CN102401213A - Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure - Google Patents
Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure Download PDFInfo
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- CN102401213A CN102401213A CN2011101878217A CN201110187821A CN102401213A CN 102401213 A CN102401213 A CN 102401213A CN 2011101878217 A CN2011101878217 A CN 2011101878217A CN 201110187821 A CN201110187821 A CN 201110187821A CN 102401213 A CN102401213 A CN 102401213A
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Abstract
The invention relates to the field of pipeline robot research, in particular to a flexible peristaltic pipeline robot with a guide head and a one-way traveling wheel structure. The invention discloses a flexible peristaltic pipeline robot with a guide head and one-way traveling wheels, which comprises a front robot body, a guide head mechanism, a rear robot body, a flexible spring shaft and one-way traveling wheels, wherein the flexible spring shaft is fixed with the front robot body, penetrates through the rear robot body and is meshed with a motor shaft installed on the rear robot body to form helical drive, and a peristaltic traveling driving device is formed; the guide head mechanism is driven by a guide head motor fixed on the front robot body, and one tension spring is connected with the guide head and the front robot body; and four sets of one-way traveling wheels are respectively installed on the front robot body and the rear robot body, and each set of one-way traveling wheels comprises two one-way traveling wheels. The robot provided by the invention can smoothly pass through straight, T-shaped, L-shaped bent pipes and a reducing pipeline, the traveling wheels are always in contact with the inner wall of the pipeline in a movement process, and the robot has the advantages of easiness in control, good stability and high adaptability.
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 and one-way wheel structure.
Background technique
Pipeline robot is a kind of mechanical device that can in pipeline, walk, is operated in the conveyance conduit, is used to accomplish the intelligent apparatus of defect of pipeline detection, reparation etc., is the important tool that ensures pipe safety.In current society, various pipelines have obtained using widely, all be unable to do without pipeline in modern industry, agricultural and the daily life, and pipeline becomes one of important tool of material conveying.In use owing to receive effects such as vibration, thermal cycle, burn into overburdening, add the latent defect that pipeline itself possibly hidden, the life-span is always limited.Internal structure is intricate, environment is abominable in underground, aerial or building but pipeline is general buried, and internal diameter is less, and manual work is difficult to work under such environment, and pipeline robot arises at the historic moment thus.This detection technique has improved the accuracy of pipeline inspection side, is convenient to the man analysis of pipework management maintenance and understands the reason that defect of pipeline produces, and carries out the assessment to defective; Work out the pipe-line maintenance scheme, eliminate pipe safety hidden danger, before accident takes place, just in a planned way keep in repair or change pipeline section; Thereby practice thrift a large amount of maintenance expensess; Reduce the pipe-line maintenance cost, ensure people's lives and property safety, reduce the environmental pollution that toxic gas or leak of liquid cause.Therefore, the research of carrying out detecting robot of pipe has important scientific meaning and tangible social economic benefit.
Disclose correlation technique in the existing technology, disclose a kind of flexible wriggle pipeline robot with guide head like application number ZL200910088008.7 patent, this pipeline robot complex structure, restive, and also guidance capability is poor.
Summary of the invention
The present invention provides a kind of flexible wriggle pipeline robot of the walking of in rectilinear duct, L type bend pipe, T type bend pipe and tapered pipeline, wriggling in order to address the above problem.
