CN101625062A - Flexible wriggle pipeline robot with guide head - Google Patents
Flexible wriggle pipeline robot with guide head Download PDFInfo
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- CN101625062A CN101625062A CN200910088008A CN200910088008A CN101625062A CN 101625062 A CN101625062 A CN 101625062A CN 200910088008 A CN200910088008 A CN 200910088008A CN 200910088008 A CN200910088008 A CN 200910088008A CN 101625062 A CN101625062 A CN 101625062A
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Abstract
The invention discloses a flexible wriggle pipeline robot with a guide head, comprising a left hemispheric shell and a right hemispheric shell, wherein the end parts of the left hemispheric shell and the right hemispheric shell are provided with a left ring flange and a right ring flange; the left hemispheric shell is internally provided with a driving device, screw drive is formed by the driving device and a threaded flexible shaft, and the right end of the threaded flexible shaft passes through the left hemispheric shell to fixedly connect the right ring flange; the top end of the right hemispheric shell is spherically articulated with the guide head, the left surface of a bottom plate of the guide head is provided with four chutes which are uniformly distributed along a circumferential direction, and the chutes are connected with guide mechanisms in a sliding way; the other ends of the guide mechanisms respectively correspond to four electromagnets positioned on the left ring flange, the right ring flange is provided with a retaining device which corresponds to the guide mechanisms, and the left ring flange and the right ring flange are respectively annularly provided with a plurality of push-pull wheel rod mechanisms and a plurality of supporting wheels. The flexible wriggle pipeline robot with the guide head can successfully pass through a T-shaped pipeline; in addition, electromagnetic wheels of push-pull wheel rods are contacted with the inner part of the pipeline all the time in the motion process, thereby achieving good stability.
Description
Technical field
The present invention relates to a kind of pipeline robot research field, refer to a kind of flexible wriggle pipeline robot especially with guide head.
Background technique
Pipeline robot be a kind of can be along the machinery of inner-walls of duct walking.It can carry various detecting instruments or apparatus for work (as CCD camera, ultrasonic sensor, pipeline cleaning equipment etc.), in operator's remote control or under main control, enter pipe interior, finish in the detection of the identification of defect of pipeline flaw detection, mixed and disorderly substances in pipe and removing, antirust coating in pipeline and coating, the pipe tasks such as processing.It is to produce under the promotion of pipeline construction technologies such as modern petrochemical, urban construction.Continuous development along with industrialization and urban construction, the pipeline cumulative length that every profession and trade is laid will get more and more, demand to pipeline robot can be more and more widely, the effect that pipeline robot is brought into play is also with increasing, the research of pipeline robot relates to industry fields such as machinery, electronics, detection, it has opened up road for the research of many application technologies, has been a focus of domestic and international Robotics research at present.
Disclose correlation technique in the prior art, as application number 200810106352.X patent disclosure a kind of pipeline robot of flexible wiggle, this pipeline robot can not realize that T type pipeline turns, and less to the adaptability of tapered pipeline.
Summary of the invention
To the objective of the invention is in order solving the problems of the technologies described above, a kind of initiatively turning, flexible wriggle pipeline robot with guide head that contacts with inner-walls of duct all the time can realized smoothly in T shape pipeline to be provided.
For achieving the above object, a kind of flexible wriggle pipeline robot provided by the present invention with guide head, it comprises:
The robot housing, it comprises left hemisphere shell and right hemispherical Shell, the end of left and right hemispherical Shell is provided with the left and right flanges dish;
The drive transmission device of robot wriggling, it comprises drive unit and transmission device, in the left hemisphere shell, set firmly described drive unit, transmission device comprises a screw thread flexible axle, the one end connects and composes screw-drive mechanism by a driving mechanism and described drive unit, and the other end of this screw thread flexible axle passes the body at left hemisphere shell middle part and left flange plate and is connected with right flange plate;
Guiding device, it comprises a guide head at the top of right hemispherical Shell ball pivot one, the base plate of this guide head is provided with along the circumferential direction equally distributed at least four slideways radially, be hinged with an end of a guide mechanism in each this slideway slidably, the electromagnet that the other end of each this guide mechanism passes the respective numbers that the through hole on the described right flange plate is provided with left flange plate respectively is corresponding respectively, is provided with corresponding one between each described guide mechanism and the described right flange plate and locks stopping device and make described guide mechanism be locked by described locking stopping device when stretching out described right flange plate preseting length;
Traveller, it is included in and encircles the some push-and-pull wheel telescopic Electromagnetic wheel of linkage and some non-telescoping supporting wheels of being connected with of establishing on the described left and right flanges dish respectively, and described Electromagnetic wheel is provided with the rotation that braking mechanism limits this Electromagnetic wheel.
