CN101435521B - Self-adapting pipe moving mechanism - Google Patents
Self-adapting pipe moving mechanism Download PDFInfo
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- CN101435521B CN101435521B CN2007101583163A CN200710158316A CN101435521B CN 101435521 B CN101435521 B CN 101435521B CN 2007101583163 A CN2007101583163 A CN 2007101583163A CN 200710158316 A CN200710158316 A CN 200710158316A CN 101435521 B CN101435521 B CN 101435521B
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Abstract
The invention provides a self-adaptive pipeline moving mechanism, which belongs to the technical field of pipeline robot engineering. The structure of the mechanism comprises a supporting mechanism, a forward drive mechanism and a backward drive mechanism, wherein the forward drive mechanism is connected with the backward drive mechanism through a first transmission mechanism, and is connected with a motor in the supporting mechanism through a second transmission mechanism; the first transmission mechanism is arranged in the forward drive mechanism; and a link mechanism and a locking mechanism are arranged between the forward drive mechanism and the first transmission mechanism. The mechanism can automatically regulate forward and backward in the pipeline without external control. In the invention, when a forward drive arm is contracted because of a barrier, other forward drive arms are also contracted to the center through linkage of the link mechanism, thereby realizing synchronous motion of the drive arms. Meanwhile, the locking mechanism restricts the rotation of the forward drive arms, at this time the route of power output is converted, and backward drive arms rotate and generate backward driving force, namely a robot moves towards an opposite direction. The moving mechanism has strong adaptability.
Description
Technical field
The invention belongs to pipeline robot engineering art field, particularly relate to the self-adapting pipe moving mechanism of investigation job in a kind of pipeline.
Background technique
Along with development economic and society, pipeline is as main fluid (rock gas, oil, water etc.) means of delivery, because of its convenience and Economy have obtained using widely.But along with the increase of service life, the destruction of external construction inevitably can appear wearing out, corroding or be subjected in pipeline.If untimely processing not only brings enormous economic loss to country in case have an accident, also can cause serious pollution to environment.Therefore regular reconnoitring and safeguard just seems very necessary to pipeline.It is exactly a kind of effective equipment of checking pipeline that pipeline is detected robot.At present, that the walking in pipe motion of mechanism form that is used for the pipeline sniffing robot mainly contains is wheeled, crawler, resilient support formula, leg formula, Inchworm type, spiral etc., mainly realize the adaptation of pipeline environment, the pipeline environment adaptability deficiency of mobile mechanism by automatical control system.At document M.Horodinca, L.Doroftei, E.Mignon, that mentions among the A.Preumont. " A simple architecture for in-pipeinspection robots " is made up of stator, rotor, support arm, driving arm and helical wheel based on movable robot in the pipeline of screw drives principle.Motor is housed on the stator, and motor output shaft links to each other with rotor, the rotation of driven by motor rotor.Epitrochanterian helical wheel can be around the axis rotation of self, and helical wheel also rotates during the rotor rotation, and robot just can travel forward.Though this mechanism can realize seesawing in the pipeline, when foreign matter being arranged in the pipe or obstacle is arranged, robot often can not surmount obstacles.If there is not special protection to be easy to regard to stuck in the middle of pipeline; Because this kind mobile mechanism is self-powered, do not have being connected physically again, when robot is stuck in the middle of the pipeline, brought difficulty to stand-by service with the external world.
Summary of the invention
In order to solve the technical problem of above-mentioned existence, the invention provides a kind of self-adapting pipe moving mechanism.It is the direction of advance and the direction of retreat of regulating robot body by mechanical mechanism itself, does not need other electric control operation.
The technical solution used in the present invention is: comprise supporting mechanism, forward drive mechanism and retreat driving mechanism three parts, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected by the interior motor of second driving mechanism and supporting mechanism.
Described first driving mechanism places in the forward drive mechanism, between the forward drive mechanism and first driving mechanism linking mechanism and locking mechanism is installed also.
Described forward drive mechanism comprises front wheel frame, along at least three forward drive arms of its circumference uniform distribution, at least 1 driven wheel that install each forward drive arm end, the rolling axis of described driven wheel becomes 0～miter angle degree with pipeline section.Described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft, places 3 uniform planet wheels between front wheel frame interior internal gear, the sun gear that is installed on transmission shaft and sun gear and internal gear circumference.Described linking mechanism comprises slide block, connecting rod that is installed on forward drive mechanism forward drive arm bottom and the rotating disk that is installed on the first driving mechanism transmission shaft end, and slide block is connected with rotating disk by connecting rod.Described locking mechanism comprises sliding plate, slide block and the spring that has groove, sliding plate is fixed on the first driving mechanism transmission shaft, be set with spring between the end rotating disk of transmission shaft and the sliding plate, slide block is installed on forward drive arm bottom, and described second driving mechanism that contacts with sliding plate comprises the gear that cooperatively interacts that is installed on respectively on transmission shaft and the motor coupling.Described retreat driving mechanism comprise the trailing wheel frame, along at least three of its circumference uniform distribution retreat driving arm, each retreats at least 1 driven wheel that install the driving arm end, the rolling axis of described driven wheel becomes 0～miter angle degree with pipeline section, the trailing wheel frame that retreats driving mechanism is connected by the planet wheel shaft of first driving mechanism with forward drive mechanism.Described supporting mechanism comprises at least 2 supporting wheels installing along at least three uniform on its shell support arms, each support arm, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
Advantage of the present invention is that adaptability is strong.Since its structure by forward drive mechanism, retreat driving mechanism, supporting mechanism constitutes, when ducted obstacle surpasses the robot obstacle climbing ability, this mobile mechanism can rely on mechanical part to adjust movement direction automatically, stuck in pipeline to prevent by obstacle, this process does not need extraneous control.Because it has linking mechanism, when one of them forward drive arm runs into obstacle and when shrank at the center, by the linking mechanism interlock, the arm of remaining forward drive also will shrink to the center, the realization driving arm is synchronized with the movement.Because it has locking mechanism, when the driving arm that advances runs into obstacle when pipeline center shrinks, locking mechanism has limited the rotation of forward drive arm, power output this moment transduction pathway, retreat driving arm rotation and generation driving force backward, at this moment robot moves round about.
