 15, the screw 15 is connected with the bearing of the bearing and bearing seat 18 and fixed on the bearing seat of the bearing and bearing seat 18, the motor and bearing connecting seat 14 is fixed at one end of the guide rail 17, the bearing and bearing seat 18 is fixed at the other end of the guide rail 17, and the screw 15 is in threaded connection with the inside of the slide 16.
Specifically, the first fixing device 12 and the second fixing device 22 are electromagnets, the number of the electromagnets is four, and the four electromagnets are respectively located at the front side and the rear side of the third screw-slide pair 10 and the fourth screw-slide pair 11, and are used for surface walking of a magnetic object.
Specifically, the first fixing device 12 and the second fixing device 22 are vacuum chucks, the number of the vacuum chucks is four, and the four vacuum chucks are respectively located on the front side and the rear side of the third screw-slider pair 10 and the fourth screw-slider pair 11 and used for walking on the surface of a non-magnetic object.
Specifically, the output ends of the first rotating electrical machine 3, the second rotating electrical machine 4, the third rotating electrical machine 8 and the fourth rotating electrical machine 9 are connected to the slider 16 for realizing the rotating function of the mechanism, the first fixing device 12 and the second fixing device 22 are installed on the outer side surface of the guide rail 17, the two rotating connection bases 7 each include a connection plate 701 located on the upper side and the lower side and a support 702 for connecting the connection plates 701 on the two sides, the two connection plates 701 on the upper side are connected to the bearing and the bearing seat 18, and the two connection plates 701 on the lower side are used for installing the third rotating electrical machine 8 and the fourth rotating electrical machine 9.
Specifically, the first fixing device 12, the second fixing device 22, the guide rail 17, the first rotating electric machine 3, the second rotating electric machine 4, the L-shaped connecting seat 2, and the third rotating electric machine 8, the fourth rotating electric machine 9, and the rotating connecting seat 7 are all fixed by bolts.
Particularly, two the junction of L type connecting seat 2 and bed plate 1 all is provided with the reinforcing plate for the stability of reinforcing junction.
Specifically, the rotary joint base 7 includes three support columns 702, three support columns 702 are distributed around the connection plates 701 on two sides, and a gap for installing the third rotating electric machine 8 or the fourth rotating electric machine 9 is reserved between the three support columns 702, so that the third rotating electric machine 8 or the fourth rotating electric machine 9 can be conveniently installed and detached.
Particularly, bed plate 2 is used for installing different equipment, bed plate 2 with equipment cooperation work realizes different functions, bed plate 5 can be equipped with multiple different production manufacturing equipment, check out test set, motion etc. realizes multiple functions.
Specifically, the welding gun further comprises a fifth screw slider pair 19 and a sixth motor 20, the fifth screw slider pair 19 is the same as the first screw slider pair 5 in mechanism, an L-shaped connecting plate 21 is mounted on the sixth motor 20, the output end of the sixth motor 20 penetrates through the L-shaped connecting plate 21 and is connected with the fifth screw slider pair 19, and the fifth screw slider pair 19 and the base plate 1 and the sixth motor 20 and the L-shaped connecting plate 21 are fixedly connected through bolts, so that the movement range of the welding gun in the Z direction is increased, and when the L-shaped connecting plate 9 is fixedly connected with the welding gun, the rotation function of the welding gun can be realized.
The working principle is as follows: taking the first fixing device 12 and the second fixing device 22 as examples, the electromagnet is selected as the electromagnet, and the movement of the product in the X direction is realized as follows: the first lead screw sliding block pair 5 and the sliding blocks 16 on the second lead screw sliding block pair 6 are located at the same height, the first fixing device 12 is fixed on the wall plate of the air duct after being electrified, the stepping motor 13 in the second lead screw sliding block pair 6 works to enable the second lead screw sliding block pair 6 and the second fixing device 22 to be separated from the wall of the air duct, the stepping motor 13 in the third lead screw sliding block pair 10 works to drive the whole to move along the X direction, and meanwhile, the stepping motor 13 in the fourth lead screw sliding block pair 10 works to enable the guide rail 17 of the fourth lead screw sliding block pair 10 to move along the X direction.
