CN115076518B - Flexible pipeline robot - Google Patents
Flexible pipeline robot Download PDFInfo
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- CN115076518B CN115076518B CN202210790770.5A CN202210790770A CN115076518B CN 115076518 B CN115076518 B CN 115076518B CN 202210790770 A CN202210790770 A CN 202210790770A CN 115076518 B CN115076518 B CN 115076518B
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- air bag
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- support
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 238000012545 processing Methods 0.000 claims abstract description 31
- 238000009423 ventilation Methods 0.000 claims description 6
- 238000005498 polishing Methods 0.000 description 13
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010066054 Dysmorphism Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/40—Single-purpose machines or devices for grinding tubes internally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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
- F16L55/40—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
- 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
- F16L55/44—Constructional aspects of the body expandable
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a flexible pipeline robot which comprises a travelling mechanism, a universal connecting mechanism and a working mechanism, wherein the travelling mechanism is arranged at two ends of the working mechanism, the working mechanism is connected with the travelling mechanism through the universal connecting mechanism, and the travelling mechanism can be folded or unfolded; the working mechanism comprises a loading platform, a fixed support, a slewing bearing, a functional platform and a telescopic self-adaptive air bag mechanism, wherein the fixed support is arranged at two ends of the loading platform, a driving motor II is arranged on one side of the fixed support, the self-adaptive air bag mechanism is arranged on the other side of the fixed support, a gear II is arranged at the output end of the driving motor II and meshed with the slewing bearing, the slewing bearing is connected with the loading platform and drives the loading platform to rotate around the axis of the slewing bearing, a containing groove is formed in the side wall of the loading platform, the functional platform is slidably arranged in the containing groove, and processing equipment for processing the inner wall of a pipeline is arranged on the functional platform. The invention can meet the processing requirements of different pipe diameters and lengths and improve the working efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible pipeline robot.
Background
In general industry, nuclear facilities, petroleum and natural gas, military equipment, and other fields, pipelines are widely used as an effective material conveying means. In order to increase the life of the pipeline and prevent accidents such as leakage, effective detection and maintenance of the pipeline are required. When the diameter of the pipeline is large, personnel can enter the pipeline to carry out detection maintenance, when the inner diameter of the pipeline is small, for example, the inner diameter is 200-450 mm, the personnel cannot enter the pipeline, and the inner wall of the pipeline is difficult to polish, weld and other operations. The extension polishing rod can only be used for a pipeline with smaller length, cannot be suitable for a longer pipeline, is low in treatment efficiency, needs to be operated by a hand-held polishing rod, is high in labor intensity, cannot be accurately operated by the extension polishing rod, influences the polishing, welding and cleaning precision in the pipeline, and when the pipeline is bent, the elbow is subjected to treatment dead angles, and the normal use of the pipeline is influenced.
Disclosure of Invention
The invention provides a flexible pipeline robot aiming at the prior technical problems.
The technical scheme for solving the technical problems is as follows: the flexible pipeline robot comprises a travelling mechanism, a universal connection mechanism and a working mechanism, wherein the travelling mechanism is arranged at two ends of the working mechanism, the working mechanism is connected with the travelling mechanism through the universal connection mechanism, and the travelling mechanism can be folded or unfolded;
The working mechanism comprises a loading platform, a fixed support, a slewing bearing, a functional platform and a telescopic self-adaptive air bag mechanism, wherein the fixed support is arranged at two ends of the loading platform, a driving motor II is arranged on one side of the fixed support, the self-adaptive air bag mechanism is arranged on the other side of the fixed support, a gear II is arranged at the output end of the driving motor II, the gear II is meshed with the slewing bearing, the slewing bearing is connected with the loading platform and drives the loading platform to rotate around the axis of the loading platform, a containing groove is formed in the side wall of the loading platform, the functional platform is slidably mounted in the containing groove, and processing equipment for processing the inner wall of a pipeline is arranged on the functional platform.
