CN114576463B - Imitative tiger spot mantis shrimp pipeline robot - Google Patents

Imitative tiger spot mantis shrimp pipeline robot Download PDF

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Publication number
CN114576463B
CN114576463B CN202210249019.4A CN202210249019A CN114576463B CN 114576463 B CN114576463 B CN 114576463B CN 202210249019 A CN202210249019 A CN 202210249019A CN 114576463 B CN114576463 B CN 114576463B
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China
Prior art keywords
pipeline
abdomen
swing
wrist
robot
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CN114576463A (en
Inventor
王进成
马明旭
夏一凡
景林鑫
张谦
包明正
储逸尘
于会洋
李昊奇
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Northeastern University China
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Northeastern University China
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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
    • 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
    • F16L55/40—Constructional aspects of the body
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

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

Abstract

The invention relates to a tiger-spot-imitated mantis shrimp pipeline robot which is used for pipeline detection and comprises a machine head and a plurality of abdominal wrist driving mechanisms. The head is internally provided with a driving mechanism and a pipeline detection device, the pipeline detection device is used for detecting a pipeline, a plurality of abdomen-wrist swinging mechanisms are sequentially connected, adjacent abdomen-wrist swinging mechanisms are connected through a posture adjusting mechanism, and the driving mechanism is also connected with the abdomen-wrist swinging mechanism positioned at the head through the posture adjusting mechanism. The posture adjusting mechanism is suitable for posture adjustment and power transmission, the driving mechanism can drive the abdomen and wrist swinging mechanism connected with the posture adjusting mechanism to swing and advance when working, and meanwhile, the pipeline detecting device detects the pipeline. When the machine head meets a turning part in the advancing process, the machine head is in contact with the pipe wall and is forced to change the direction, and the posture adjusting mechanism correspondingly adjusts the posture to meet the use requirement of a bent pipeline. The invention carries out comprehensive investigation on the pipeline through the pipeline robot, replaces the existing manual detection mode, and has higher detection efficiency and accuracy.

Description

Imitative tiger spot mantis shrimp pipeline robot
Technical Field
The invention relates to the technical field of simulation robots, in particular to a robot imitating mantis shrimps in a tiger spot shape.
Background
Pipeline transportation has the advantages of high transportation efficiency, convenient manufacture, simple transportation means and the like, so the pipeline transportation is widely applied to various fields of industry, agriculture, life and the like. However, as the service life of the pipeline is prolonged, the pipeline is aged more and more seriously, and problems such as leakage, cracks, corrosion and the like are likely to occur, so that the condition of the pipeline needs to be detected, checked and maintained regularly. However, the medium transported by the pipeline is generally harmful to human bodies, and the space of the pipeline is narrow, so that maintenance personnel cannot enter the pipeline, which brings great difficulty to the detection and maintenance work of the pipeline.
In view of the burial property of the pipeline, the most adopted maintenance methods at present are methods such as excavation, sampling detection and the like. The methods need a large amount of manpower, material resources and financial resources, are high in randomness and low in accuracy, cannot ensure normal use of the pipeline in the detection process, cannot thoroughly and efficiently investigate the pipeline, and have potential safety hazards. Therefore, a detection device is urgently needed to replace manual work to thoroughly and efficiently investigate the pipeline, and potential safety hazards are reduced.
Disclosure of Invention
Technical problem to be solved
In view of the defects and shortcomings of the prior art, the invention provides the tiger-spot-imitated mantis shrimp pipeline robot which is used for comprehensively detecting a pipeline and solves the technical problems of low detection efficiency, low detection accuracy and high detection cost caused by a manual pipeline detection mode in the prior art.
(II) technical imitation
In order to achieve the purpose, the invention provides a tiger-spot mantis shrimp pipeline simulating robot, which comprises the following specific technical schemes:
the utility model provides an imitative tiger spot mantis shrimp pipeline robot for pipeline inspection includes:
the machine head is internally provided with a driving mechanism and a pipeline detection device;
the abdomen and wrist swinging mechanisms are connected in sequence, and adjacent abdomen and wrist swinging mechanisms are connected through a posture adjusting mechanism;
the driving mechanism is also connected with the abdomen and wrist swing mechanism positioned at the head part through the posture adjusting mechanism;
the posture adjusting mechanism is suitable for posture adjustment and power transmission, the driving mechanism can drive the abdomen-wrist swinging mechanism connected with the posture adjusting mechanism to swing and move forward when working, and meanwhile, the pipeline detecting device detects the pipeline.