Description of drawings
Fig. 1 is an external structure schematic representation of the present invention.
Fig. 2 is an internal structure schematic representation of the present invention.
Fig. 3 is a locking mechanism schematic representation among the present invention.
Fig. 4 is a linking mechanism schematic representation among the present invention.
Fig. 5 is a driving mechanism schematic representation among the present invention.
Fig. 6 is the first driving mechanism schematic representation among Fig. 5.
Embodiment
Below in conjunction with drawings and Examples the present invention is described further:
Embodiment 1: as shown in Figure 1 and Figure 2, structure of the present invention comprises forward drive mechanism, retreats driving mechanism and supporting mechanism three parts, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected by the interior motor of second driving mechanism and supporting mechanism.Between the forward drive mechanism and first driving mechanism, locking mechanism and linking mechanism are installed also.
As shown in Figure 2, wherein said forward drive mechanism 1 comprises front wheel frame 8, has 2 driven wheels installing on three uniform forward drive arms 7, each forward drive arm, the rolling axis of described driven wheel to become 0～miter angle degree with pipeline section along its circumference.Described retreat driving mechanism 2 comprise trailing wheel frame 9, along three of its circumference uniform distribution retreat driving arm 6, each retreats 2 driven wheels that install driving arm 6 ends, the rolling axis of described driven wheel becomes 0～miter angle degree with pipeline section.Described supporting mechanism 3 comprises 4 supporting wheels installing along on three uniform on its shell support arms 5, each support arm 5, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
As shown in Figure 6, described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft 19, places 3 uniform planet wheels between internal gear 21, the sun gear 20 that is installed on transmission shaft 19 and sun gear 20 in the front wheel frame 8 and internal gear 21 circumference.As shown in Figure 5, described second driving mechanism is first spur gear 17 that cooperatively interacts and second spur gear 18 that is installed on respectively on transmission shaft 19 and motor 4 coupling 25.As shown in Figure 4, described linking mechanism comprises slide block 13, connecting rod 14 that is installed on forward drive arm 7 bottoms and the rotating disk 15 that is installed on transmission shaft 19 ends, and each slide block 13 all is connected with rotating disk 15 by a connecting rod 14.As shown in Figure 3, described locking mechanism comprises the sliding plate 11 that has groove, the slide block 13 with inclined plane shape and spring 16, sliding plate 11 is fixed on the first driving mechanism transmission shaft 19, be set with spring 16 between the end rotating disk 15 of transmission shaft 19 and the sliding plate 11, slide block 13 is installed on the bottom of each forward drive arm 7, the inclined-plane of slide block 13 matches with the circular sloped surface of sliding plate 11, under the effect of spring 16 elastic force, makes its tight contact.Guide pillar 12 is supporting sliding plate 11, and sliding plate 11 can slide front and back on transmission shaft 19.Pin 10 is installed, the motion of restriction slide block 13 in the groove of sliding plate 11.
Working procedure of the present invention: as Fig. 5, shown in Figure 6, drive motor 4 drives first spur gear 17 by coupling 16 and rotates; First spur gear 17 drives second spur gear 18 that is engaged with and rotates.Second spur gear 18 links to each other with transmission shaft 19, drives sun gear 20 rotations during transmission shaft 19 rotations and then drives first planet wheel 22, second planet wheel 23,24 rotations of the third line star-wheel, drives internal gear 21 rotations that are attached thereto when planet wheel rotates.Drive forward drive arm 7 rotation thereupon during front wheel frame 8 rotations, so robot travels forward; If direction of rotation, robot is motion backward then.