Described drive unit is a motor, described driving mechanism comprises a driving gear and a gear nut, motor is fixed on the motor mounting plate, this motor mounting plate is fixed in the described left hemisphere shell, the output shaft of motor connects described driving gear, this driving gear and excircle are provided with the outer gear teeth that gear teeth center is provided with the described gear nut of screw and are meshed, and the internal thread of screw thread flexible axle and gear nut constitutes power screw.
This guide mechanism comprises the bar axle, the left end of this bar axle is located in the axial hole corresponding on the right flange plate, the described electromagnet that is provided with described left flange plate is corresponding, and right-hand member ball pivot one slide block of this bar axle, this slide block are installed in the described slideway fixing slidably.
Described locking stopping device is locked for stretching out described preseting length when described guide mechanism, and further continues to stretch out the locking stopping device that can remove locking.
Particularly, the described locking stopping device that is provided with between each described guide mechanism and the described right flange plate comprises the locking device that is fixed on the described bar axle and is installed in the stopper on the relevant position on the right flange plate, this locking device comprises fixed handle, spring and release ring, described fixed handle is fixed on the described bar axle, its wall towards right flange plate one side is the gradually little arc surface of flange plate direction diameter to the right, the other end of fixed handle is a cut-off plane, on this cut-off plane, be provided with a groove, on the described release ring set on the bar axle, it comprises two Rotary-tables, its big end is affixed relatively to be integral, form two conical surface gabarits that true dip direction is opposite, the taper gabarit of groove on the described cut-off plane and an adjacent with it Rotary-table matches, the external diameter of described Rotary-table equates with the external diameter of the cut-off plane of described fixed handle, the bottom land of the groove on described cut-off plane is provided with a spring receiving hole, and the two ends of described spring are separately fixed in the spring receiving hole on the described fixed handle and discharge on the adjacent end face of ring; Described stopper comprises stopper seat, retainer and spring, described stopper seat is fixed on the described right flange plate, establish the hole on this stopper seat, the axis of this axially bored line and described bar axle is perpendicular, be mounted slidably retainer in the hole, the two ends of spring are separately fixed on hole wall and the retainer, make the extrusion of termination under the spring free state of this retainer be longer than the minimum range of the outer surface of fixed handle to the break seating face.
On the described through hole on the right side of described right flange plate, be installed with the protruding pipe of the bar axle that holds each guide mechanism of cover respectively.
The radian of this guide head and the contacted curved wall of described right hemispherical Shell and arc length make that described guide head can be 0～45 ° with respect to the angle of described right hemispherical Shell swing.
This push-and-pull wheel linkage comprises guide cylinder, push-and-pull wheel bar, brake, electromagnet and Electromagnetic wheel, described guide cylinder is fixed on the described the two cerebral hemispheres shell, for example can be on the flange plate of the two cerebral hemispheres shell by screw, the axis normal of its axis and described flange plate, described push-and-pull wheel bar is slidingly arranged in the guide cylinder, the front end of this push-and-pull wheel bar is installed with Electromagnetic wheel rotationally, be provided with and the corresponding brake of Electromagnetic wheel in push-and-pull wheel bar, this brake is slidably disposed in the push-and-pull wheel bar.
This robot housing is through with honeycomb duct from the front end to the rear end, pass this robot for fluid.
Described honeycomb duct can be some bodys, and a port of every body is arranged on the shell wall of right hemispherical Shell or left hemisphere shell, and its another port is arranged in the perforation of offering on described right flange plate or the left flange plate.
Left end at the screw thread flexible axle is provided with baffle plate, to prevent that the left hemisphere shell is by coming off on the flexible axle.
Flexible wriggle pipeline robot with guide head provided by the invention has following advantage:
1, increases guide head mechanism, made robot can pass through T shape pipeline smoothly.
2, adopt magnetic push-pull wheel linkage, make the Electromagnetic wheel of robot push-and-pull wheel bar in movement process to contact with pipe interior all the time, promptly adapt to different tapered pipelines, guaranteed the stability when robot left and right sides two-part and pipeline are fixedly.
