CN102392926A - Pipe robot - Google Patents
Pipe robot Download PDFInfo
- Publication number
- CN102392926A CN102392926A CN2011103176774A CN201110317677A CN102392926A CN 102392926 A CN102392926 A CN 102392926A CN 2011103176774 A CN2011103176774 A CN 2011103176774A CN 201110317677 A CN201110317677 A CN 201110317677A CN 102392926 A CN102392926 A CN 102392926A
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- fuselage
- pipeline robot
- reversing
- reversing plate
- propeller
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- 230000001681 protective effect Effects 0.000 claims description 7
- 210000001061 forehead Anatomy 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 239000012530 fluid Substances 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses a pipe robot, comprising a reversing board which is installed on the robot body and is moved between the first position and the second position, wherein when the reversing board is in the first position, the front propeller and the rear propeller can generate the pushing forces of the same direction so that the pipe robot is moved forward or backward in a straight line; when the reversing board is in the second position, the reversing board is backward extended out of the robot body for a length scope and is shielded on one side of the rear propeller to block the fluid supply on one side of the rear propeller, so that the reversing torque is generated due to the insufficient side pushing force and the front part of the robot body is moved towards the extended side of the reversing board to achieve the reversing purpose. Compared with the prior art, the pipe robot provided by the invention finishes the reversing work via the extension of the reversing board and has better driving effect and stronger movement controllability.
Description
Technical field
The present invention relates to the robot field, especially a kind of pipeline robot.
Background technique
The micro-tube robot is mainly used in human vas or industry and goes up some and be not easy in the tiny pipeline of manual work.The fltting speed that drive form produced of the micro-tube robot that is adopted at present is very limited, advances poor effect, and commutating structure takes up space greatly, is unfavorable for the microminiaturization of robot.
Therefore, need a kind of new technological scheme to address the above problem.
Summary of the invention
In order to solve the problem that existing technology produces, the invention provides a kind of have commutation function and microminiaturized pipeline robot.
For achieving the above object, pipeline robot of the present invention can adopt following technological scheme:
A kind of pipeline robot; Comprise fuselage, be positioned at front fuselage forward propeller, be positioned at back body after propeller, be positioned at fuselage and connect forward propeller with front motor that forward propeller power is provided, be positioned at fuselage and connect after propeller so that the rear motor of after propeller power to be provided; This pipeline robot also comprises the reversing plate that is installed on the fuselage and between the primary importance and the second place, moves; When said reversing plate was positioned at primary importance, the two ends of reversing plate all were positioned within the length range of fuselage; When said reversing plate was positioned at the second place, this reversing plate extended back the length range of fuselage and blocks the side in after propeller.
Pipeline robot of the present invention; Be provided with the reversing plate that is installed on the fuselage and between the primary importance and the second place, moves; When said reversing plate is positioned at primary importance; The two ends of reversing plate all are positioned within the length range of fuselage, and this moment, forward and backward propulsion device produced that equidirectional thrust can make that pipeline robot linearly moves advances or retreat; When said reversing plate is positioned at the second place; This reversing plate extends back the length range of fuselage and blocks the side in after propeller; Keep off the fluid supply of after propeller one side, thereby caused this side-thrust not enough, produced the switching-over moment of torsion; Make fore-body towards the lateral movement that reversing plate stretches out, reach the purpose of switching-over.And this pipeline robot commutates through reversing plate, and is simple in structure, makes this pipeline robot can realize microminiaturization.
Description of drawings
Fig. 1 is the stereogram of pipeline robot of the present invention, and has showed the state when reversing plate is positioned at primary importance.
Fig. 2 is the stereogram of pipeline robot of the present invention, and has showed the state when reversing plate is positioned at the second place.
Fig. 3 is the three-dimensional exploded view of pipeline robot of the present invention.
Fig. 4 is the cooperation schematic representation between reversing motor, worm screw and the reversing plate in the pipeline robot of the present invention.