For achieving the above object, a kind of flexible wriggle pipeline robot provided by the present invention with guide head and unidirectional road wheel structure, it comprises:
Preceding body fuselage and back body fuselage, the end of forward and backward body fuselage is provided with forward and backward body end cap;
The wriggling driving mechanism of robot; It comprises drive unit and transmission device; Drive unit is fixed on the body of back, and transmission device comprises the flexure spring axle, and front end is fixed on the preceding body through the flexible shaft flange; The inner trapezoidal thread engagement of itself and motor shaft forms screw-drive mechanism, and motor shaft passes the rotor of movable motor;
Guide head mechanism, it comprises that one is installed in the guide head of preceding body end cap, fixes on the guide head motor output shaft through the guide head hinges fixing, on the body end cap, connects an extension spring between guide head and the guide head hinge before the guide head motor is fixed on;
Unidirectional road wheel mechanism, it comprises the some unidirectional road wheel that is installed on the forward and backward body end cap, said road wheel is provided with unilateral bearing can only rotate road wheel to a direction;
Said drive unit is no frame composition motor, and the rotor of this motor is a hollow.Said driving mechanism comprises a motor shaft and a flexure spring axle; Movable motor is installed in the movable motor shell; The movable motor shell is fixed on the body end cap of said back, and motor shaft is installed in the through hole of movable motor rotor, and this motor shaft has inner trapezoidal thread; The inner trapezoidal thread engagement of flexure spring axle and motor shaft constitutes power screw, and the front end of flexible shaft is fixed through flexible shaft flange and preceding body;
Motor shaft on the body end cap of back and on the movable motor shell, is installed code-disc at an end of movable motor through Bearing Installation, and said code-disc reads the speed and the angle information of code-disc through encoder;
The road wheel mechanism that unidirectional road wheel and inner-walls of duct are closely contacted, said road wheel mechanism comprises fixing frame, bolt one and bolt two, torsion spring and wheel bar.Said fixing frame is fixed on the end cap of said forward and backward body, and the said bar of taking turns is connected on the fixing frame through bolt two, and the wheel bar can be equipped with torsion spring around bolt two rotations on the bolt, road wheel is kept and the inner-walls of duct close contact.Said torsion spring adopts shape memory alloy spring, and this spring can be under the control of electric current, the size of adjustment spring force.Said wheel carrier can be installed two road wheels around bolt one rotation on the wheel carrier;
Road wheel that can only unidirectional rotation, this road wheel comprises wheel carrier, road wheel, unilateral bearing and wheel shaft, and a unilateral bearing is installed in the said road wheel, and road wheel can only unidirectionally be rotated, and is with three O type rubber rings on the wheel face, makes robot ambulation more steady.Said wheel shaft is installed in road wheel on the wheel carrier;
This guide mechanism comprises guide head motor, guide head hinge, guide head and extension spring.On the body end cap, said guide head hinges fixing fixed on the guide head motor output shaft before said guide head motor was fixed on, and said guide head is fixed on the guide head hinge, and said extension spring connects guide head and guide head hinge.Guide head can be around 360 ° of guide head electrical axis direction rotations under the control of guide head motor, and guide head swings aside under the effect of extension spring, and contacts with inner-walls of duct.The spherical structure on guide head top can reduce the surface friction drag of tube wall to robot;
According to claim 1 or 6 described flexible wriggle pipeline robots, it is characterized in that: 6 through holes are arranged on said guide head hinge with guide head and unidirectional road wheel structure.
Flexible wriggle pipeline robot with guide head and unidirectional road wheel structure provided by the invention has following advantage:
1, the flexure spring axle passes rotor, with the inner trapezoidal thread engagement of motor shaft, compact structure.
2, adopt the rotary steering head mechanism, the direction through a motor and an extension spring control guide head makes robot smoothly through L type and T type bend pipe, and simple in structure, adaptability is high, and guidance capability is strong.
3, the unidirectional road wheel of employing mechanism; This road wheel can only unidirectionally rotate, and the control of need not braking can realize the wriggling walking, and is simple in structure; Under the effect of torsion spring, contact with inner-walls of duct all the time; Promptly adapt to tapered pipeline, guaranteed the stability when forward and backward body of robot and pipeline are fixedly, improved the reliability and the adaptability of robot wriggling walking.
Description of drawings
Fig. 1 is the flexible wriggle pipeline robot cross-sectional view with guide head and unidirectional road wheel structure provided by the invention.
Fig. 2 is the structural representation of preceding body and guide head mechanism.
Fig. 3 is a back housing construction schematic representation.
Fig. 4 is unidirectional road wheel mechanism structure schematic representation.
Fig. 5 a to Fig. 5 c is the movement process schematic representation of this pipeline robot in rectilinear duct.
Fig. 6 a to Fig. 6 c is the movement process schematic representation of this pipeline robot through L type bend pipe.
Fig. 7 a to Fig. 7 e is the movement process schematic representation of this pipeline robot through T type bend pipe.
Label among the figure: 1: guide head mechanism, 11: guide head, 12: guide head hinge, 13 extension springs, 14 guide head motors, 2: preceding body; 21: preceding body fuselage, 22: preceding body end cap, 23: flexible shaft flange, 24: guide head motor housing, 3: back body, 31: back body end cap; 32: movable motor shell, 33: movable motor stator, 34: motor shaft, 35: movable motor rotor, 36: abutment sleeve, 37: the back body fuselage; 38: encoder, 39: code-disc, 310: bearing, 4: flexure spring axle, 5: unidirectional road wheel; 51: fixing frame, 52: bolt two, 53: wheel bar, 54: bolt one, 55: wheel carrier; 56: wheel shaft, 57: unilateral bearing, 58: road wheel, 59:O type rubber ring, 510: torsion spring.