Specifically, any one abdomen-wrist swing mechanism comprises a machine body, a crankshaft and two abdomen limb swing rods;
the main shaft diameters at two ends of the crankshaft are respectively and rotatably connected to the machine body;
the two abdominal limb swing rods are arranged in parallel, the middle parts of the two abdominal limb swing rods are connected through a connecting plate, a long hole is formed in the connecting plate, and the connecting plate is sleeved on the periphery of the shaft diameter of a connecting rod of the crankshaft through the long hole;
one end of any one of the abdominal limb swing rods is hinged on the machine body, and the crankshaft rotates to drive the other end of the abdominal limb swing connected with the connecting plate to swing in a reciprocating mode.
Specifically, the posture adjusting mechanism comprises a universal rotating device, and the universal rotating device is suitable for universal rotation;
the driving mechanism is connected with the crankshafts and the crankshafts of the two adjacent abdomen-wrist swinging mechanisms are connected through universal rotating devices.
Furthermore, the posture adjusting mechanism also comprises a telescopic pipe, and the telescopic pipe is suitable for stretching and compressing adjustment;
the telescopic pipe is sleeved on the periphery of the universal rotating device, one end of the telescopic pipe is connected with the machine head/machine body, and the other end of the telescopic pipe is connected with the machine body of the adjacent abdomen-wrist swinging mechanism.
Preferably, the universal rotation device is any one of a universal joint or a joint bearing.
Further, the device also comprises a tail swing mechanism;
the tail swing mechanism is connected with a crankshaft of the abdomen-wrist swing mechanism positioned at the tail, and the driving mechanism can drive the tail swing mechanism connected with the abdomen-wrist swing mechanism to swing so as to push the pipeline robot to move integrally.
Specifically, the tail swing mechanism comprises a connecting seat, a driving crank, a driven crank, a rotating shaft and a wing plate;
the connecting seat is arranged on the machine body, two ends of the rotating shaft are respectively and rotatably connected to the connecting seat, and the wing plate is arranged on the rotating shaft;
one end of the driving crank is connected with the crankshaft, the other end of the driving crank is hinged with one end of the driven crank, the other end of the driven crank is hinged with the rotating shaft, the crankshaft can drive the driven crank hinged with the driving crank to rotate circumferentially, and then the rotating shaft is driven to rotate so as to drive the wing plates to flap up and down.
Preferably, the pipeline detection device is one or more of an image acquisition device, an ultrasonic detector, an infrared detector, a decibel meter and a pressure sensor.
The controller is in communication connection with the detection device and the driving mechanism respectively;
the controller comprises a control module and a storage module, the control module is used for controlling the driving mechanism and the detection device to work, and the storage module is used for receiving the pipeline information detected by the pipeline detection device and storing the pipeline information correspondingly.
Preferably, the drive mechanism is a servo motor.
(III) advantageous effects
The tiger-spot-imitated mantis shrimp pipeline robot disclosed by the invention can effectively overcome the defects of the prior art.
The invention provides a tiger-spot-mantis shrimp-imitated pipeline robot which is designed according to the body structure and the movement mode of tiger-spot-mantis shrimps and specifically comprises a machine head and a plurality of abdominal wrist swinging mechanisms. The abdomen and wrist swinging mechanisms are connected in sequence, and adjacent abdomen and wrist swinging mechanisms are connected through the posture adjusting mechanism. The head is also internally provided with a driving mechanism, the driving mechanism is connected with the abdomen and wrist swinging mechanism positioned at the end part of the advancing direction through a posture adjusting mechanism, the posture adjusting mechanism is suitable for posture adjustment and power transmission, and the driving mechanism can drive the abdomen and wrist swinging mechanism connected with the posture adjusting mechanism to swing and advance when working. The pipeline detection device is arranged on the machine head
And in the advancing process, the device is used for comprehensively checking the pipeline.
If the robot meets an obstacle or a bent pipe during travelling, the machine head is forced to change the direction, the posture adjusting mechanism is forced to adjust the posture so as to drive the abdomen-wrist swinging pushing mechanism to turn, so that the robot avoids the obstacle, can travel and turn in the straight pipeline and the bent pipeline, and can meet the detection requirements of different types of pipelines.