Fig. 5 is the schematic representation of accepting groove on the pipeline robot middle machine body of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment; Further illustrate the present invention; Should understand following embodiment only be used to the present invention is described and be not used in the restriction scope of the present invention; After having read the present invention, those skilled in the art all fall within the application's accompanying claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
See also Fig. 1 and shown in Figure 3; The invention discloses a kind of pipeline robot 100, comprise fuselage 20, be positioned at fuselage 20 front ends forward propeller 31, be positioned at fuselage 20 rear ends after propeller 32, be positioned at fuselage 20 and connect forward propeller 31 with front motor 41 that forward propeller 31 power are provided, be positioned at fuselage 20 and connect after propeller 32 with rear motor 42 that after propeller 32 power are provided, be installed on the reversing plate 50 on the fuselage 20, the reversing motor 43 that is positioned at fuselage 20 and the worm screw 44 that is connected with reversing motor 43.Said pipeline robot 100 also is provided with preceding dividing plate 61, rear bulkhead 62 and the central diaphragm 63 that is positioned at fuselage 20; Dividing plate 61 is provided with in order to the fixing fixed hole 611 of front motor 41 before said; Rear bulkhead 62 is provided with in order to the fixing fixed hole 621 of rear motor 42, and central diaphragm 63 has the fixedly fixed hole 631 of reversing motor 43.Said fuselage 20 comprises the main part 21 of tubulose and is sheathed on the fore head 22 and the occiput 23 at main part 21 two ends.Said front motor 41 is positioned at fore head 22, and rear motor 42 is positioned at occiput 23.Said pipeline robot 100 also is provided with and is sheathed on the outer protective equipment 70 of fuselage 20, this protective equipment 70 be provided with some around forward and backward propulsion device 31,32 outsides protective ring 71 and be sheathed on the retaining ring 72 on the fuselage 20.Protective ring 71 is surrounded on forward and backward propulsion device 31,32 outsides and injures surrounding enviroment when avoiding forward and backward propulsion device 31,32 high-speed rotation; Retaining ring 72 is fixed on the fuselage 20 so that this protective equipment 70 is fixed with fuselage through interference fit.In this mode of execution, said pipeline robot 100 also is provided with gyroscope (not shown) as the pose of apparatus for detecting position and posture in order to detecting tube pipeline robot 100.
See also Fig. 3 and shown in Figure 4, said reversing plate 50 is provided with the some groovings 51 that cooperate with said worm screw 44, and said grooving 51 extends along the bearing of trend of reversing plate 50.Said main part 21 supplies fluting 211 that worm screw 44 parts stretch out in the face of a side of reversing plate 50 is provided with so that worm screw 44 can stretch out to form with grooving 51 cooperates.
See also Fig. 3 and shown in Figure 5; The cross section of said reversing plate 50 is circular-arc; Said fuselage 20 is provided with in order to accommodate reversing plate 50 and cross section and is similarly circular-arc accepting groove 24; The both sides of said accepting groove 24 are provided with wedge slot 241, and the both sides of reversing plate 50 are provided with the wedge shape lateral margin 52 that cooperates with said wedge slot 241.This wedge shape lateral margin 52 inserts reversing plate 50 can be slided along this wedge slot 241, and can guarantee fitting tightly between fuselage 20 and the reversing plate.
See also Fig. 1 and Fig. 2 and combine shown in Figure 4ly, under the cooperation of said worm screw 44 and grooving 51, the rotation of worm screw 44 can make reversing plate 50 between the primary importance and the second place, move.As shown in Figure 1, when being positioned at primary importance for reversing plate 50, the two ends of reversing plate 50 all are positioned within the length range of fuselage 20.This moment said forward and backward propulsion device 31,32 around all do not have any stopping, forward and backward propulsion device 31,32 produces that equidirectional thrust can make that pipeline robot 100 linearly moves advances or retreats.When the moving reversing plate 50 of the rotating band of worm screw 44 was positioned at the second place to fuselage 20 back moving, this reversing plate 50 extended back the length range of fuselage 20 and blocks the side in after propeller 32.This moment, reversing plate 50 kept off the fluid supply of after propeller 32 1 sides, thereby caused this side-thrust not enough, produced the switching-over moment of torsion, made fuselage 20 front portions towards the lateral movement that reversing plate stretches out, and reached the purpose of switching-over.Described forward and backward propulsion device 31,32 all has the helical afterbody, and this helical afterbody is compliant tail portions or fixing helical afterbody.If this afterbody is a compliant tail portions, when then rotating, under the flowing medium effect, form the helical afterbody automatically, spiral-shaped by tail shape, material flexibility, rotational speed and the decision of surrounding medium characteristic; If afterbody is fixing helical afterbody, it is spiral-shaped by being processed to form, and does not receive medium influence.In this mode of execution, this helical afterbody is selected fixedly helical afterbody for use.