On the basis of the technical scheme, the invention can also make the following improvements for the technical scheme in order to achieve the convenience of use and the stability of equipment:
further, the loading platform further comprises a third driving motor, the third driving motor is installed in the loading platform, a third gear is arranged at the output end of the third driving motor, a rack is arranged at the lower end of the functional platform, and the third gear is meshed with the rack.
Further, the multifunctional machine comprises arc teeth and a rotating body, the functional platform is an L-shaped supporting plate, the L-shaped supporting plate comprises a main plate and a flanging plate which are connected, the processing equipment is installed on the main plate through the rotating body, the arc teeth are arranged on the flanging plate, gears meshed with the arc teeth are arranged on the processing equipment, and the radian of the arc teeth is 30-60 degrees.
Further, universal coupling mechanism includes quick change joint and is located the universal joint at quick change joint both ends, universal coupling mechanism's one end pass through connecting axle one with running gear is connected, the other end pass through connecting axle two with fixed bolster is connected.
Further, self-adaptation gasbag mechanism includes cam disc, driving motor one and a plurality of gasbag subassembly, driving motor one installs on the fixed bolster, driving motor one's output is connected with gear one, gear one with gear engagement on the cam disc outer circumference, the cam disc rotates and installs on the connecting axle two, be equipped with a plurality of arc grooves on the terminal surface of cam disc, the arc groove is followed the radial extension of cam disc, a plurality of the gasbag subassembly is located between the fixed bolster with the cam disc is followed the even setting in cam disc circumference, the gasbag subassembly includes the gasbag support and installs self-adaptation gasbag on the gasbag support, still be equipped with the guide post on the gasbag support, the guide post cartridge is in the arc groove.
Further, the gasbag support includes bracing piece and arc recess, the guide post is installed on the bracing piece, the arc recess sets up the tip of bracing piece, the self-adaptation gasbag is installed in the arc recess, be equipped with the guide protrusion on the bracing piece, be equipped with the guide way on the fixed bolster, the guide protrusion cartridge is in the guide way.
Further, running gear includes fixed plate, screw shaft, drive arrangement and three group circumference evenly set up's walking subassembly, connecting axle one pass the fixed plate with screw shaft connects, drive arrangement drive connecting axle one with screw shaft rotates, walking subassembly includes motor wheel one, sliding sleeve, fixed cover one, connecting rod three and push rod, the sliding sleeve is installed on the screw shaft and can follow screw shaft removes, fixed cover one is installed on the connecting axle one, connecting rod three one end with fixed cover one articulates, the other end with motor wheel one articulates, the one end of push rod with the sliding sleeve articulates, the other end with the middle part of connecting rod three articulates.
Further, the driving device comprises a driving motor IV and a bevel gear I, the driving motor IV is installed on the fixing plate, a bevel gear II is arranged at the output end of the driving motor IV, the bevel gear I is installed on the connecting shaft I, and the bevel gear II is meshed with the bevel gear I.
Further, the walking assembly further comprises a motor wheel II, a connecting rod I, a connecting rod II and a fixing sleeve II, one end of the connecting rod I is hinged to the motor wheel I, the other end of the connecting rod I is hinged to the motor wheel II, one end of the connecting rod II is hinged to the motor wheel II, the other end of the connecting rod II is hinged to the fixing sleeve II, the fixing sleeve II is installed on the fixing plate, and the fixing sleeve II is connected with the fixing sleeve I through a connecting support.
Further, the fixed plate is triangular, three vertex angles of the triangle are arc angles, and the fixed plate is provided with a ventilation fan.