The tiger-spot-imitated mantis shrimp pipeline robot provided by the invention can also control the advancing speed of the robot by controlling the output power of the driving mechanism so as to comprehensively and quickly inspect the pipeline, has higher pipeline detection efficiency and accuracy, replaces the traditional manual detection mode, greatly liberates manpower and reduces the labor cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application, and are incorporated in and constitute a part of this application:
FIG. 1 is a schematic structural diagram of a simulated tiger cockroach shrimp pipeline robot in a concrete implementation mode;
FIG. 2 is a schematic diagram of a simulated medial wrist swing mechanism in accordance with an embodiment;
FIG. 3 is a schematic diagram of a simulated aft swing mechanism;
FIG. 4 is a schematic structural view of a telescopic tube embodying the simulated posture adjustment mechanism;
fig. 5 is a schematic structural view of a universal rotating device for implementing the simulated posture adjusting mechanism.
[ instruction of reference ]
1. A machine head;
2. a pipeline detection device;
3. an abdominal-wrist swinging mechanism; 301. a body; 302. a crankshaft; 303. a ventral limb swing rod; 304. connecting plates;
4. an attitude adjusting mechanism; 401. a universal rotation device; 402. a telescopic pipe;
5. a tail swing mechanism; 501. a connecting seat; 502. a driving crank; 503. a driven crank; 504. a rotating shaft; 505. a wing plate;
6. and a controller.
Description of the preferred embodiment
To make the objects, technical models and advantages of the present invention more apparent, the technical models in the embodiments of the present invention will be described in more detail with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present embodiment, it should be understood that the pseudo-position or position relationship indicated by the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the pseudo-position or position relationship shown in the drawings, and are only for convenience of describing the present embodiment and simplifying the description, but do not indicate or imply that the referred device or element must have a specific pseudo-position, be constructed and operated in a specific pseudo-position, and thus, should not be construed as limiting the scope of the present embodiment.
The pipeline transportation can be used for transporting other liquid or gas substances such as petroleum, natural gas, water and the like, has the advantages of high transportation efficiency, convenient manufacture, simple transportation means and the like, and is widely applied to various fields such as industry, agriculture, life and the like. However, as the service life of the pipeline is prolonged, the pipeline is aged more and more seriously, and problems such as leakage, cracks, corrosion and the like are likely to occur, so that the condition of the pipeline needs to be detected, checked and maintained regularly. However, the medium transported by the pipeline is generally harmful to human bodies, and the space of the pipeline is narrow, so that maintenance personnel cannot enter the pipeline, which brings great difficulty to the detection and maintenance work of the pipeline.
In view of the burying property of the pipeline, the most maintenance methods adopted at present are methods such as excavation, sampling detection and the like, the method has randomness, the pipeline cannot be comprehensively checked, and the detection result has low accuracy and exists
And (4) potential safety hazard.
This application is based on the above-mentioned problem that exists among the prior art pipeline detection to city plumbing pipeline is the example, provides imitative tiger spot mantis shrimp pipeline robot for detect city plumbing pipeline.
Specifically, as shown in fig. 1 to 5, the tiger-spot mantis shrimp simulated pipeline robot of the embodiment comprises a machine head 1 and a plurality of abdominal wrist swing mechanisms 3, wherein the abdominal wrist swing mechanisms 3 are connected in sequence, and adjacent abdominal wrist swing mechanisms 3 are connected through a posture adjusting mechanism 4. The machine head 1 is provided with a driving mechanism and a pipeline detection device 2, the driving mechanism is also connected with an abdomen-wrist swinging mechanism 3 located at the head through a posture adjusting mechanism 4, the posture adjusting mechanism 4 is suitable for posture adjustment and power transmission, the driving mechanism can drive the abdomen-wrist swinging mechanism 3 connected with the posture adjusting mechanism 4 to swing and advance when working, and the pipeline detection device 2 is used for detecting a pipeline. In the process of marcing forward, if aircraft nose 1 meets the barrier, aircraft nose 1 is forced to turn to, promotes gesture adjustment mechanism 4 and carries out the gesture and adjusts to drive abdomen wrist swing mechanism 3 and turn to, can be suitable for the detection demand of straight pipeline and crooked pipeline, can carry out comprehensive investigation to the pipeline, replaced traditional artifical detection mode, have higher detection efficiency and rate of accuracy, thereby reduce the potential safety hazard, guarantee the safety in utilization of pipeline.