3, adopt a motor to realize walking and guiding, it is cheap for manufacturing cost, has broad application prospects at aspects such as pipe detection, pipe-line maintenances.
Description of drawings
Fig. 1 is the flexible wriggle pipeline robot contraction state cross-sectional view of guide head provided by the invention.
Fig. 1 a is the surface structure schematic representation of the flexible wriggle pipeline robot contraction state of guide head provided by the invention.
Fig. 2 is the bottom plate structure schematic representation in the pipeline robot.
Fig. 2 a is the side-looking structural representation of base plate shown in Figure 2.
Fig. 2 b is the structural representation that connects guide rod in the guiding groove on base plate shown in Figure 2 by hinged slide block.
Fig. 2 c is the side-looking structural representation of Fig. 2 b.
Fig. 3 is the structural representation of guide mechanism.
Fig. 3 a to Fig. 3 i is a guide mechanism guiding process schematic representation shown in Figure 3.
Fig. 4 a to Fig. 4 c is the schematic representation that this pipeline robot is advanced in straight pipeline.
Fig. 5 a to Fig. 5 h is the schematic representation of this pipeline robot walking process of turning in curved pipe.
Fig. 6 a to Fig. 6 g is the schematic representation of this pipeline robot at the movement process of T type tube passage turning.
Fig. 7 is supported on ducted structural representation by supporting wheel and Electromagnetic wheel in this pipeline robot.
Fig. 8 is a push-and-pull wheel linkage structural representation among Fig. 1.
Fig. 9 is the side-looking structural representation of Fig. 8.
Number in the figure: 1: left hemisphere shell, 2: right hemispherical Shell, 3: the screw thread flexible axle, 31: baffle plate, 4: left flange plate, 5: right flange plate, 5a: protruding pipe, 6: drive unit, 61: motor, 62: gear, 63: gear nut, 7: motor mounting plate, 8: guide mechanism, 81: bar axle, 82: locking device, 821: fixed handle, 8211: ladder circular groove, 8211 ': groove A, 8211 ": groove B, 822: discharge ring, 822a: spring; 822b: releaser, 83: slide block, 8a: electromagnet; 9: stopper, 91: spring, 92: stop-motion body; 10: push-and-pull wheel linkage, 101: Electromagnetic wheel, 101a: supporting wheel; 102: push-and-pull wheel bar, 103: guide cylinder, 104: brake; 103a: sliding pin, 106: set screw, 107: chute, the 10a electromagnet, 11: guide head, 111: base plate, 1111: slideway, 12: supporting wheel, 13: honeycomb duct.
Embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, a kind of flexible wriggle pipeline robot with guide head, it comprises: left hemisphere shell 1 and right hemispherical Shell 2, the left end of right hemispherical Shell 2 is provided with right flange plate 5, the right-hand member of left hemisphere shell 1 is provided with left flange plate 4, be provided with drive unit 6 in the left hemisphere shell 1, this drive unit 6 constitutes power screw with screw thread flexible axle 3, body and left flange plate 4 that one end of screw thread flexible axle 3 passes left hemisphere shell 1 middle part are connected with right flange plate 5, the left end of screw thread flexible axle 3 is provided with baffle plate 31, this baffle plate 31 prevents that left hemisphere shell 1 breaks away from screw thread flexible axle 3, this drive unit 6 comprises motor 61, the gear 62 and gear nut 63 of the gear teeth is set on the outer peripheral surface of nut, motor 61 is fixed on the motor mounting plate 7, motor mounting plate 7 is fixed in the left hemisphere shell 1, the output shaft of motor 61 connects a gear 62, this gear 62 is meshed with the outer gear teeth of gear nut 63, and screw thread flexible axle 3 constitutes power screw with the internal thread of gear nut 63; At the top of right hemispherical Shell 2 ball pivot one guide head 11, the base plate 111 of this guide head 11 (is seen Fig. 2,2a) be provided with along the circumferential direction equally distributed four slideways 1111, this slideway 1111 is a rectangular through-hole, all slidely connect guide mechanism 8 in each slideway 1111, this guide mechanism 8 comprises bar axle 81, be arranged with locking device 82 on the bar axle 81, right-hand member ball pivot one slide block 83 of bar axle 81, this slide block 83 is slidingly connected with slideway 1111 and (sees Fig. 2 b, 2c), the head of this slide block 83 rides on the base plate 111 of slideway 1111 both sides, the left end of bar axle 81 is plugged in the through hole of offering on the right flange plate 5, and the left side of bar axle is corresponding with the electromagnet 8a in the left flange plate 4.This locking device 82 comprises fixed handle 821 that is solidly set on the bar axle 81 and the release ring 822 that matches with fixed handle 821, and this release ring 822 puts on bar axle 81, and this fixed handle 821 is the hemisphere shape, and its big end is towards the right side; Have ladder circular groove 8211 on the end face surface of the right side plane shape of fixed handle 821, this ladder circular groove comprises groove 8211 and groove 8211 ', sheathed spring 822a on bar axle 81, the one end is fixed in the shoulder hole 8211 ' on the fixed handle 821, the left side of its other end and releaser 822b is connected, this releaser 822b slides on bar axle 81 under the flexible drive of spring 822a, and this releaser 822b is by two affixed relatively forming of the big end of Rotary-table, as shown in Figure 3.The Rotary-table in releaser 822b left side is contained in the groove 8211 (sees Fig. 3 g).