After the stepping motor 13 in the third screw slider pair 10 stops working, the stepping motor 13 in the second screw slider pair 6 works to make the fourth screw slider pair 11 and the second fixing device 22 contact with the wall plate of the air duct (the heights of the third screw slider pair 10 and the slider 16 of the first screw slider pair 5 are the same), the second fixing device 22 is fixed with the wall plate of the air duct after being electrified, and the first fixing device 12 is powered off and is not fixed on the wall plate of the air duct any more.
The stepping motor 13 in the first screw slider pair 5 rotates to drive the third screw slider pair 10 and the first fixing device 12 to ascend and be separated from the air duct wall plate, the stepping motor 13 in the fourth screw slider pair 11 rotates to drive the whole body to move along the X direction, and meanwhile, the stepping motor 13 in the third screw slider pair 10 rotates to enable the guide rail in the third screw slider pair 10 to move along the X direction.
The actions are repeated in sequence to realize the movement function of the product in the X direction.
The motion of the product in the Y direction is realized as follows: after the sliders 16 in the third screw slider pair 10 and the fourth screw slider pair 11 move to be close to the bearings and the bearing seats 18, the first fixing device 12 is electrified and fixed with the wall plate of the air duct, the stepping motor 13 in the second screw slider pair 6 rotates to enable the fourth screw slider pair 11 and the second fixing device 22 to ascend and be separated from the wall plate of the air duct, the fourth rotating motor 9 rotates 90 degrees, the fourth screw slider pair 11 rotates to the same direction of the Y axis, the stepping motor 13 in the second screw slider pair 6 rotates to enable the fourth screw slider pair 11 and the second fixing device 22 to descend and to be in contact with the wall plate of the air duct, and the second fixing device 22 is electrified and fixed with the wall plate of the air duct.
The first fixing device 12 is powered off, the stepping motor 13 in the first screw slider pair 5 rotates, the third screw slider pair 10 and the first fixing device 12 ascend to be separated from the air duct wall plate, the third rotating motor 8 rotates 90 degrees to enable the third screw slider pair 10 to rotate to be in the same direction with the Y axis, and the stepping motor 13 in the first screw slider pair 5 rotates to enable the third screw slider pair 10 and the first fixing device 12 to descend to be in contact with the air duct. The motion in the Y-axis direction is then the same as the X-axis direction.
The product of the invention can be changed from X, Y plane motion into X, Z plane motion by the rotation of the first rotating motor 3 and the second rotating motor 4, thereby realizing the free motion of the product of the invention in the horizontal and vertical directions.