The beneficial effects of the invention are as follows: according to the invention, the rotatable loading platform is arranged, so that the loading platform can perform 360-degree circular motion in the pipeline, the processing equipment can process a certain position in the pipeline by 360 degrees, the rotation deployment time is shortened, and the working efficiency is improved; the pipeline robot has the advantages that the pipeline robot can realize multiple functions by arranging the processing equipment on the functional platform to perform operations such as polishing, welding, cleaning and detecting, so that the cost of a user is reduced, the convenience of operation is improved, and the labor intensity is reduced; the functional platform is slidably arranged in the accommodating groove, so that the processing equipment on the functional platform can be moved to a designated position, and the processing requirements of different pipelines are met; the running mechanism is arranged to realize moving to the specified position of the pipeline, so that the use requirements of pipelines with different lengths are met, the use requirements of pipelines with different inner diameters are realized through folding or unfolding of the running mechanism, and the use range of the pipeline robot is enlarged; through setting up universal coupling mechanism, realize the rotation of running gear arbitrary angle, make this robot can walk in return bend or other dysmorphism pipelines, guarantee to carry out effective treatment to the corner, avoid appearing the dead angle, improve the treatment precision of pipeline, guarantee the pipeline normal use.
Drawings
FIG. 1 is a schematic view of a flexible pipe robot according to the present invention;
FIG. 2 is a schematic view of the working mechanism of the present invention;
FIG. 3 is a schematic view of the working mechanism of the present invention at another angle with the fixed bracket removed;
FIG. 4 is a schematic view of a loading platform according to the present invention;
FIG. 5 is a schematic diagram of a functional platform of the present invention;
fig. 6 is a schematic view of the running gear of the present invention.
The reference numerals are recorded as follows: 1. a walking mechanism; 1-1, a motor wheel I; 1-2, a motor wheel II; 1-3, fixing plate; 1-4, a first connecting shaft; 1-5, a ventilation fan; 1-6, a screw shaft; 1-7, sliding sleeve; 1-8, driving a motor IV; 1-9, bevel gears I; 1-10, a first fixing sleeve; 1-11, a fixed sleeve II; 1-12, a first connecting rod; 1-13, a second connecting rod; 1-14, connecting rod III; 1-15, connecting a bracket; 1-16, push rod;
2. A universal connection mechanism; 2-1, universal shaft joint; 2-2, quick-change joints;
3. A working mechanism; 3-1, fixing a bracket; 3-2, loading a platform; 3-3, an adaptive air bag; 3-4, an air bag bracket; 3-5, cam disc; 3-6, connecting shaft II; 3-7, processing equipment; 3-8, a functional platform; 3-9, a guide post; 3-10, driving a motor I; 3-11, a driving motor II; 3-12, a slewing bearing; 3-13, driving a motor III; 3-14, a rack; 3-15, arc teeth; 3-16, a rotor.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1 to 6, the invention discloses a flexible pipeline robot, which comprises a travelling mechanism 1, a universal connection mechanism 2 and a working mechanism 3, wherein the travelling mechanism 1 is arranged at two ends of the working mechanism 3, the working mechanism 3 is connected with the travelling mechanism 1 through the universal connection mechanism 2, and the travelling mechanism 1 can be folded or unfolded;
The working mechanism 3 comprises a loading platform 3-2, a fixed support 3-1, a slewing bearing 3-12, a functional platform 3-8 and a telescopic self-adaptive air bag mechanism, wherein the fixed support 3-1 is arranged at two ends of the loading platform 3-2, a driving motor II 3-11 is arranged on one side of the fixed support 3-1, the self-adaptive air bag mechanism is arranged on the other side of the fixed support, a gear II is arranged at the output end of the driving motor II 3-11, the gear II is meshed with the slewing bearing 3-12, the slewing bearing 3-12 is connected with the loading platform 3-2 and drives the loading platform 3-2 to rotate around the axis of the slewing bearing, a containing groove is formed in the side wall of the loading platform 3-2, the functional platform 3-8 is slidably arranged in the containing groove, and a processing device 3-7 for processing the inner wall of a pipeline is arranged on the functional platform 3-8.
The processing equipment 3-7 can be a grinding machine, a visual camera, a nondestructive testing PT spraying module or a welding machine, and the like, so that different processing requirements of pipelines are met, the utilization rate of the robot is improved, and the user cost is reduced.
The two slewing bearings 3-12 and the two driving motors 3-11 are respectively arranged, the two slewing bearings 3-12 are arranged on two sides of the loading platform 3-2, and each driving motor 2-3 corresponds to one slewing bearing 3-12, so that the rotation stability of the loading platform 3-2 is ensured, and the inclination is avoided.