Wherein switching-over comprises static switching-over and motion switching-over:
Static switching-over: opposite, the equal and opposite in direction of thrust direction current, that after propeller 31,32 produces; These pipeline robot 100 no translational motions; But fuselage 20 is done rightabout rotation because of the effect of the moment of torsion in the same way that two propulsion devices produce; Can make reversing plate 50 turn to target direction one side this moment through the detection of gyroscope to fuselage 20 poses.After arriving targeted attitude, reversing plate 50 stretches out, and makes forward and backward propulsion device 31,32 promote robots simultaneously and advances or retreat, and turns to thereby accomplish.
Motion switching-over: current, when after propeller 31,32 rotating speeds are inconsistent, it is inconsistent to moment of torsion that fuselage 20 produces, thereby causes fuselage 20 rotations, when reversing plate 50 rotates to target side, stretches out, thereby reaches the purpose of switching-over.
Claims (9)
1. pipeline robot; Comprise fuselage, be positioned at front fuselage forward propeller, be positioned at back body after propeller, be positioned at fuselage and connect forward propeller with front motor that forward propeller power is provided, be positioned at fuselage and connect after propeller so that the rear motor of after propeller power to be provided; It is characterized in that: this pipeline robot also comprises the reversing plate that is installed on the fuselage and between the primary importance and the second place, moves; When said reversing plate was positioned at primary importance, the two ends of reversing plate all were positioned within the length range of fuselage; When said reversing plate was positioned at the second place, this reversing plate extended back the length range of fuselage and blocks the side in after propeller.
2. pipeline robot according to claim 1; It is characterized in that: said pipeline robot also is provided with reversing motor that is positioned at fuselage and the worm screw that is connected with reversing motor; Said reversing plate is provided with the some groovings that cooperate with said worm screw, and said grooving extends along the bearing of trend of reversing plate.
3. pipeline robot according to claim 1 and 2; It is characterized in that: the cross section of said reversing plate is circular-arc; Fuselage is provided with in order to accommodate reversing plate and cross section and is similarly circular-arc accepting groove; The both sides of said accepting groove are provided with wedge slot, and the both sides of reversing plate are provided with the wedge shape lateral margin that cooperates with said wedge slot.
4. pipeline robot according to claim 3; It is characterized in that: said pipeline robot also is provided with preceding dividing plate, rear bulkhead and the central diaphragm that is positioned at fuselage; Dividing plate is provided with in order to the fixing fixed hole of front motor before said; Rear bulkhead is provided with in order to the fixing fixed hole of rear motor, and central diaphragm has the fixedly fixed hole of reversing motor.
5. pipeline robot according to claim 1 is characterized in that: said fuselage comprises the main part of tubulose and is sheathed on the fore head and the occiput at main part two ends, and said front motor is positioned at fore head, and rear motor is positioned at occiput.
6. pipeline robot according to claim 2 is characterized in that: said pipeline robot also is provided with and is sheathed on the outer protective equipment of fuselage, and this protective equipment is provided with some ring bodies around the forward and backward propulsion device outside.
7. pipeline robot according to claim 1 is characterized in that: described forward and backward propulsion device all has the helical afterbody, and this helical afterbody is compliant tail portions or fixing helical afterbody.
8. pipeline robot according to claim 1 is characterized in that: said pipeline robot also is provided with apparatus for detecting position and posture.