When the product moves on a simple curved surface, the first fixing device 12 is fixed with a wall plate of an air duct, the stepping motor 13 in the second lead screw sliding block pair 6 rotates, the fourth lead screw sliding block pair 11 and the second fixing device 22 ascend, the second rotating motor 4 rotates after stopping, the stepping motor 13 in the second lead screw sliding block pair 6 rotates after the second rotating motor 4 rotates in place, the fourth lead screw sliding block pair 11 and the second fixing device 22 descend to be in contact with the air duct and then stop, and the second fixing device 22 is electrically fixed with the wall of the air duct. The first fixing device 12 is powered off, the stepping motor 13 in the first lead screw slider pair 5 rotates, the third lead screw slider pair 10 and the second fixing device 22 ascend, the third rotating motor 8 rotates after stopping, the stepping motor 13 in the first lead screw slider pair 5 rotates after the third lead screw slider pair 10 and the second fixing device 22 descend to be in contact with the wall of the air duct, and the first fixing device 12 is powered on and fixed to the wall of the air duct. The product of the invention is realized on a simple curved surface by sequentially repeating the action.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A mechanism that can walk in rectangle tuber pipe, includes bed plate (1), its characterized in that: the left side and the right side of the base plate (1) are respectively provided with an L-shaped connecting seat (2), the L-shaped connecting seats (2) on the left side and the right side are respectively provided with a first rotating motor (3) and a second rotating motor (4), the output ends of the first rotating motor (3) and the second rotating motor (4) penetrate through the L-shaped connecting seats (3) and are respectively connected with a first lead screw slider pair (5) and a second lead screw slider pair (6), the lower end faces of the first lead screw slider pair (5) and the second lead screw slider pair (6) are respectively connected with a rotating connecting seat (7), the rotating connecting seats (7) on the left side and the right side are respectively internally provided with a third rotating motor (8) and a fourth rotating motor (9), the output ends of the third rotating motor (8) and the fourth rotating motor (9) penetrate through the rotating connecting seats (7) and are respectively connected with a third lead screw slider pair (10) and a fourth lead screw slider pair (11), and a first fixing device (12) and a second fixing device (22) are respectively arranged on the side surfaces of the third screw slider pair (10) and the fourth screw slider pair (11).
2. A mechanism according to claim 1, wherein the mechanism is adapted to travel within a rectangular duct, the mechanism comprising: the first screw slide block pair (5), the second screw slide block pair (6), the third screw slide block pair (10) and the fourth screw slide block pair (11) have the same structure and respectively comprise a stepping motor (13), a motor and bearing connecting seat (14), a screw (15), a slide block (16), a guide rail (17) and a bearing and bearing seat (18), the stepping motor (13) is fixed on the motor and bearing connecting seat (14), the output end of the stepping motor (13) is connected with a lead screw (15), the lead screw (15) is connected with a bearing of a bearing and bearing seat (18) and fixed on the bearing seat of the bearing and bearing seat (18), the motor and bearing connecting seat (14) is fixed at one end of the guide rail (17), the bearing and the bearing seat (18) are fixed at the other end of the guide rail (17), and the lead screw (15) is in threaded connection with the inside of the sliding block (16).
3. A mechanism according to claim 1, wherein the mechanism is adapted to travel within a rectangular duct, the mechanism comprising: the first fixing device (12) and the second fixing device (22) are electromagnets, the number of the electromagnets is four, and the four electromagnets are respectively positioned on the front side and the rear side of the third screw slider pair (10) and the fourth screw slider pair (11).
4. A mechanism according to claim 1, wherein the mechanism is adapted to travel within a rectangular duct, the mechanism comprising: the first fixing device (12) and the second fixing device (22) are vacuum suckers, the number of the vacuum suckers is four, and the four vacuum suckers are respectively located on the front side and the rear side of the third screw slider pair (10) and the fourth screw slider pair (11).
5. A mechanism according to claim 2, wherein the mechanism is adapted to travel within a rectangular duct, the mechanism comprising: the output of first rotating electrical machines (3), second rotating electrical machines (4), third rotating electrical machines (8) and fourth rotating electrical machines (9) links to each other with slider (16), install in the outside side of guide rail (17) first fixing device (12) and second fixing device (22), two swivelling joint seat (7) all are including connecting plate (701) that are located both sides from top to bottom and being used for connecting both sides pillar (702) of connecting plate (701), the upside is two connecting plate (701) link to each other with bearing and bearing frame (18), and the downside is two connecting plate (701) are used for installing third rotating electrical machines (8) and fourth rotating electrical machines (9).
6. A mechanism according to claim 2, wherein the mechanism is adapted to travel within a rectangular duct, the mechanism comprising: the first fixing device (12), the second fixing device (22) and the guide rail (17), the first rotating motor (3), the second rotating motor (4) and the L-shaped connecting seat (2), and the third rotating motor (8), the fourth rotating motor (9) and the rotating connecting seat (7) are fixedly connected through bolts.
