Multistage accurate walking device of underwater pipeline robot and application method
A technology of walking device and underwater pipeline, applied in the field of robots, can solve the problem of single walking length, etc., and achieve the effect of simple control and easy operation
Inactive Publication Date: 2019-11-26
DALIAN UNIV OF TECH
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Problems solved by technology
[0004] Aiming at the problem of a single walking step of the robot in the prior art, the present invention proposes a multi-stage precise walking device for an underwater pipeline robot. The present invention designs a double-cylinder drive, has four walking steps to choose from, and has a simpler structure , with higher stability underwater, making up for the shortcomings of underwater pipeline robots in the prior art
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[0052] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0053] Such as figure 1 , figure 2 , image 3 and Figure 4 A multi-stage precision walking device of an underwater pipeline robot is shown, and the walking device includes a motion unit A and a motion unit B.
[0054] The motion unit A includes fixing screw A1, end cover 2, three-axis three-rod cylinder A3, three-axis three-rod cylinder B4, shell A5, thin cylinder A7, sealing ring 8, transparent cover 9, fixing bolt 10, cylinder shaft A11 , Connecting stud 12, fixing screw B18, fixing screw C19 and rib 20. The three-axis three-rod cylinder A3 and the three-axis three-rod cylinder B4 have the same structure, and are installed on the rib plate 20 through the fixing screw B18, and the actuating directions of the two cylinders are opposite; The end face of the cover 2; the shell A5 is a thin-walled cylindrical structure, and one end has tw...
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The invention discloses a multistage accurate walking device of an underwater pipeline robot and an application method, and belongs to the technical field of robots. The walking device comprises a moving unit A, a moving unit B, a connecting stud and supporting guide rods, wherein the moving unit A and the moving unit B are the same in structure and different in function, the moving unit A and themoving unit B are oppositely installed, an air cylinder shaft A of a thin air cylinder A and an air cylinder shaft B of a thin air cylinder B are connected through the connecting stud, the four supporting guide rods are symmetrically arranged between the moving unit A and the moving unit B and are used for preventing the moving unit A and the moving unit B from rotating relatively, and the walking device has four walking step sizes for selection. The device can achieve accurate and multistage displacement control of the underwater pipeline robot, and has the advantages of being stable and reliable, simple to control and easy to operate in the working process, and health monitoring of a submarine pipeline is completed through inspection equipment installed on any one end cover.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-stage precise walking device and a using method of an underwater pipeline robot. Background technique [0002] With the development of my country's marine industry, the use of marine pipelines is also increasing, followed by problems such as pipeline aging, which seriously affects the safety of marine facilities. Manual inspection consumes a lot of resources, is expensive, and has certain risks. Therefore, it is necessary to develop underwater pipeline robots for monitoring. [0003] There are two main types of walking devices for existing underwater pipeline robots: one is the electronically controlled walking device driven by a motor, and the electrical components of this kind of underwater pipeline robot have higher requirements for structural tightness; the other is the use of cylinders. The structure of the pneumatically controlled walking device, but bec...
Claims
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Login to View More IPC IPC(8): F16L55/32F16L55/38F16L55/40F16L101/30
CPCF16L55/32F16L55/38F16L55/40F16L2101/30
Inventor 桑勇孙鹏赵健龙段富海
Owner DALIAN UNIV OF TECH