Four electromagnet 8a on the left end of four guide mechanisms 8 and the left flange plate 4 are corresponding (see figure 1)s respectively, be installed with four blind holes on the protruding sidewall at right flange plate 5 middle parts with guide mechanism 8 corresponding stoppers 9, stopper 9 comprises stop-motion body 91 and spring 92, one end of spring 92 is fixed on the blind hole inner end wall, its the other end is fixed on stop-motion body 91 1 ends, and the other end of stop-motion body 91 is a cone shape.On the left and right flanges dish 4,5 respectively alternative ring be provided with some push-and-pulls wheel linkages 10 and some supporting wheels 12 (seeing Fig. 1,2,7), this push-and-pull wheel linkage 10 contacts with inner-walls of duct with this supporting wheel 12, and push-and-pull wheel linkage 10 and supporting wheel 12 are respectively four in the present embodiment.
In order to make guide mechanism 8 more stable, be installed with the protruding pipe 5a that holds each bar axle 81 of cover respectively in the right side of right flange plate 5.
As Fig. 8, shown in 9, this push-and-pull wheel linkage 10 comprises guide cylinder 103, push-and-pull wheel bar 102, brake 104, electromagnet 10a and Electromagnetic wheel 101, push-and-pull wheel bar 102 is slidingly arranged among the groove 103b that endwisely slips that offers on the barrel of guide cylinder 103 by the sliding pin 103a which is provided with in, make push-rod wheel bar 102 slide with respect to guide cylinder, but can not break away from guide cylinder 103, the front end of push-and-pull wheel bar 102 sets firmly an Electromagnetic wheel 101 rotationally, this push-and-pull wheel bar 102 is flexible according to pipeline A diameter variation in guide cylinder 103, make Electromagnetic wheel 101 contact (see figure 7) with inner-walls of duct all the time, robot ambulation is more stable; In push-and-pull wheel bar 102, be provided with and Electromagnetic wheel 101 corresponding brake 104 and electromagnet 10a, one end of this brake 104 is mounted slidably in the cylindrical shell of push-and-pull wheel bar 102, its the other end is installed with brake block 104a, the arc plate that it is complementary for the gabarit with electromagnetic theory.Be provided with electromagnet 10a on the position with respect to an end of brake 104 in the cylindrical shell of push-and-pull wheel bar 102, brake 104 is controlled by electromagnet 10a, after electromagnet 10a energising, permanent magnet to brake 104 produces repulsion, brake 104 is fixed Electromagnetic wheel 101 under the effect of repulsion, make Electromagnetic wheel 101 static.
This guide head 11 can be 0～45 ° with respect to the angle that swings up and down about right hemispherical Shell, and the size of these guide head 11 pendulum angles is determined by the distance between locking device 82 and the stopper 9.
Between left and right hemispherical Shell 1,2 and left and right flanges dish 4,5, be provided with honeycomb duct 13, this honeycomb duct 13 penetrates left and right hemispherical Shell 1,2 and respective flanges thereof, promptly this honeycomb duct 13 communicates with pipeline, and these honeycomb duct 13 can regulate pipeline fluids are to the active force of robot.
