A Reconfigurable Folding Mechanism for Operation in Pipeline Environment

Abstract

The invention discloses a reconfigurable folding and unfolding mechanism for operation in a pipeline environment, which is generally composed of front and rear metamorphic scissor mechanisms and two pairs of auxiliary scissor mechanisms on both sides. Wherein the metamorphic scissor mechanism is composed of four connecting rods, and each rod is connected to form a revolving pair. The auxiliary scissor mechanism on both sides is composed of two connecting rods, which are connected by rotating pairs. The metamorphic scissors mechanism is connected with the auxiliary scissors mechanisms on both sides through connectors, and the connection method is also a rotary pair connection. In order to better adapt to the pipeline environment, each rod of the mechanism is designed to be arc-shaped. In this way, a reconfigurable folding mechanism with two motion modes is formed, which can be bent to pass through the pipeline environment with different curvatures in its folded state; after reaching the target position, it can switch from the bending motion mode to the folding motion mode to This is suitable for pipeline environments with different inner diameters; the degree of freedom of the mechanism is the same in both motion modes, and only one drive is needed to realize the motion and switching control in the two modes.

Description

Technical field [0001] The present invention belongs to the field of mechanical technology, relates to a reconfigurable folding mechanism for operation of the pipeline environment. Background [0002] With the development of science and technology, there are many pipeline devices in various types of industrial equipment, such as oil and natural gas transmission pipelines, hydraulic oil transmission pipeline circuits of hydraulic equipment, etc. At the same time, with the development of medical technology, the pathological detection and surgical operation technology of the human cavity environment have gradually matured, 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 size at different locations of the pipeline is complex and changeable [0004] 2. The curvature of the pipeline varies greatly at different positions [0005] Due to the complex and vari...

AI Technical Summary

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 characteristics of complex and changeable inner diameter and large curvature change, the traditional mechanism with only a single motion mode is difficult to adapt to the operation requirements in this complex environment

Images