9. pipeline robot according to claim 8 is characterized in that: said apparatus for detecting position and posture is a gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317677 CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317677 CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102392926A true CN102392926A (en) | 2012-03-28 |
| CN102392926B CN102392926B (en) | 2013-04-24 |
Family
ID=45860288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110317677 Expired - Fee Related CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102392926B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| CN106697105A (en) * | 2016-11-27 | 2017-05-24 | 申俊 | Robot used for real-time monitoring of storage materials |
| CN107339545A (en) * | 2017-07-15 | 2017-11-10 | 连雪芳 | A kind of flexible cone Screw Motion In-pipe Robot |
| CN109330661A (en) * | 2018-10-17 | 2019-02-15 | 深圳达芬奇创新科技有限公司 | A kind of blood vessel depths blood lipid rubbish medical treatment cleaning mechanism |
| RU2686267C1 (en) * | 2018-08-13 | 2019-04-24 | Николай Петрович Дядченко | Screw propulsion unit |
| RU2686300C1 (en) * | 2018-08-27 | 2019-04-25 | Николай Петрович Дядченко | Screw-type propulsor |
| US20210015510A1 (en) * | 2019-07-15 | 2021-01-21 | Zhijun PENG | Ultrasonic robotic cleaner freely movable back and forth inside a blood vessel |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19859229A1 (en) * | 1998-12-21 | 2000-07-06 | Rico Mikroelektronik Gmbh | Pipe newt |
| WO2003034158A2 (en) * | 2001-10-17 | 2003-04-24 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN1635296A (en) * | 2003-12-29 | 2005-07-06 | 大连理工大学 | Crawling conduit creeper |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN101144558A (en) * | 2007-09-30 | 2008-03-19 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| EP2000732A1 (en) * | 2007-06-08 | 2008-12-10 | Constructions Industrielles De La Mediterranee CNIM | Robot intended for moving a parcel in a burying conduit |
| JP2009056573A (en) * | 2007-09-03 | 2009-03-19 | Shizuoka Institute Of Science And Technology | Operation method of micro component |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| EP2101101A2 (en) * | 2008-03-10 | 2009-09-16 | Shonan Gosei-Jushi Seisakusho K.K. | In-pipe work robot |
-
2011
- 2011-10-18 CN CN 201110317677 patent/CN102392926B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19859229A1 (en) * | 1998-12-21 | 2000-07-06 | Rico Mikroelektronik Gmbh | Pipe newt |
| WO2003034158A2 (en) * | 2001-10-17 | 2003-04-24 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| WO2003034158A3 (en) * | 2001-10-17 | 2003-07-31 | Univ Rice William M | Autonomous robotic crawler for in-pipe inspection |
| CN1635296A (en) * | 2003-12-29 | 2005-07-06 | 大连理工大学 | Crawling conduit creeper |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| EP2000732A1 (en) * | 2007-06-08 | 2008-12-10 | Constructions Industrielles De La Mediterranee CNIM | Robot intended for moving a parcel in a burying conduit |
| JP2009056573A (en) * | 2007-09-03 | 2009-03-19 | Shizuoka Institute Of Science And Technology | Operation method of micro component |
| CN101144558A (en) * | 2007-09-30 | 2008-03-19 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| EP2101101A2 (en) * | 2008-03-10 | 2009-09-16 | Shonan Gosei-Jushi Seisakusho K.K. | In-pipe work robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| CN106697105A (en) * | 2016-11-27 | 2017-05-24 | 申俊 | Robot used for real-time monitoring of storage materials |
| CN107339545A (en) * | 2017-07-15 | 2017-11-10 | 连雪芳 | A kind of flexible cone Screw Motion In-pipe Robot |
| RU2686267C1 (en) * | 2018-08-13 | 2019-04-24 | Николай Петрович Дядченко | Screw propulsion unit |
| RU2686300C1 (en) * | 2018-08-27 | 2019-04-25 | Николай Петрович Дядченко | Screw-type propulsor |
| CN109330661A (en) * | 2018-10-17 | 2019-02-15 | 深圳达芬奇创新科技有限公司 | A kind of blood vessel depths blood lipid rubbish medical treatment cleaning mechanism |
| US20210015510A1 (en) * | 2019-07-15 | 2021-01-21 | Zhijun PENG | Ultrasonic robotic cleaner freely movable back and forth inside a blood vessel |
| US11583300B2 (en) * | 2019-07-15 | 2023-02-21 | Zhijun PENG | Ultrasonic robotic cleaner freely movable back and forth inside a blood vessel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102392926B (en) | 2013-04-24 |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130424 |
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| CF01 | Termination of patent right due to non-payment of annual fee |