The flexible pipeline robot further comprises a driving motor III 3-13, the driving motor III 3-13 is installed in the loading platform 3-2, a gear III is arranged at the output end of the driving motor III 3-13, a rack 3-14 is arranged at the lower end of the functional platform 3-8, and the gear III is meshed with the rack 3-14. The lower end of the accommodating groove is provided with a groove for accommodating the rack 3-14, when the driving motor three 3-13 drives the gear three to rotate, the rack 3-14 moves along the groove, so that the functional platform 3-8 is driven to move and the processing equipment 3-7, and the functional platform 3-8 and the processing equipment 3-7 are driven to reciprocate by controlling the forward rotation or the reverse rotation of the gear three, so that different positions in a pipeline are processed, and various processing requirements of the pipeline are met.
Further, the lower end of the functional platform 3-8 is provided with a guide pin, the loading platform 3-2 is provided with a guide long hole, the guide long hole is arranged along the radial direction of the loading platform 3-2, the guide pin is inserted into the guide long hole and moves reciprocally along the guide long hole, so that the moving stability of the processing equipment 3-7 is improved, shaking is avoided, and the processing precision of a pipeline is ensured.
The flexible pipeline robot further comprises arc teeth 3-15 and a rotating body 3-16, the functional platform 3-8 is an L-shaped supporting plate, the L-shaped supporting plate comprises a main plate and a flanging plate which are connected, the processing equipment 3-7 is installed on the main plate through the rotating body 3-16, the arc teeth 3-15 are arranged on the flanging plate, gears meshed with the arc teeth 3-15 are arranged on the processing equipment 3-7, and the radian of the arc teeth 3-15 is 30-60 degrees. When the pipeline is polished, the processing equipment 3-7 is a polishing machine, the polishing machine is required to swing reciprocally in order to ensure polishing effect, a motor connected with a gear is arranged on the polishing machine, and the motor drives the gear to move along the arc-shaped teeth 3-15 when in operation, so that the polishing machine swings through the rotating body 3-16. For example, when the arc of the arcuate teeth 3-15 is 60, the sander may achieve a horizontal + -30 swing.
Specifically, the rotating body 3-16 includes an upper end face, a lower end face and a plurality of rolling bodies located between the two end faces, the upper end face is connected with the processing equipment 3-7, and the lower end face is mounted on the main board of the L-shaped supporting plate. The rotating body 3-16 can reduce the resistance to the rotation of the processing apparatus 3-7 and improve the flexibility of the rotation of the processing apparatus 3-7.
The universal connection mechanism 2 comprises a quick-change joint 2-2 and universal shaft joints 2-1 positioned at two ends of the quick-change joint 2-2, one end of the universal connection mechanism 2 is connected with the travelling mechanism 1 through a first connecting shaft 1-4, the other end of the universal connection mechanism is connected with the fixed support 3-1 through a second connecting shaft 3-6, and the second connecting shaft 3-6 is rotatably installed in the fixed support 3-1 through a bearing. The quick-change connector 2-2 is quickly installed or detached in a buckling mode.
The quick-change joint 2-2 comprises a nut and a bolt, one end of the quick-change joint 2-2 is connected with the universal shaft joint 2-1 through the bolt of the quick-change joint, the other side of the quick-change joint is connected with the nut of the quick-change joint through an external bolt, and the external bolt is connected with the universal shaft joint 2-1 and fixed through a pin. The middle of the quick-change connector 2-2 is a circular sphere, and the rear part of the circular sphere is provided with a spring, so that the quick-change connector 2-2 is prevented from being separated under the condition of a certain stress range, and the connection firmness is ensured.