As Fig. 4 a, shown in 4b and the 4c, robot wriggling walking process is as follows: under the control of brake at electromagnet on the wheel of the push-and-pull on the right hemispherical Shell flange plate bar, permanent magnet 10a on its brake produces repulsion, brake stretches out and fits on the Electromagnetic wheel under the effect of repulsion, the obstruction Electromagnetic wheel rotates, thereby realization robot right half part and inner-walls of duct are fixed, under the drive of motor, hemispherical Shell is close to the right along pipeline for the left hemisphere shell, the motor output shaft driven gear rotates, this gear driven gear nut rotates, this gear nut and screw thread flexible axle constitute power screw, be that the screw thread flexible axle is motionless, gear nut revolution and moving linearly, realize that the robot left-half moves right, when robot left and right sides two-part will be touched, robot left-half stop motion, be that the brake that its push-and-pull is taken turns on bar fits on the Electromagnetic wheel, hinder its Electromagnetic wheel and rotate, the brake clutch on the right half part push-and-pull wheel bar, its Electromagnetic wheel freely rotates, the motor counter-rotating, its driven gear nut counter-rotating, the screw thread flexible axle moves right under the drive of gear nut, moves right thereby drive the robot right half part.These two kinds of motion modes move in circles, and promptly can realize the wriggling walking of robot in straight pipeline.
Shown in Fig. 5 a to 5h and Fig. 6 a to 6g, be respectively the working procedure of robot turning walking states structural representation and guide mechanism and stopper in 90 ° of bend pipes and T type bend pipe.
When robot detects will be when the T type bend pipe, its state is shown in Fig. 6 a and 6b, Fig. 6 b is depicted as robot and begins to enter the turn condition schematic representation, Fig. 3 a is that guide mechanism does not have the original state when mobile, enter shown in Fig. 6 b before the state in robot, the left hemisphere shell is fixed on the tube wall, right hemispherical Shell moves right, while guide mechanism and pairing electromagnetic actuation, its guide mechanism is by moving to shown in Fig. 3 c as Fig. 3 a, guide mechanism is drawn out with respect to right spherical shell and is moved to the left, be that fixed handle 821 is moved to the left with respect to right spherical shell under the drive of guide mechanism, trochoidal surface on it slips over the stop-motion body 92 of stopper 9, the spring 91 of stopper is compressed (shown in Fig. 3 b), to the state of Fig. 3 c, promptly stop-motion body 92 is stuck on its right end face of fixed handle 821 and fixes, and guide head turns over an angle and fixing; When robot is moved in the process of Fig. 6 d state by Fig. 6 c state, electromagnet 8a outage, guide mechanism and pairing electromagnet disconnect, the state of guide mechanism is shown in Fig. 3 c, guide mechanism is by stopper stop, guide mechanism can not be moved right, and promptly stopper plays to the right positioning action to guide mechanism; Robot moves to Fig. 6 d state procedure by Fig. 6 c, guide head still keeps original state, its right hemispherical Shell is fixed, the left hemisphere shell moves right, when the left hemisphere shell moves to when contacting adhesive with the guide mechanism that stretches out, before robot moves to Fig. 6 e state by 6d, the left hemisphere shell is static, and right hemispherical Shell moves, and electromagnet 8a is pull lever axle 81 again, make guide mechanism move to the state shown in Fig. 3 g by Fig. 3 d state, guide mechanism and electromagnetic actuation, guide mechanism continue to move to left, and this release ring slips over stopper, the left Rotary-table of this releaser is contained in the groove 8211 of fixed handle 821, this guide head has rotated certain angle again, and guide mechanism is static relatively, when robot enters shown in Fig. 6 f state, guide mechanism moves to Fig. 3 i state by Fig. 3 g, guide mechanism and pairing electromagnet disconnect, and guide rod moves right, the guide mechanism release, this moment, guide mechanism can restPose under the pushing of left hemisphere shell.Be guide head 11 also return to as Fig. 6 g initial forward but not the state of deflection; Robot enters the normal creepage of gastrointestinal functions working state afterwards, because the screw thread flexible axle of robot can be crooked arbitrarily, therefore robot can pass through T shape pipeline smoothly, and shown in Fig. 6 c, 6d, the push-and-pull wheel bar in the push-and-pull wheel linkage can be stretched the variation in the pipeline footpath of adaptation under the drive of Electromagnetic wheel.
A guide mechanism moves direction of may command, two mobile simultaneously may command other directions of adjacent guide mechanism, the swing of these four guide mechanism may command any directions.