7. A mechanism according to any one of claims 1 to 6, wherein the mechanism is adapted to travel within a rectangular duct, and wherein: and reinforcing plates are arranged at the joints of the two L-shaped connecting seats (2) and the base plate (1).
8. A mechanism according to any one of claims 1 to 6, wherein the mechanism is adapted to travel within a rectangular duct, and wherein: the rotating connection seat (7) comprises three support columns (702), the three support columns (702) are distributed on the periphery of the connecting plates (701) on the two sides, and gaps for mounting a third rotating motor (8) or a fourth rotating motor (9) are reserved between the three support columns (702).
9. A mechanism according to any one of claims 1 to 6, wherein the mechanism is adapted to travel within a rectangular duct, and wherein: the base plate (2) is used for installing different devices, and the base plate (2) is matched with the devices to work to realize different functions.
10. A mechanism according to any one of claims 1 to 6, wherein the mechanism is adapted to travel within a rectangular duct, and wherein: still include vice (19) of fifth lead screw slider and sixth motor (20), the mechanism of vice (19) of fifth lead screw slider is the same with first lead screw slider (5), install L type connecting plate (21) on sixth motor (20), the output of sixth motor (20) runs through L type connecting plate (21) and links to each other with the vice (19) of fifth lead screw slider, between vice (19) of fifth lead screw slider and bed plate (1) all fixed through bolted connection between sixth motor (20) and L type connecting plate (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218238.1A CN112984276B (en) | 2021-02-26 | 2021-02-26 | Mechanism capable of walking in rectangular air duct |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218238.1A CN112984276B (en) | 2021-02-26 | 2021-02-26 | Mechanism capable of walking in rectangular air duct |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112984276A true CN112984276A (en) | 2021-06-18 |
| CN112984276B CN112984276B (en) | 2023-03-28 |
Family
ID=76351070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110218238.1A Active CN112984276B (en) | 2021-02-26 | 2021-02-26 | Mechanism capable of walking in rectangular air duct |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112984276B (en) |
Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85101708A (en) * | 1985-04-01 | 1986-07-16 | 中国科学院长春光学精密机械研究所 | The composite foot stepping mechanism of walking machine |
| US5121694A (en) * | 1991-04-02 | 1992-06-16 | Zollinger William T | Pipe crawler with extendable legs |
| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
| US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
| CN201067750Y (en) * | 2007-06-08 | 2008-06-04 | 浙江大学 | Central air-conditioning duct type ventilation system cleaning robot |
| WO2009051574A1 (en) * | 2007-10-19 | 2009-04-23 | Necati Hacikadiroglu | Bipedal or multi-legged robotic orthesis and exoskeleton system |
| CN101423075A (en) * | 2008-12-09 | 2009-05-06 | 华南理工大学 | Modular six freedom-degree initiative joint type bipod walking robot |
| US20120197440A1 (en) * | 2009-07-24 | 2012-08-02 | Neovision | Robot for cleaning and inspection of conduits and its control unit |
| US20130104676A1 (en) * | 2011-11-02 | 2013-05-02 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| CN106005090A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Double-oscillating bar flexible four-leg walking robot |
| CN106394723A (en) * | 2016-09-21 | 2017-02-15 | 奇瑞汽车股份有限公司 | Quadruped walking robot |