The self-adaptive air bag mechanism comprises a cam plate 3-5, a driving motor 3-10 and a plurality of air bag components, wherein the driving motor 3-10 is installed on the fixed support 3-1, the output end of the driving motor 3-10 is connected with a gear I, the gear I is meshed with a gear on the outer circumference of the cam plate 3-5, the cam plate 3-5 is rotatably installed on the connecting shaft 2-6, a plurality of arc grooves are formed in the end face of the cam plate 3-5, the arc grooves extend along the radial direction of the cam plate 3-5, the air bag components are located between the fixed support 3-1 and the cam plate 3-5 and are uniformly arranged along the circumferential direction of the cam plate 3-5, the air bag components comprise an air bag support 3-4 and a self-adaptive air bag 3-3 installed on the air bag support 3-4, a guide post 3-9 is further arranged on the air bag support 3-4, and the guide post 3-9 is inserted into the arc grooves.
Specifically, one end of the arc-shaped groove is close to the center of the cam plate 3-5, and the other end is close to the outer edge of the cam plate 3-5. When the cam plate 3-5 rotates, the guide column 3-9 moves along the arc-shaped groove, so that the air bag support 3-4 and the self-adaptive air bag 3-3 are driven to move along the radial direction, the air bag is utilized to inflate after the air bag support moves in place, the purpose of adapting to the pipe diameter and the pipe shape is achieved, meanwhile, friction force is provided to ensure that the robot is stably fixed in the pipe wall, and the stability of the treatment equipment 3-7 during operation is ensured.
The air bag support 3-4 comprises a support rod and an arc groove, the guide post 3-9 is installed on the support rod, the arc groove is formed in the end portion of the support rod, the self-adaptive air bag 3-3 is installed in the arc groove, a guide protrusion is arranged on the support rod, a guide groove is formed in the fixing support 3-1, the guide groove is I-shaped, the guide groove is formed in the radial direction of the fixing support 3-1, the guide protrusion is inserted into the guide groove, the air bag support 3-4 is guided and installed, when the cam disc 3-5 rotates, the arc groove on the cam disc 3-5 drives the air bag support 3-4 to move along the guide groove on the fixing support 3-1, and the guide groove is matched with the guide protrusion to ensure the moving stability of the air bag support 3-4 and the self-adaptive air bag 3-3.
Specifically, in this embodiment, four air bag holders 3-4 are provided, and four arc-shaped grooves are provided.
The walking mechanism 1 comprises a fixed plate 1-3, a screw shaft 1-6, a driving device and three groups of walking components which are circumferentially and uniformly arranged, wherein the first connecting shaft 1-4 penetrates through the fixed plate 1-3 and is connected with the screw shaft 1-6, the driving device drives the first connecting shaft 1-4 and the screw shaft 1-6 to rotate, the walking components comprise a first motor wheel 1-1, a sliding sleeve 1-7, a first fixed sleeve 1-10, a third connecting rod 1-14 and a push rod 1-16, the first motor wheel 1-1 provides power for the forward and backward movements of a robot, the sliding sleeve 1-7 is installed on the screw shaft 1-6 and can move along the screw shaft 1-6, the first fixed sleeve 1-10 is installed on the first connecting shaft 1-4, one end of the third connecting rod 1-14 is hinged with the first fixed sleeve 1-10, the other end of the third connecting rod is hinged with the first motor wheel 1-1, one end of the push rod 1-16 is hinged with the sliding sleeve 1-7, and the other end of the third connecting rod 1-14 is hinged with the middle part of the third connecting rod 1-14.
The connecting shaft 1-4 can rotate in the fixing sleeve 1-10, so that the screw shaft 1-6 is driven to rotate. The fixing sleeve 1-10 can be connected with the fixing plate 1-3 through the connecting bracket 1-15, so that the installation stability of the fixing sleeve 1-10 is ensured.
The driving device comprises a driving motor IV 1-8 and a bevel gear I1-9, wherein the driving motor IV 1-8 is arranged on the fixed plate 1-3, the output end of the driving motor IV 1-8 is provided with a bevel gear II, the bevel gear I1-9 is arranged on the connecting shaft I1-4, and the bevel gear II is meshed with the bevel gear I1-9.