In this disclosed embodiment, pipeline robot designs based on the somatic structure and the motion mode of tiger spot mantis shrimp, and aircraft nose 1 simulation tiger spot mantis's head sets up, locates actuating mechanism in aircraft nose 1 to carry out water repellent to aircraft nose 1, prevent that liquid from getting into aircraft nose 1 and leading to actuating mechanism short circuit to damage.
The abdominal wrist swinging mechanisms 3 are designed bionically based on a plurality of abdominal joints of the tiger cockroach shrimps, and the posture adjusting mechanism 4 is designed bionically based on a soft tissue connecting structure between the abdominal joints of the tiger cockroach shrimps. The abdominal section soft tissue is used as a main connecting structure of the abdominal section, is suitable for stretching and shrinking, can drive the tiger mantis shrimps to bend and straighten, and also is suitable for stretching and shrinking adjustment by the posture adjusting mechanism 4.
Specifically, in the present embodiment, the end in the traveling direction of the pipe robot is defined as a head, and the end in the direction opposite to the traveling direction is defined as a tail. The adjacent abdomen and wrist swinging mechanisms 3 are connected through a posture adjusting mechanism 4, the driving mechanism is connected with the abdomen and wrist swinging mechanism 3 positioned at the head through the posture adjusting mechanism 4, the output power of the driving mechanism is transmitted to the abdomen and wrist swinging mechanism 3 through the posture adjusting mechanism 4 in sequence, and the abdomen and wrist swinging mechanism 3 swings and moves forward under the driving of the power. When the machine head 1 meets an obstacle in a turning position of a pipeline in the advancing process, the posture adjusting mechanism 4 correspondingly stretches and contracts, and the machine head 1 is twisted to achieve the purpose of turning.
In the embodiment, the posture adjusting mechanism 4 can form a self-adaptive all-directional corner between adjacent abdomen and wrist swinging mechanisms 3, and the corner moving range between each abdomen and wrist swinging mechanism 3 can be determined by giving the length and the compressibility of the posture adjusting mechanism 4 so as to meet the detection requirements of bent pipelines and narrow pipelines. The posture adjusting mechanism 4 is also suitable for power transmission, the whole movement of the pipeline robot can be realized only by a group of driving mechanisms, the whole structure of the pipeline robot is simplified, and the manufacturing cost of the pipeline robot is reduced.
It should be noted that, the pipeline detection is usually to examine the leakage condition of the pipeline, and the leakage reasons are mostly steel cracking, welding spot cracking or corrosion of the pipeline body. The pipeline detection device 2 is any one or more of an image acquisition device, an ultrasonic detector, an infrared detector, a decibel meter and a pressure sensor, can be used for detecting image information, tank body cracking information, pressure and sound wave information of the inner wall of the pipeline, and then judges the pipeline leakage condition based on the information.
During the specific use, will imitate tiger spot mantis shrimp pipeline robot and arrange the mouth of a pipe department of the pipeline of waiting to examine in, control actuating mechanism starts, and actuating mechanism drives the swing of abdomen wrist swing mechanism 3 in the pipeline, and 3 backward promotion liquid of abdomen wrist swing mechanism produce forward thrust to impel pipeline robot moving as a whole, pipeline detection device 2 carries out comprehensive investigation to the pipeline simultaneously, eliminates the potential safety hazard, ensures the safe in utilization of pipeline. If meet return bend department or when the barrier in the in-process of marcing, aircraft nose 1 is compelled to turn to, and gesture adjustment mechanism 4 corresponds the adjustment and drives abdomen wrist swing mechanism 3 and turn to satisfy the user demand of different grade type pipeline.
In the detection process, the advancing speed of the pipeline robot can be adjusted by controlling the output power of the driving mechanism, and the advancing speed can be adjusted according to specific detection requirements and detection purposes.
It can be understood that the tiger cockroach shrimp pipeline simulating machine is also suitable for detecting acid and alkali conveying industrial pipelines and gas pipelines. When the device is used for industrial pipeline detection, the pipeline robot needs to be subjected to anticorrosion treatment so as to prevent corrosive liquid from causing corrosion damage to the pipeline robot. When the device is used for detecting a gas pipeline, in order to avoid gas leakage, a pipeline at a maintenance section needs to be isolated and sealed, and the driving mechanism drives the abdomen-wrist swinging mechanism 3 to advance in a creeping manner in the pipeline so as to detect the gas conveying pipeline.