| CN106428277A (en) * | 2016-10-08 | 2017-02-22 | 天津职业技术师范大学 | Offshore platform dry type pile leg inner wall crawling robot |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
| WO2017197418A1 (en) * | 2016-05-20 | 2017-11-23 | Müller Matthias Manuel | Worm robot |
| CN207581270U (en) * | 2017-11-19 | 2018-07-06 | 上海景朋建设工程有限公司 | A kind of urban duct prosthetic device |
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| US20180363828A1 (en) * | 2016-07-07 | 2018-12-20 | Southwest Petroleum University | Pipeline robot capable of steering actively |
| CN208463939U (en) * | 2017-10-27 | 2019-02-05 | 周豪 | Smooth wall adsorbs platform of creeping |
| MX2017015648A (en) * | 2017-12-04 | 2019-06-05 | Inst Politecnico Nacional | Mechanism for the morphosis of an apodous robot. |
| US20190226621A1 (en) * | 2018-01-22 | 2019-07-25 | Sipp Technologies, Llc | Pipe Lining Apparatus Material Casting Assembly |
| CN209441469U (en) * | 2018-12-19 | 2019-09-27 | 河北工业大学 | A kind of comprehensive climbing robot of curved surface adaptive based on sliding driving |
| CN111246974A (en) * | 2017-09-19 | 2020-06-05 | 阿里克斯科技股份有限公司 | Apparatus and method for passing pipeline |
| CN210914930U (en) * | 2019-07-26 | 2020-07-03 | 机械工业第九设计研究院有限公司 | Rotary switching positioning mechanism for lifting appliance fulcrum |
| CN212226419U (en) * | 2020-05-27 | 2020-12-25 | 天津科技大学 | Positioning device for pipeline detection robot |
-
2021
- 2021-02-26 CN CN202110218238.1A patent/CN112984276B/en active Active
Patent Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85101708A (en) * | 1985-04-01 | 1986-07-16 | 中国科学院长春光学精密机械研究所 | The composite foot stepping mechanism of walking machine |
| US5121694A (en) * | 1991-04-02 | 1992-06-16 | Zollinger William T | Pipe crawler with extendable legs |
| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
| US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
| CN201067750Y (en) * | 2007-06-08 | 2008-06-04 | 浙江大学 | Central air-conditioning duct type ventilation system cleaning robot |
| WO2009051574A1 (en) * | 2007-10-19 | 2009-04-23 | Necati Hacikadiroglu | Bipedal or multi-legged robotic orthesis and exoskeleton system |
| CN101423075A (en) * | 2008-12-09 | 2009-05-06 | 华南理工大学 | Modular six freedom-degree initiative joint type bipod walking robot |
| US20120197440A1 (en) * | 2009-07-24 | 2012-08-02 | Neovision | Robot for cleaning and inspection of conduits and its control unit |
| US20130104676A1 (en) * | 2011-11-02 | 2013-05-02 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| WO2017197418A1 (en) * | 2016-05-20 | 2017-11-23 | Müller Matthias Manuel | Worm robot |
| US20180363828A1 (en) * | 2016-07-07 | 2018-12-20 | Southwest Petroleum University | Pipeline robot capable of steering actively |
| CN106005090A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Double-oscillating bar flexible four-leg walking robot |
| CN106394723A (en) * | 2016-09-21 | 2017-02-15 | 奇瑞汽车股份有限公司 | Quadruped walking robot |
| CN106428277A (en) * | 2016-10-08 | 2017-02-22 | 天津职业技术师范大学 | Offshore platform dry type pile leg inner wall crawling robot |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
| CN111246974A (en) * | 2017-09-19 | 2020-06-05 | 阿里克斯科技股份有限公司 | Apparatus and method for passing pipeline |
| CN208463939U (en) * | 2017-10-27 | 2019-02-05 | 周豪 | Smooth wall adsorbs platform of creeping |
| CN207581270U (en) * | 2017-11-19 | 2018-07-06 | 上海景朋建设工程有限公司 | A kind of urban duct prosthetic device |
| MX2017015648A (en) * | 2017-12-04 | 2019-06-05 | Inst Politecnico Nacional | Mechanism for the morphosis of an apodous robot. |
| US20190226621A1 (en) * | 2018-01-22 | 2019-07-25 | Sipp Technologies, Llc | Pipe Lining Apparatus Material Casting Assembly |