The sliding sleeve 1-7 is internally provided with internal threads matched with the screw shaft 1-6, and when the driving device drives the screw shaft 1-6 to rotate, the sliding sleeve 1-7 moves along the screw shaft 1-6, so that the motor wheel is folded or unfolded through the matching of the connecting rod three 1-14 and the push rod 1-16.
The fixing plate 1-3 is triangular, three vertex angles of the triangle are arc angles, and the fixing plate 1-3 is provided with the ventilation fan 1-5. By arranging the fixing plates 1-3 into a triangle with arc angles, the operation condition of the robot in the pipeline can be conveniently observed by operators. Meanwhile, if the robot needs a line control mode, the triangular structure can reserve the position of a pipeline or the line, and the reserved position can be provided with the ventilation fans 1-5. Meanwhile, the motor wheel is ensured to contact the inner wall of the pipeline when the pipeline is put into the pipeline, and the damage to the inner wall of the pipeline caused by friction between the fixing plate 1-3 and the inner wall of the pipeline is avoided.
The walking assembly further comprises a motor wheel II 1-2, a connecting rod I1-12, a connecting rod II 1-13 and a fixing sleeve II 1-11, one end of the connecting rod I1-12 is hinged with the motor wheel I1-1, the other end of the connecting rod I1-12 is hinged with the motor wheel II 1-2, one end of the connecting rod II 1-13 is hinged with the motor wheel II 1-2, the other end of the connecting rod II is hinged with the fixing sleeve II 1-11, the fixing sleeve II 1-11 is installed on the fixing plate 1-3, and the fixing sleeve II 1-11 is connected with the fixing sleeve I1-10 through a connecting bracket 1-15. Each group of walking components comprises two motor wheels, and the balance and stability of the robot during walking can be ensured by arranging the two motor wheels into one group.
Taking the processing equipment 3-7 as a grinding machine for example, the working process of the flexible pipeline robot is described as follows:
(1) The flexible pipeline robot is placed in a pipeline, the driving motor IV 1-8 drives the screw shaft 1-6 to rotate, so that the walking assembly is opened, the screw shaft 1-6 stops rotating after the motor wheel I1-1 and the motor wheel II 1-2 support the inner wall of the pipeline, and the motor wheel I1-1 and the motor wheel II 1-2 start rotating until moving to a specified position.
(2) After reaching the specified position, the self-adaptive air bag 3-3 is inflated according to the preset air pressure, and then the driving motor 3-10 drives the cam disc 3-5 to rotate, so that the air bag support 3-4 and the self-adaptive air bag 3-3 are driven to radially move, the self-adaptive air bag 3-3 is tightly attached to the inner wall of the pipeline, and the robot is ensured to be stably fixed in the pipe wall.
(3) The driving motor III 3-13 drives the functional platform 3-8 and the grinding machine on the functional platform 3-8 to stretch out, the grinding machine is started to perform point-to-point treatment on a position to be ground or processed, the gear reciprocates along the arc-shaped teeth 3-15 through forward and reverse rotation of the motor of the grinding machine, the loading platform 3-2 is driven to rotate around the axis through cooperation of the driving motor II 3-11 and the slewing bearing 3-12, so that the grinding machine is driven to rotate, multi-angle treatment on the position to be processed is realized, and the grinding effect is ensured.
(4) After the sander is started, the ventilation fan 1-5 is started, dust generated by sanding is timely output, and heat generated by sanding is discharged.
(5) And after finishing polishing, the driving motor III 3-13 drives the functional platform 3-8 and the polishing machine to reversely move and retract, meanwhile, the self-adaptive air bag 3-3 deflates, the driving motor I3-10 drives the cam disc 3-5 to reversely rotate, and the air bag bracket 3-4 is driven to retract.
(6) And when the movement reaches a designated position, the driving motor IV 1-8 drives the screw shaft 1-6 to reversely rotate, the walking assembly is folded and separated from the inner wall of the pipeline, and the flexible pipeline robot is taken out.
Further, can install the camera of visualing on functional platform 3-8, make things convenient for operating personnel to know polishing position and precision, guarantee the treatment effect to the pipeline.