In some embodiments, as shown in fig. 2, either of the abdominal swing mechanisms includes a fuselage 301, a crankshaft 302, and two abdominal swing links 303. The main shaft diameters at two ends of the crankshaft 302 are respectively rotatably connected to the machine body 301, the two abdominal limb swing rods 303 are arranged in parallel, fixed ends are respectively hinged to the machine body 301, the middle parts of the two abdominal limb swing rods 303 are connected through a connecting plate 304, long holes are formed in the connecting plate 304, the connecting plate 304 is sleeved on the periphery of the connecting rod shaft diameter of the crankshaft 302 through the long holes, and the crankshaft 302 rotates to drive the movable ends of the two abdominal limb swing rods 303 connected with the connecting plate 304 to regularly swing around the fixed ends so as to advance in a pipeline.
In the embodiment of the present disclosure, two through shaft holes are formed in the machine body 301 in the length direction, and the main shaft diameters at two ends of the crankshaft 302 are rotatably connected to the shaft holes through bearings, respectively. The abdominal limb swing rods 303 comprise fixed ends and movable ends, the fixed ends of the two abdominal limb swing rods 303 are respectively hinged to the machine body 301, the crank shaft 302 rotates due to the regular change of the stroke when the crank shaft 302 rotates, the abdominal limb swing rods 303 are driven to swing through the connecting plate 304, the movable ends of the abdominal limb swing rods 303 regularly swing around the fixed ends within a certain angle range, and liquid is pushed backwards to obtain continuous power, so that the pipeline robot stably moves in a pipeline.
Specifically, as shown in fig. 5, the posture adjustment mechanism 4 of the present embodiment includes a universal rotation device 401, the driving mechanism is connected to the crankshaft 302 and the crankshafts 302 of the two adjacent abdominal limb swing mechanisms through the universal rotation device 401, the universal rotation device 401 is suitable for universal rotation, and can drive the adjacent abdominal wrist swing mechanisms 3 to perform posture adjustment, and simultaneously can sequentially transmit the output power of the driving mechanism. The universal rotating device 401 of the embodiment is suitable for angle adjustment and can ensure power transmission, so that the purpose of driving the plurality of abdomen and wrist swing mechanisms 3 to swing and advance through one driving mechanism is achieved, and the overall structure of the pipeline robot is simplified.
When the pipeline robot is assembled, the phase of the crankshaft 302 of each abdomen-wrist swing mechanism 3 is the same, then the adjacent crankshafts 302 are connected through the universal rotating device 401, and finally the crankshaft 302 at the end of the traveling direction is connected with the power output end of the driving mechanism through the universal rotating device 401. The in-phase arrangement of the multi-section crankshafts 302 ensures that the web swing rods 303 swing in phase to provide continuous power for the pipeline robot.
Further, as shown in fig. 4, the posture adjustment mechanism 4 further includes a telescopic tube 402, the telescopic tube 402 is sleeved on the outer periphery of the universal rotation device 401, one end of the telescopic tube 402 is connected to the handpiece 1 or the handpiece 301, and the other end of the telescopic tube is connected to the handpiece 301 of the adjacent abdomen and wrist swing mechanism 3, the telescopic tube 402 is suitable for telescopic and bending adjustment, and can meet the purpose of posture adjustment of the adjacent abdomen and wrist swing mechanism 3.
It should be noted that the telescopic tube 402 of the present embodiment is a telescopic bellows structure, and the material may be selected according to the use scenario, which is not specifically limited in the present embodiment.
Preferably, the universal rotation device 401 of the present embodiment is any one of a universal joint and a joint bearing, and both the universal joint and the joint bearing are suitable for universal rotation and can be used for transmitting power. The ends of the universal joint and the knuckle bearing are connected to the power take-off of the drive mechanism or the end of the crankshaft 302, respectively, by couplings.