Claims (10)
1. flexible wriggle pipeline robot with guide head, it comprises:
Left hemisphere shell and right hemispherical Shell, the end of left and right hemispherical Shell is provided with the left and right flanges dish;
The drive transmission device of robot wriggling, it comprises drive unit and transmission device, in the left hemisphere shell, set firmly described drive unit, transmission device comprises a screw thread flexible axle, the one end connects and composes screw-drive mechanism by a driving mechanism and described drive unit, and the other end of this screw thread flexible axle passes the body at left hemisphere shell middle part and left flange plate and is connected with right flange plate;
Guiding device, it comprises a guide head at the top of right hemispherical Shell ball pivot, the base plate of this guide head is provided with along the circumferential direction equally distributed at least four slideways radially, be hinged with an end of a guide mechanism in each this slideway slidably, it is corresponding respectively that the other end of this guide mechanism passes at least four electromagnet that the through hole on the described right flange plate is provided with left flange plate respectively, is provided with a corresponding locking stopping device between each described guide mechanism and the described right flange plate and makes described guide mechanism be locked by described locking stopping device when stretching out described right flange plate preseting length also can to separate open locking stop;
Traveller, it is included in and encircles the some push-and-pull wheel telescopic Electromagnetic wheel of linkage and some non-telescoping supporting wheels of being connected with of establishing on the described left and right flanges dish respectively, and described Electromagnetic wheel is provided with the rotation that braking mechanism limits this Electromagnetic wheel.
2. the flexible wriggle pipeline robot with guide head according to claim 1, it is characterized in that: described drive unit is a motor, described driving mechanism comprises a driving gear and a gear nut, motor is fixed on the motor mounting plate, this motor mounting plate is fixed in the described left hemisphere shell, the output shaft of motor connects described driving gear, this driving gear and excircle are provided with the outer gear teeth that gear teeth center is provided with the described gear nut of screw and are meshed, and the internal thread of screw thread flexible axle and gear nut constitutes power screw.
3. the flexible wriggle pipeline robot with guide head according to claim 1 and 2, it is characterized in that: be connected with the telescopic Electromagnetic wheel of push-and-pull wheel linkage and comprise push-and-pull wheel linkage and Electromagnetic wheel, described push-and-pull wheel linkage comprises guide cylinder, push-and-pull wheel bar, brake, electromagnet and Electromagnetic wheel, described guide cylinder is fixed on the described the two cerebral hemispheres shell, the axis normal of its axis and described flange plate, described push-and-pull wheel bar is slidingly arranged in the guide cylinder, the front end of this push-and-pull wheel bar is installed with Electromagnetic wheel rotationally, in push-and-pull wheel bar, be provided with and the corresponding brake of Electromagnetic wheel, this brake is slidably disposed in the push-and-pull wheel bar, makes it push down described Electromagnetic wheel and makes it not rotate or separate with Electromagnetic wheel.
4. the flexible wriggle pipeline robot with guide head according to claim 1, it is characterized in that: this guide mechanism comprises the bar axle, the left end of this bar axle is located in the axial hole corresponding on the right flange plate, the described electromagnet that is provided with described left flange plate is corresponding, right-hand member ball pivot one slide block of this bar axle, this slide block are installed in the described slideway fixing slidably.
5. according to claim 1 or 4 described flexible wriggle pipeline robots with guide head, it is characterized in that: described locking stopping device is locked for stretching out described preseting length when described guide mechanism, and further continues to stretch out the locking stopping device that can remove locking.
6. the flexible wriggle pipeline robot with guide head according to claim 5, it is characterized in that: the described locking stopping device that is provided with between each described guide mechanism and the described right flange plate comprises the locking device that is fixed on the described bar axle and is installed in the stopper on the relevant position on the right flange plate, this locking device comprises fixed handle, spring and release ring, described fixed handle is fixed on the described bar axle, its wall towards right flange plate one side is the gradually little arc surface of flange plate direction diameter to the right, the other end of fixed handle is a cut-off plane, on this cut-off plane, be provided with a groove, on the described release ring set on the bar axle, it comprises two Rotary-tables, its big end is affixed relatively to be integral, form two conical surface gabarits that true dip direction is opposite, the taper gabarit of groove on the described cut-off plane and an adjacent with it Rotary-table matches, the external diameter of described Rotary-table equates with the external diameter of the cut-off plane of described fixed handle, the bottom land of the groove on described cut-off plane is provided with a spring receiving hole, and the two ends of described spring are separately fixed in the spring receiving hole on the described fixed handle and discharge on the adjacent end face of ring; Described stopper comprises stopper seat, retainer and spring, described stopper seat is fixed on the described right flange plate, establish the hole on this stopper seat, the axis of this axially bored line and described bar axle is perpendicular, be mounted slidably retainer in the hole, the two ends of spring are separately fixed on hole wall and the retainer, make the extrusion of termination under the spring free state of this retainer be longer than the minimum range of the outer surface of fixed handle to the break seating face.