When the processing device 3-7 is another machine, corresponding adjustment can be performed according to the above, and will not be described herein.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The flexible pipeline robot comprises a travelling mechanism (1), a universal connection mechanism (2) and a working mechanism (3), and is characterized in that the travelling mechanism (1) is arranged at two ends of the working mechanism (3), the working mechanism (3) is connected with the travelling mechanism (1) through the universal connection mechanism (2), and the travelling mechanism (1) can be folded or unfolded;
The working mechanism (3) comprises a loading platform (3-2), a fixed support (3-1), a slewing bearing (3-12), a functional platform (3-8) and a telescopic self-adaptive air bag mechanism, wherein the fixed support (3-1) is arranged at two ends of the loading platform (3-2), a driving motor II (3-11) is arranged at one side of the fixed support (3-1), the self-adaptive air bag mechanism is arranged at the other side of the fixed support, a gear II is arranged at the output end of the driving motor II (3-11), the gear II is meshed with the slewing bearing (3-12), the slewing bearing (3-12) is connected with the loading platform (3-2) and drives the loading platform (3-2) to rotate around the axis of the loading platform, a containing groove is formed in the side wall of the loading platform (3-2), and a processing device (3-7) for processing the inner wall of a pipeline is arranged on the functional platform (3-8) in a sliding mode;
the universal connecting mechanism (2) comprises a quick-change connector (2-2) and universal shaft joints (2-1) positioned at two ends of the quick-change connector (2-2), one end of the universal connecting mechanism (2) is connected with the travelling mechanism (1) through a first connecting shaft (1-4), and the other end of the universal connecting mechanism is connected with the fixed support (3-1) through a second connecting shaft (3-6);
the self-adaptive air bag mechanism comprises a cam plate (3-5), a driving motor I (3-10) and a plurality of air bag components, wherein the driving motor I (3-10) is installed on a fixed support (3-1), the output end of the driving motor I (3-10) is connected with a gear I, the gear I is meshed with a gear on the outer circumference of the cam plate (3-5), the cam plate (3-5) is rotatably installed on a connecting shaft II (3-6), a plurality of arc grooves are formed in the end face of the cam plate (3-5), the arc grooves extend along the radial direction of the cam plate (3-5), the air bag components are located between the fixed support (3-1) and the cam plate (3-5) and are uniformly arranged along the circumferential direction of the cam plate (3-5), the air bag components comprise an air bag support (3-4) and a self-adaptive air bag (3-3) installed on the air bag support (3-4), and the air bag support (3-4) is further provided with guide posts (3-9) inserted into the arc grooves.
2. The flexible pipe robot according to claim 1, further comprising a driving motor three (3-13), wherein the driving motor three (3-13) is installed in the loading platform (3-2), an output end of the driving motor three (3-13) is provided with a gear three, a lower end of the functional platform (3-8) is provided with a rack (3-14), and the gear three is meshed with the rack (3-14).
3. Flexible pipe robot according to claim 1 or 2, further comprising arc-shaped teeth (3-15) and a rotor (3-16), said functional platform (3-8) being an L-shaped support plate comprising a main plate and a flanging plate connected, said handling device (3-7) being mounted on said main plate by said rotor (3-16), said arc-shaped teeth (3-15) being provided on said flanging plate, said handling device (3-7) being provided with a gear meshing with said arc-shaped teeth (3-15), the arc of said arc-shaped teeth (3-15) being 30 ° -60 °.
4. The flexible pipeline robot according to claim 1, characterized in that the air bag support (3-4) comprises a support rod and an arc-shaped groove, the guide post (3-9) is installed on the support rod, the arc-shaped groove is arranged at the end part of the support rod, the self-adaptive air bag (3-3) is installed in the arc-shaped groove, a guide protrusion is arranged on the support rod, a guide groove is arranged on the fixed support (3-1), and the guide protrusion is inserted in the guide groove.