Further, as shown in fig. 1 and 3, the tiger-spot mantis shrimp-imitating pipeline robot of the embodiment further comprises a tail swing mechanism 5, the tail swing mechanism 5 is connected with the abdomen and wrist swing mechanism 3 at the tail, the tail swing mechanism 5 connected with the abdomen and wrist swing mechanism 3 can be driven to swing by the driving mechanism to push the pipeline robot to move integrally, and the tail swing mechanism 5 can accelerate the whole movement of the pipeline robot, so that the pipeline detection efficiency is improved.
Specifically, as shown in fig. 3, the tail swing mechanism 5 is connected to a crankshaft 302 of the tail abdomen wrist swing mechanism 3, and the crankshaft 302 rotates to drive the tail swing mechanism 5 to swing.
Tail swing mechanism 5 includes connecting seat 501, drive crank 502, driven crank 503, pivot 504 and pterygoid lamina 505, connecting seat 501 is located on fuselage 301, pivot 504 both ends rotate respectively and are connected on connecting seat 501, pterygoid lamina 505 is located on pivot 504, drive crank 502 one end links to each other with bent axle 302, the other end is articulated mutually with driven crank 503's one end, driven crank 503 other end is articulated mutually with pivot 504 middle part, bent axle 302 rotates and can drive driven crank 503 circumference rotation articulated mutually with drive crank 502, and then drive pivot 504 and rotate, in order to drive pterygoid lamina 505 upper and lower flapping, pterygoid lamina 505 flapping liquid produces the thrust reversal, push pipeline robot whole accelerated movement. The tail swing mechanism 5 of the embodiment is a space crank mechanism, the crankshaft 302 drives the driving crank 502 and the driven crank 503 to do circular motion, the whole period of rotation is changed into the upper and lower flapping of the wing plate 505, the structure is simple, the driving mechanism can drive the tail swing mechanism 5 to act, a driving part is not required to be arranged independently, and the overall structure of the pipeline robot is greatly simplified.
In some embodiments, the tiger-spot-imitated mantis shrimp pipeline robot further comprises a controller 6, the controller 6 is in communication connection with the pipeline detection device 2 and the driving mechanism respectively, the controller 6 specifically comprises a control module and a storage module, the control module is used for controlling the pipeline detection device 2 and the driving mechanism to work, for example, controlling the driving mechanism to start, stop and output power, and controlling the pipeline detection device 2 to comprehensively detect the pipeline. The storage module is used for receiving the pipeline information detected by the pipeline detection device 2 and storing the pipeline information so as to facilitate subsequent reference.
Preferably, the driving mechanism is a servo motor, the controller 6 can control the starting, stopping, rotating direction and output power of the servo motor, remote control can be performed, and high control precision is achieved.
The above is the concrete structure of imitative tiger spot mantis shrimp pipeline robot of this embodiment, and actuating mechanism passes through gesture adjustment mechanism 4 and gives power transmission to abdomen wrist swing mechanism 3 and afterbody swing mechanism 5, and abdomen wrist swing mechanism 3 swings under the drive of power and gos forward, and afterbody swing mechanism 5 swings under the drive of power, pushes away pipeline robot overall movement. The embodiment transmits the single torque of the driving mechanism to each working end through a coaxial transmission mode, so that the abdomen-wrist swinging mechanism 3 and the tail swinging mechanism 5 realize the swinging with fixed period, and the power for forward or hovering of the whole pipeline robot is provided to comprehensively examine the pipeline, replace the existing manual detection mode, and have wide pipeline detection prospect.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (7)

1. The utility model provides an imitative tiger spot mantis shrimp pipeline robot for pipeline inspection, its characterized in that includes:
the device comprises a machine head (1), wherein a driving mechanism and a pipeline detection device (2) are arranged in the machine head (1);
the abdomen and wrist swinging mechanisms (3) are connected in sequence, and the adjacent abdomen and wrist swinging mechanisms (3) are connected through a posture adjusting mechanism (4);
the driving mechanism is also connected with the abdomen-wrist swinging mechanism (3) positioned at the head part through the posture adjusting mechanism (4);
the posture adjusting mechanism (4) is suitable for posture adjustment and power transmission, the driving mechanism can drive the abdomen-wrist swinging mechanism (3) connected with the posture adjusting mechanism (4) to swing and advance when working, and meanwhile, the pipeline detecting device (2) detects a pipeline;
the abdominal and wrist swing mechanism (3) at any section comprises a machine body (301), a crankshaft (302) and two abdominal limb swing rods (303);
the main shaft diameters at two ends of the crankshaft (302) are respectively and rotatably connected to the machine body (301);
the two abdominal limb swing rods (303) are arranged in parallel, the middle parts of the two abdominal limb swing rods are connected through a connecting plate (304), a long hole is formed in the connecting plate (304), and the connecting plate (304) is sleeved on the periphery of the shaft diameter of a connecting rod of the crankshaft (302) through the long hole;
one end of any one of the abdominal limb swing rods (303) is hinged to the machine body (301), and the crankshaft (302) rotates to drive the other end of the abdominal limb swing rod (303) connected with the connecting plate (304) to swing in a reciprocating manner;
the device also comprises a tail swing mechanism (5);
the tail swing mechanism (5) is connected with the crankshaft (302) of the abdomen-wrist swing mechanism (3) positioned at the tail part, and the driving mechanism can drive the tail swing mechanism (5) connected with the abdomen-wrist swing mechanism (3) to swing to push the pipeline robot to integrally move;
the tail swing mechanism (5) comprises a connecting seat (501), a driving crank (502), a driven crank (503), a rotating shaft (504) and a wing plate (505);
the connecting seat (501) is arranged on the machine body (301), two ends of the rotating shaft (504) are respectively and rotatably connected to the connecting seat (501), and the wing plate (505) is arranged on the rotating shaft (504);
one end of the driving crank (502) is connected with the crankshaft (302), the other end of the driving crank is hinged with one end of the driven crank (503), the other end of the driven crank (503) is hinged with the rotating shaft (504), and the crankshaft (302) can drive the driven crank (503) which is hinged with the driving crank (502) to rotate circumferentially so as to drive the rotating shaft (504) to rotate, so that the wing plate (505) is driven to flap up and down.
2. The tiger-spotted mantis shrimp pipeline robot as claimed in claim 1, wherein the attitude adjusting mechanism (4) comprises a universal rotation device (401), and the universal rotation device (401) is suitable for universal rotation;
the driving mechanism and the crank shafts (302) of two adjacent abdomen and wrist swinging mechanisms (3) are connected through universal rotating devices (401).
3. The tiger-spotted mantis shrimp pipe robot as claimed in claim 1, wherein the posture adjusting mechanism (4) further comprises a telescopic pipe (402), the telescopic pipe (402) is suitable for stretching and compression adjustment;
the telescopic pipe (402) is sleeved on the periphery of the universal rotating device (401), one end of the telescopic pipe is connected with the machine body (301) of the machine head (1)/one abdomen and wrist swing mechanism (3), and the other end of the telescopic pipe is connected with the machine body (301) of the adjacent abdomen and wrist swing mechanism (3).
4. The tiger-spotted mantis shrimp pipeline imitating robot according to claim 2, wherein the universal rotating device (401) is any one of a universal joint or a joint bearing.
5. The tiger-spotted mantis shrimp pipe robot as claimed in any one of claims 1 to 4, wherein the pipe detection device (2) is one or more of an image acquisition device, an ultrasonic detector, an infrared detector, a decibel meter and a pressure sensor.
6. The tiger-spotted mantis shrimp pipeline-simulated robot as claimed in claim 5, further comprising a controller (6), wherein the controller (6) is in communication connection with the detection device and the driving mechanism respectively;
the controller (6) comprises a control module and a storage module, the control module is used for controlling the driving mechanism and the detection device to work, and the storage module is used for receiving the pipeline information detected by the pipeline detection device (2) and storing the pipeline information correspondingly.
7. The simulated tiger cockroach shrimp pipeline robot as claimed in claim 6, wherein the driving mechanism is a servo motor.
CN202210249019.4A 2022-03-14 2022-03-14 Imitative tiger spot mantis shrimp pipeline robot Active CN114576463B (en)

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AT517856B1 (en) * 2016-05-20 2017-05-15 Manuel Müller Matthias robot
CN106090530B (en) * 2016-08-18 2019-07-16 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN108397638A (en) * 2018-03-12 2018-08-14 哈尔滨工业大学（威海） A kind of creeping motion type pipe robot
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CN113124296B (en) * 2021-04-25 2022-08-26 深圳市水务工程检测有限公司 CCTV pipeline inspection robot lift well auxiliary device
CN113071640B (en) * 2021-04-30 2022-04-15 白城师范学院 Underwater detection bionic robot fish and system control method thereof
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