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN209441469U (en) * | 2018-12-19 | 2019-09-27 | 河北工业大学 | A kind of comprehensive climbing robot of curved surface adaptive based on sliding driving |
| CN210914930U (en) * | 2019-07-26 | 2020-07-03 | 机械工业第九设计研究院有限公司 | Rotary switching positioning mechanism for lifting appliance fulcrum |
| CN212226419U (en) * | 2020-05-27 | 2020-12-25 | 天津科技大学 | Positioning device for pipeline detection robot |
Non-Patent Citations (7)
| Title |
|---|
| BELLICOSO C D, BJELONIC M, WELLHAUSEN L, ET AL.: "Advances in Real-world", 《JOURNAL OF FIELD ROBOTICS》 * |
| BELLICOSO C D, BJELONIC M, WELLHAUSEN L, ET AL.: "Advances in Real-world", 《JOURNAL OF FIELD ROBOTICS》, vol. 35, no. 8, 6 November 2018 (2018-11-06), pages 1311 - 1326 * |
| 吴昌林总主编，韩建海主编，杨叔子，李培根顾问: "《工业机器人》", vol. 1, 30 July 2019, 华中科技大学出版社, pages: 60 * |
| 张明文主编: "《工业机器人技术基础及应用》", vol. 1, 30 July 2017, 哈尔滨工业大学出版社, pages: 69 - 70 * |
| 苗淑杰等: "双足机器人拟人步行模式研究", 《黑龙江工程学院学报》 * |
| 苗淑杰等: "双足机器人拟人步行模式研究", 《黑龙江工程学院学报》, no. 03, 25 September 2008 (2008-09-25), pages 61 - 66 * |
| 高宏伟，张大兴，王卫东，何西平编著: "《电子制造装备技术》", vol. 1, 30 September 2015, 西安电子科技大学出版社, pages: 247 - 248 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112984276B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426120B (en) | A kind of heavy load planer-type robot | |
| CN114101471A (en) | Automatic punching device of high accuracy metal pipe fitting | |
| CN104816293B (en) | A kind of mobile mechanical arm of eight degrees of freedom | |
| CN112984276B (en) | Mechanism capable of walking in rectangular air duct | |
| CN102039509B (en) | Curve welding gap magnetic catch type device with follow moving and position and orientation adjusting of welding gun | |
| CN107695645A (en) | A kind of casting embeds movable insert automated exchanged cutter mechanical paw | |
| CN201929967U (en) | Horizontal C-arm movement driving mechanism for moving x-ray machine | |
| CN105562543A (en) | Punching, unstacking and feeding robot | |
| CN217097780U (en) | Four-axis swing arm manipulator | |
| CN108189002B (en) | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions | |
| CN110549599B (en) | Laser sintering 3D printer | |
| CN216613101U (en) | Framework material taking device of automatic forming machine | |
| CN112061745B (en) | Circuit breaker conveying device and circuit breaker detection line | |
| CN213748376U (en) | Building engineering roughness detection device | |
| CN210049798U (en) | Full-automatic door opening and closing equipment | |
| CN207630063U (en) | A kind of new-type vacuum carrying formula manipulator | |
| CN209016523U (en) | A kind of intelligent mobile O&M terminal device for overhauling power secondary equipment | |
| CN209533393U (en) | A kind of XYZ 3 d-line slide unit with clamp device | |
| CN211163843U (en) | Direct-drive multi-axis adjusting platform | |
| CN215414913U (en) | Ecological environment monitoring facilities | |
| CN116930022B (en) | Clean room particulate matter concentration monitoring device and monitoring method | |
| CN221224034U (en) | Power distribution room temperature detection equipment | |
| CN213615198U (en) | Automatic assembling equipment for fan frame bearing fan blades of cooling fan | |
| CN216991975U (en) | Linear motion electric clamping jaw and equipment | |
| CN215159103U (en) | Automatic processing production line for motor rotor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant after: The Ninth Design and Research Institute of Machinery Industry Co.,Ltd. Address before: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant before: Machinery Industry Ninth Design and Research Institute Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |