Joint type robot for climbing pipes outside pipes

Abstract

The utility model relates to the technical field of pipe climbing robots, in particular to a joint type outside-pipe pipe climbing robot which is used for climbing along the outer wall of a pipeline and comprises a first joint arm, a second joint arm, a telescopic cylinder and an arc-shaped sliding rail. The first joint arm and the second joint arm are both in a U shape and can rotate around the symmetrical center lines of the first joint arm and the second joint arm. The telescopic direction of the telescopic cylinder is parallel to the axial direction of the pipeline; the telescopic cylinder is provided with a first end and a second end in the telescopic direction of the telescopic cylinder, and the first joint arm is connected to the first end of the telescopic cylinder through an arc-shaped sliding rail. According to the pipeline clamping device, the U-shaped first joint arm and the U-shaped second joint arm are arranged, the first joint arm and the second joint arm can rotate around the symmetrical center lines of the first joint arm and the second joint arm, and therefore pipelines with different diameters can be clamped through the first joint arm and the second joint arm; the pipeline climbing robot is simple in overall structure and low in manufacturing and using cost.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe-climbing robots, in particular to an articulated pipe-outside-pipe-climbing robot. Background Art

[0002] The pipe climbing robot is a special robot, mainly used for various operations outside the pipeline. It can automatically walk along the outside of the horizontally or vertically set pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. It is an integrated system of machinery, electricity and instrumentation.

[0003] Normally, the outside pipe climbing robot will cooperate with the welding mechanism to complete the welding work outside the pipe.

[0004] However, the overall structure of the current outside-pipe climbing robot is too complicated, resulting in high overall manufacturing costs of the outside-pipe climbing robot, which in turn makes the cost high for users when using it. Utility Model Content

[0005] The utility model aims to provide an articulated outer-pipe climbing robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An articulated outer-pipe climbing robot, used for crawling along the outer wall of a pipeline, comprises a first articulated arm, a second articulated arm, a telescopic cylinder and an arc-shaped slide rail;

[0008] The first joint arm and the second joint arm are both U-shaped and can rotate around their own symmetry center lines;

[0009] The telescopic direction of the telescopic cylinder is parallel to the axial direction of the pipeline;

[0010] The telescopic cylinder has a first end and a second end in its telescopic direction, the first articulated arm is connected to the first end of the telescopic cylinder through the arc-shaped slide rail, and the second articulated arm is fixedly connected to the second end of the telescopic cylinder;

[0011] The arc-shaped slide rail is coaxially arranged with the pipeline;

[0012] The first articulated arm is slidably connected to the arc-shaped slide rail, and during installation, the angle between the first articulated arm and the second articulated arm is adjusted by changing the position of the first articulated arm on the arc-shaped slide rail.

[0013] Preferably, the first articulated arm and the second articulated arm each include a driving motor, a connecting arm and two clamping arms;

[0014] The two clamping arms are respectively fixed at two ends of the connecting arm;

[0015] The output shaft of the driving motor is fixedly connected to the connecting arm.

[0016] Preferably, an outer sleeve is sleeved and fixed to the outer side of the clamp arm.

[0017] Preferably, an arc-shaped groove is provided on the outer peripheral surface of the outer sleeve.

[0018] Preferably, an arc-shaped channel is provided at the bottom of the arc-shaped slide rail, and the arc-shaped channel is arranged concentrically with the arc-shaped slide rail;

[0019] A stud is arranged through the arc-shaped channel, one end of the stud is fixedly connected to the driving motor on the first joint arm, and the other end of the stud extends out of the arc-shaped channel and is threadedly connected with a nut.

[0020] Preferably, the first articulated arm and the second articulated arm further include a motor frame;

[0021] The two driving motors are respectively fixed on the two motor frames;

[0022] One end of the stud is fixedly connected to the motor frame on the first joint arm.

[0023] Preferably, a flexible welding mechanism is provided on one side of the telescopic cylinder.

[0024] Compared with the prior art, the beneficial effects of the utility model are:

[0025] The utility model sets a U-shaped first joint arm and a second joint arm, and enables the first joint arm and the second joint arm to rotate around their own symmetry center line, so that the first joint arm and the second joint arm can be used to clamp horizontally or vertically arranged pipes of different diameters, and at the same time, with the telescopic cylinder, the robot can crawl on the pipe. The overall structure is simple and the manufacturing and use costs are low. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 2 This is a structural schematic diagram of the pipe-climbing robot of the utility model;

[0028] Figure 3 It is a structural schematic diagram of the arc-shaped slide rail of the utility model.

[0029] In the figure: 1. first articulated arm; 11. driving motor; 12. motor frame; 13. connecting arm; 14. clamping arm; 15. outer kit; 16. arc groove; 2. second articulated arm; 3. telescopic cylinder; 4. arc slide rail; 41. arc channel; 42. stud; 43. nut; 5. pipeline; 6. flexible welding mechanism. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figure 1-Figure 3 , the utility model provides a technical solution:

[0032] An articulated pipe climbing robot is used to crawl along the outer wall of a pipe 5. Specifically, the articulated pipe climbing robot in this embodiment includes a first articulated arm 1, a second articulated arm 2, a telescopic cylinder 3 and an arc-shaped slide rail 4; wherein the first articulated arm 1 and the second articulated arm 2 are used to clamp the pipe 5; the telescopic cylinder 3 is used to adjust the distance between the first articulated arm 1 and the second articulated arm 2, and then cooperate with the interval clamping action of the first articulated arm 1 and the second articulated arm 2, so as to complete the climbing action of the pipe climbing robot on the outer wall of the pipe 5; the arc-shaped slide rail 4 is used to adjust the angle between the first articulated arm 1 and the second articulated arm 2 to keep the stability of the entire robot. The specific structure and working principle are as follows.

[0033] like Figure 1 to Figure 2 As shown, the first joint arm 1 and the second joint arm 2 in this embodiment are both U-shaped and can rotate around their own symmetry center line (the symmetry center line here refers to Figure 2 The U-shaped first joint arm 1 and the second joint arm 2 each rotate around their own symmetry center line, so that the pipe 5 can be clamped, and the first joint arm 1 and the second joint arm 2 can also adapt to pipes 5 of different diameters. The overall structure is simple and the manufacturing and use costs are low.

[0034] The telescopic direction of the telescopic cylinder 3 is parallel to the axial direction of the pipeline 5; in this embodiment, the telescopic cylinder 3 can be a pneumatic cylinder, an oil cylinder, or an electric push rod.

[0035] Furthermore, the telescopic cylinder 3 has a first end and a second end in its telescopic direction, the first articulated arm 1 is connected to the first end of the telescopic cylinder 3 through an arc-shaped slide rail 4, and the second articulated arm 2 is fixedly connected to the second end of the telescopic cylinder 3, so that when the telescopic cylinder 3 is extended, the distance between the first articulated arm 1 and the second articulated arm 2 increases, and when the telescopic cylinder 3 is extended, the distance between the first articulated arm 1 and the second articulated arm 2 decreases.

[0036] The arc-shaped slide rail 4 is coaxially arranged with the pipeline 5; the first articulated arm 1 is slidably connected with the arc-shaped slide rail 4, and the angle between the first articulated arm 1 and the second articulated arm 2 is adjusted by changing the position of the first articulated arm 1 on the arc-shaped slide rail 4 during installation.

[0037] When in use, first adjust the position of the first joint arm 1 on the arc-shaped slide rail 4 so that the first joint arm 1 and the second joint arm 2 are overlapped in the top view. At this time, the U-shaped openings of the first joint arm 1 and the second joint arm 2 are consistent. Then move the first joint arm 1 and the second joint arm 2 so that the pipe 5 passes through the U-shaped opening and penetrates the first joint arm 1 and the second joint arm 2. Then adjust the position of the first joint arm 1 to Figure 1 and Figure 2 The state shown, then lock the position of the first articulated arm 1, and rotate the first articulated arm 1 and the second articulated arm 2, so that the first articulated arm 1 and the second articulated arm 2 can be used to clamp the pipe 5; when it is necessary to move the robot, first rotate the first articulated arm 1 so that the first articulated arm 1 releases the clamping state of the pipe 5, and then start the telescopic cylinder 3, and use the telescopic cylinder 3 to push the first articulated arm 1 gradually away from the second articulated arm 2. When the first articulated arm 1 moves to the predetermined position, rotate the first articulated arm 1, reuse the first articulated arm 1 to clamp the pipe 5, and then release the clamping state of the second articulated arm 2 on the pipe 5, and then control the telescopic cylinder 3 to contract, gradually reduce the distance between the first articulated arm 1 and the second articulated arm 2, and when the second articulated arm 2 moves to the predetermined position, reuse the second articulated arm 2 to clamp the pipe 5, so that the robot crawls on the pipe 5.

[0038] In the above scheme, by setting a U-shaped first articulated arm 1 and a second articulated arm 2, and making the first articulated arm 1 and the second articulated arm 2 rotate around their own center line of symmetry, the first articulated arm 1 and the second articulated arm 2 can be used to clamp pipes 5 of different diameters. At the same time, in conjunction with the telescopic cylinder 3, the robot can crawl on the pipe 5. The overall structure is simple, and the manufacturing and use costs are low.

[0039] Furthermore, the first articulated arm 1 and the second articulated arm 2 each include a driving motor 11, a connecting arm 13 and two clamping arms 14; in this embodiment, the driving motor 11 may be a servo motor or a pneumatic motor, etc. The two clamping arms 14 are respectively fixed at both ends of the connecting arm 13; the output shaft of the driving motor 11 is fixedly connected to the connecting arm 13, and the axis of the output shaft of the driving motor 11 coincides with the symmetry center line.

[0040] The outer side of the clamp arm 14 is sleeved and fixed with an outer sleeve 15, which can be made of rubber material, so that the friction between the clamp arm 14 and the pipe 5 can be increased and the pipe 5 can be protected. Furthermore, an arc groove 16 is provided on the outer peripheral surface of the outer sleeve 15, which can increase the contact area between the outer sleeve 15 and the pipe 5 and improve the stability of the robot.

[0041] like Figure 3 As shown, an arc-shaped channel 41 is provided at the bottom of the arc-shaped slide rail 4, and the arc-shaped channel 41 is arranged concentrically with the arc-shaped slide rail 4; a stud 42 is arranged through the arc-shaped channel 41, one end of the stud 42 is fixedly connected to the driving motor 11 on the first articulated arm 1, and the other end of the stud 42 extends out of the arc-shaped channel 41 and is threadedly connected with a nut 43.

[0042] In this embodiment, the first articulated arm 1 and the second articulated arm 2 further include a motor frame 12 ; two driving motors 11 are respectively fixed on the two motor frames 12 ; one end of the stud 42 is fixedly connected to the motor frame 12 on the first articulated arm 1 .

[0043] In the above solution, the stud 42 and the nut 43 are used to lock the position of the first articulated arm 1 on the arc-shaped slide rail 4 to prevent the first articulated arm 1 from sliding freely on the arc-shaped slide rail 4 .

[0044] In this embodiment, a flexible welding mechanism 6 is provided on one side of the telescopic cylinder 3 , and the flexible welding mechanism 6 may be a welding robot arm.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An articulated outer pipe climbing robot, used for crawling along the outer wall of a pipe, characterized in that: It includes a first joint arm, a second joint arm, a telescopic cylinder and an arc-shaped slide rail; The first joint arm and the second joint arm are both U-shaped and can rotate around their own symmetry center lines; The telescopic direction of the telescopic cylinder is parallel to the axial direction of the pipeline; The telescopic cylinder has a first end and a second end in its telescopic direction, the first articulated arm is connected to the first end of the telescopic cylinder through the arc-shaped slide rail, and the second articulated arm is fixedly connected to the second end of the telescopic cylinder; The arc-shaped slide rail is coaxially arranged with the pipeline; The first articulated arm is slidably connected to the arc-shaped slide rail, and during installation, the angle between the first articulated arm and the second articulated arm is adjusted by changing the position of the first articulated arm on the arc-shaped slide rail.

2. The articulated outer-pipe climbing robot according to claim 1, characterized in that: The first articulated arm and the second articulated arm each include a driving motor, a connecting arm and two clamping arms; The two clamping arms are respectively fixed at two ends of the connecting arm; The output shaft of the driving motor is fixedly connected to the connecting arm.

3. The articulated outer-pipe climbing robot according to claim 2, characterized in that: An outer sleeve is sleeved and fixed on the outer side of the clamp arm.

4. The articulated outer-pipe climbing robot according to claim 3, characterized in that: An arc groove is provided on the outer peripheral surface of the outer sleeve.

5. The articulated outer-pipe climbing robot according to claim 2, characterized in that: An arc-shaped channel is provided at the bottom of the arc-shaped slide rail, and the arc-shaped channel is arranged concentrically with the arc-shaped slide rail; A stud is arranged through the arc-shaped channel, one end of the stud is fixedly connected to the driving motor on the first joint arm, and the other end of the stud extends out of the arc-shaped channel and is threadedly connected with a nut.

6. The articulated outer-pipe climbing robot according to claim 5, characterized in that: The first articulated arm and the second articulated arm further include a motor frame; The two driving motors are respectively fixed on the two motor frames; One end of the stud is fixedly connected to the motor frame on the first joint arm.

7. The articulated outer-pipe climbing robot according to claim 1, characterized in that: A flexible welding mechanism is arranged on one side of the telescopic cylinder.

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