As shown in Figure 4, when in robot advances, running into obstacle, the motion of forward drive arm 7 has been subjected to obstruction and speed decline, again because the effect of obstacle, forward drive arm 7 will shrink to pipeline center, and this moment, forward drive arm 7 drove rotating disk 15 rotations by connecting rod 14, because rotating disk 15 is connected with three forward drive arms 7, so when rotating disk 15 rotates, remaining forward drive arm also will shrink to the center.As long as one of them forward drive arm shrinks to the center, other forward drive arm also will shrink like this.As shown in Figure 3, because the inclined-plane of sliding plate 11 and slide block 13 contacts, slide block 13 moves downward and overcomes the elastic force effect and makes sliding plate 11 move backward.When sliding plate 11 retreats into slide block 13 and sliding plate 11 and breaks away from inclined-planes and contact, slide block 13 continues when pipeline center shrinks, sliding plate 11 will be got back to original position under the effect of elastic force, slide block 13 is just fallen in the groove below the sliding plate 11, and the pin 10 in sliding plate 11 grooves has limited the motion of slide block 13, slide block 13 is just pinned by sliding plate 11 like this, so forward drive arm 7 no longer rotates.Power output this moment transduction pathway, be specially drive motor 4 and drive first spur gear 17 and 18 rotations of second spur gear by coupling 16, second spur gear 18 drives sun gear 20 and planet wheel rotation by transmission shaft 19 then, 3 planet wheel rotating shafts all are connected with trailing wheel frame 9, the planet wheel rotation drives 9 rotations of trailing wheel frame, trailing wheel frame 9 drives and retreats driving arm 6 rotations, retreats driving arm 6 rotations and generation driving force backward, and at this moment robot moves round about.As shown in Figure 2.
Embodiment 2: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 4 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 1; Retreat and retreat driving arm 6 in the driving mechanism 2 along 5 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 2.
Embodiment 3: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 6 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 2; Retreat and retreat driving arm 6 in the driving mechanism 2 along 6 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 4.
Embodiment 4: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 8 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 2; Retreat and retreat driving arm 6 in the driving mechanism 2 along 4 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 1; Support arm 5 is along 5 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 4.
Claims (6)
1. self-adapting pipe moving mechanism, it is characterized in that: comprise supporting mechanism (3), forward drive mechanism (1) and retreat driving mechanism (2) three parts, forward drive mechanism (1) by first driving mechanism with retreat driving mechanism (2) and be connected, and the motor (4) that passes through in second driving mechanism and the supporting mechanism (3) is connected, described first driving mechanism places in the forward drive mechanism (1), between the forward drive mechanism (1) and first driving mechanism, linking mechanism and locking mechanism are installed also, described linking mechanism comprises the slide block (13) that is installed on forward drive mechanism forward drive arm (7) bottom, connecting rod (14) and be installed on the rotating disk (15) of first driving mechanism transmission shaft (19) end, slide block (13) is connected with rotating disk (15) by connecting rod (14); Described locking mechanism comprises the sliding plate (11) that has groove, above-mentioned slide block (13) and spring (16), described slide block (13) has inclined plane shape, the motion of pin (10) with restriction slide block (13) is installed in the groove of sliding plate (11), sliding plate (11) is fixed on the first driving mechanism transmission shaft (19), be set with spring (16) between the end rotating disk (15) of transmission shaft (19) and the sliding plate (11), slide block (13) is installed on forward drive arm (7) bottom, and contacts with sliding plate (11).
2. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described forward drive mechanism comprises front wheel frame (8), along at least three forward drive arms (7) of its circumference uniform distribution, at least 1 driven wheel that install each forward drive arm (7) end, and the rolling axis of described driven wheel becomes 0～miter angle degree with pipeline section.
3. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft (19), places 3 uniform planet wheels between front wheel frame (8) interior internal gear (21), the sun gear (20) that is installed on transmission shaft (19) and sun gear (20) and internal gear (21) circumference.
4. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described second driving mechanism comprises the gear that cooperatively interacts that is installed on respectively on transmission shaft (19) and the motor coupling (25).
5. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described retreat driving mechanism comprise trailing wheel frame (9), along at least three of its circumference uniform distribution retreat driving arm (6), each retreats at least 1 driven wheel that install driving arm (6) end, the rolling axis of described driven wheel becomes 0～miter angle degree with pipeline section, the trailing wheel frame (9) that retreats driving mechanism (2) is connected by the planet wheel shaft of first driving mechanism with forward drive mechanism (1).
6. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described supporting mechanism comprises along three support arms (5) uniform on its shell, each support arm (5) at least goes up at least 2 supporting wheels installing, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101583163A CN101435521B (en) | 2007-11-16 | 2007-11-16 | Self-adapting pipe moving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101583163A CN101435521B (en) | 2007-11-16 | 2007-11-16 | Self-adapting pipe moving mechanism |
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| Publication Number | Publication Date |
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| CN101435521A CN101435521A (en) | 2009-05-20 |
| CN101435521B true CN101435521B (en) | 2010-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2007101583163A Expired - Fee Related CN101435521B (en) | 2007-11-16 | 2007-11-16 | Self-adapting pipe moving mechanism |
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| WO2014079116A1 (en) * | 2012-11-24 | 2014-05-30 | 西南石油大学 | Actively driven spiral pipeline robot |
| CN104976485A (en) * | 2014-04-10 | 2015-10-14 | 中国科学院沈阳自动化研究所 | Pipeline moving mechanism with self-adaption function |
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