5. The flexible pipe robot according to claim 1, wherein the traveling mechanism (1) comprises a fixed plate (1-3), a screw shaft (1-6), a driving device and three groups of traveling components which are circumferentially and uniformly arranged, the first connecting shaft (1-4) penetrates through the fixed plate (1-3) and is connected with the screw shaft (1-6), the driving device drives the first connecting shaft (1-4) and the screw shaft (1-6) to rotate, the traveling components comprise a first motor wheel (1-1), a sliding sleeve (1-7), a first fixed sleeve (1-10), a third connecting rod (1-14) and a push rod (1-16), the sliding sleeve (1-7) is installed on the screw shaft (1-6) and can move along the screw shaft (1-6), the first fixed sleeve (1-10) is installed on the first connecting shaft (1-4), one end of the third connecting rod (1-14) is hinged with the first motor of the fixed sleeve (1-10), the other end of the third connecting rod (1-14) is hinged with the first connecting rod (1-14), and the other end of the third connecting rod (1-14) is hinged with the middle part (1-14).
6. The flexible pipe robot as claimed in claim 5, wherein the driving means comprises a driving motor four (1-8) and a bevel gear one (1-9), the driving motor four (1-8) is mounted on the fixing plate (1-3), an output end of the driving motor four (1-8) is provided with a bevel gear two, the bevel gear one (1-9) is mounted on the connecting shaft one (1-4), and the bevel gear two is meshed with the bevel gear one (1-9).
7. The flexible pipe robot as claimed in claim 5 or 6, wherein the walking assembly further comprises a motor wheel two (1-2), a connecting rod one (1-12), a connecting rod two (1-13) and a fixing sleeve two (1-11), one end of the connecting rod one (1-12) is hinged with the motor wheel one (1-1), the other end of the connecting rod two (1-13) is hinged with the motor wheel two (1-2), the other end of the connecting rod two (1-13) is hinged with the fixing sleeve two (1-11), the fixing sleeve two (1-11) is mounted on the fixing plate (1-3), and the fixing sleeve two (1-11) is connected with the fixing sleeve one (1-10) through a connecting bracket (1-15).
8. The flexible pipe robot as claimed in claim 5, wherein the fixing plate (1-3) is triangular, three vertex angles of the triangle are arc angles, and the fixing plate (1-3) is provided with a ventilation fan (1-5).
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| CN116398744B (en) * | 2023-05-04 | 2023-11-17 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
| CN116297816B (en) * | 2023-05-17 | 2023-08-01 | 北京蒂川国际能源服务有限公司 | Mini magnetic leakage inner detector |
| CN117140311B (en) * | 2023-09-21 | 2024-01-19 | 山东骄杨环保科技有限公司 | Automatic desulfurization and denitrification pipeline treatment equipment |
| CN117386931B (en) * | 2023-12-11 | 2024-02-13 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
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|---|---|---|---|---|
| JPH07100744A (en) * | 1993-09-30 | 1995-04-18 | Kubota Corp | Internal sliding device for pipe inner surface |
| JP6244049B1 (en) * | 2017-03-07 | 2017-12-06 | 株式会社松田製作所 | Pipe inner surface polishing equipment |
| CN111390667A (en) * | 2020-03-24 | 2020-07-10 | 四川升腾元创机电技术研究有限公司 | Pipeline cleaning device |
| CN111390673A (en) * | 2020-03-02 | 2020-07-10 | 江西理工大学 | Integrated adjustable polishing mechanism |
-
2022
- 2022-07-05 CN CN202210790770.5A patent/CN115076518B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07100744A (en) * | 1993-09-30 | 1995-04-18 | Kubota Corp | Internal sliding device for pipe inner surface |
| JP6244049B1 (en) * | 2017-03-07 | 2017-12-06 | 株式会社松田製作所 | Pipe inner surface polishing equipment |
| CN111390673A (en) * | 2020-03-02 | 2020-07-10 | 江西理工大学 | Integrated adjustable polishing mechanism |
| CN111390667A (en) * | 2020-03-24 | 2020-07-10 | 四川升腾元创机电技术研究有限公司 | Pipeline cleaning device |
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