7. according to claim 1 or 2 or 6 described flexible wriggle pipeline robots with guide head, it is characterized in that: the radian of this guide head and the contacted curved wall of described right hemispherical Shell and arc length make that described guide head can be 0～45 ° with respect to the angle of described right hemispherical Shell swing.
8. the flexible wriggle pipeline robot with guide head according to claim 1 is characterized in that: be provided with honeycomb duct between described left and right hemispherical Shell and left and right flanges dish, this honeycomb duct penetrates left and right hemispherical Shell and flange plate thereof.
9. the flexible wriggle pipeline robot with guide head according to claim 1 is characterized in that: the left part at described screw thread flexible axle is provided with baffle plate.
10. the flexible wriggle pipeline robot with guide head according to claim 1 is characterized in that: be installed with the protruding pipe that holds each guide rod of cover respectively in the right side of described right flange plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100880087A CN101625062B (en) | 2009-07-06 | 2009-07-06 | Flexible wriggle pipeline robot with guide head |
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| CN2009100880087A CN101625062B (en) | 2009-07-06 | 2009-07-06 | Flexible wriggle pipeline robot with guide head |
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| CN102401213A (en) * | 2011-07-06 | 2012-04-04 | 北京邮电大学 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
| CN103244791A (en) * | 2013-04-17 | 2013-08-14 | 浙江理工大学 | Upstream-advancing type fluid driving pipeline robot |
| CN103244791B (en) * | 2013-04-17 | 2014-12-24 | 浙江理工大学 | Upstream-advancing type fluid driving pipeline robot |
| CN103672291A (en) * | 2013-12-09 | 2014-03-26 | 成都科盛石油科技有限公司 | Detection system installed on inner wall of pipeline |
| CN103672291B (en) * | 2013-12-09 | 2015-09-09 | 成都科盛石油科技有限公司 | Based on the detection system being arranged on inner-walls of duct |
| CN103742755A (en) * | 2013-12-17 | 2014-04-23 | 西南石油大学 | Soft caterpillar belt type pipeline robot |
| CN103742755B (en) * | 2013-12-17 | 2015-12-02 | 西南石油大学 | A kind of soft caterpillar belt type pipeline robot |
| CN110621455A (en) * | 2017-05-17 | 2019-12-27 | 麻省理工学院 | Soft body robot for pipeline tasks |
| CN107339546A (en) * | 2017-07-17 | 2017-11-10 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct examination and repair system and repair method |
| CN107339546B (en) * | 2017-07-17 | 2019-06-14 | 浙江金马逊机械有限公司 | A kind of self-propelled inner wall of the pipe examination and repair system and repair method |
| CN107355638A (en) * | 2017-08-25 | 2017-11-17 | 无锡康柏斯机械科技有限公司 | A kind of multi-drive type pipe robot carrier structure |
| CN107363819A (en) * | 2017-08-25 | 2017-11-21 | 哈尔滨工业大学 | The modularization ball shape soft robot connected using magnetic force |
| CN107322635A (en) * | 2017-08-25 | 2017-11-07 | 哈尔滨工业大学 | Contactless connection and joint driving mechanism for modularization robot |
| CN108501040A (en) * | 2018-06-06 | 2018-09-07 | 枣庄学院 | A kind of Magnetic driving flexible mechanical arm |
| CN108501040B (en) * | 2018-06-06 | 2023-06-20 | 枣庄学院 | Magnetically-driven flexible mechanical arm |
| CN108662306A (en) * | 2018-07-30 | 2018-10-16 | 江苏星河集团有限公司 | A kind of software bellows poling specific boot device |
| CN113510028A (en) * | 2021-05-25 | 2021-10-19 | 哈尔滨工业大学 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
| CN113531285B (en) * | 2021-06-09 | 2022-10-25 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
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