Pipeline environment operation oriented reconfigurable folding and unfolding mechanism

Abstract

The invention discloses a pipeline environment operation oriented reconfigurable folding and unfolding mechanism. The whole mechanism is composed of metamorphic shear fork mechanisms on the front side and the rear side and auxiliary shear fork mechanisms on the two side, wherein each side is provided with two pairs of auxiliary shear fork mechanisms. Each metamorphic shear fork mechanism is composed of four connecting rods, and all rods pieces are connected to form revolute pairs. The auxiliary shear fork mechanisms on the two sides are each composed of two connecting rods which are connected through a rotating pair. The metamorphic shear fork mechanisms are connected with the auxiliary shear fork mechanisms on the two sides through connecting pieces, and the connecting mode is also revolute pair connection. In order to better adapt to pipeline environments, each rod piece of the mechanism is designed to be in an arc shape. Therefore, the reconfigurable folding and unfolding mechanism with two motion modes is formed, and the reconfigurable folding and unfolding mechanism can be bent in a folded state so as to pass through pipeline environments with different curvatures; after reaching a target position, the reconfigurable folding and unfolding mechanism can be switched from the bending motion mode to the folding and unfolding motion mode so as to adapt to pipeline environments with different inner diameters; and the degree of freedom of the mechanism in the two motion modes is one, and motion and switching control in the two modes can be achieved only through one drive.

Description

technical field [0001] The invention belongs to the technical field of machinery, and relates to a reconfigurable folding and unfolding mechanism oriented to pipeline environment operation. Background technique [0002] With the development of science and technology, many pipeline devices have appeared in various industrial equipment, such as oil and natural gas transmission pipelines, hydraulic oil transmission pipeline loops of hydraulic equipment, etc. At the same time, with the development of medical technology, the pathological detection and surgical operation techniques of the environment in the human cavity are gradually mature, and the internal cavity of the human body is mostly a pipeline environment. This type of pipeline environment has the following two characteristics: [0003] 1. The inner diameter at different positions of the pipeline is complex and changeable [0004] 2. The curvature changes greatly at different positions of the pipeline [0005] Because...

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Problems solved by technology

[0003] 1. The inner diameter at different positions of the pipeline is complex and changeable

[0004] 2. The curvature changes greatly at different positions of the pipeline

[0005] Because the pipeline environment has the c

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