Embodiment
Like Fig. 1, Fig. 2 and shown in Figure 3, a kind of flexible wriggle pipeline robot with guide head and unidirectional road wheel structure, it comprises: guide head mechanism 1, preceding body 2, back body 3, flexure spring axle 4 and unidirectional road wheel 5.
As shown in Figure 2; Preceding body fuselage 21 is fixed on the preceding body end cap 22; Preceding body fuselage 21 plays preceding body of protection and the effect that adapts to the pipe shape variation; Guide head motor 14 is installed in the center of body end cap before guide head motor housing 24 is fixed in the guide head motor housing 24, the dead in line of the axis of guide head motor 14 and preceding body end cap 22 and guide head motor housing 24.Flexible shaft flange 23 is fixed on the other end of guide head motor housing 24, its dead in line, and the front end of flexure spring axle 4 is through being threaded in flexible shaft flange 23.The unidirectional road wheel 5 of 4 covers is circumferentially evenly fixing through the preceding body end cap 22 in fixing frame 51 edges.The guide head 11 of guide head mechanism 1 is fixed on the guide head motor 14 through guide head hinge 12.Guide head 11 can be around the axle rotation of guide head hinge 12; 6 holes are all arranged, but this through hole mounting screw is used for the maximum angle of restricted guidance head 11 swing on guide head hinge 12; Can limit 6 angles according to demand mounting screw in corresponding hole.Between guide head 11 and guide head hinge 12, connect extension spring 13, under the effect of extension spring 13, guide head 11 is to a side oscillation of pipeline, and contacts with inner-walls of duct, and the spherical structure of guide head 11 front ends can reduce the frictional force with inner-walls of duct.On the body end cap 22, guide head 11 can be realized 360 ° of rotations with guide head hinge 12 around the axial direction of guide head motor 14 under the control of guide head motor 14 before guide head motor 14 was fixed on.
As shown in Figure 3, back body fuselage 37 is fixed on the back body end cap 31, and back body fuselage 37 plays protection back body 3 and adapts to the effect that pipe shape changes.Movable motor shell 32 passes through screw on the end face of back body end cap 31, the dead in line of the axis of movable motor shell 32 and back body end cap 31.Movable motor stator 33 is installed in the movable motor shell 32, axially the fixing of movable motor stator 33 through the boss of movable motor shell 32, movable motor stator 33 circumferentially pass through screw.Movable motor rotor 35 is quill shafts; Movable motor rotor 35 outsides cooperate with movable motor stator 33 to install forms electric system; Movable motor rotor 35 endoporus are installed on the motor shaft 34; Movable motor rotor 35 axially fixing with abutment sleeve 36 through the shaft shoulder of motor shaft 34, movable motor rotor 35 circumferentially pass through interference fit and special gelatin hydropexis.The two ends of motor shaft 34 are fixed on back body end cap 31 and the movable motor shell 32 through two bearings 310, and motor shaft 34 be expert at the driving of rotor 35 realizes down relatively rotating.Code-disc 39 is installed at left end face place at motor shaft 34, in the left side of movable motor shell 32 encoder 38 is installed, and encoder 38 and code-disc 39 can read the speed and the angle information of motor shaft 34.In the motor shaft 34 trapezoidal thread is arranged, cooperate with flexure spring axle 4 to form screw-drive mechanism, the running torque of movable motor rotor 35 is converted into the active force that flexure spring axle 4 straight lines move, the power of walking is provided for pipeline robot.The unidirectional road wheel 5 of 4 covers is circumferentially evenly fixing through fixing frame 51 body end cap 31 along the back.
As shown in Figure 4, unidirectional road wheel 5 comprises fixing frame 51, bolt 2 52, wheel bar 53, bolt 1, wheel carrier 55, wheel shaft 56, unilateral bearing 57, road wheel 58, O type rubber ring 59 and torsion spring 510.Fixing frame 51 makes progress the week that unidirectional road wheel 5 is fixed on forward and backward body.Wheel bar 53 is connected through bolt 2 52 with fixing frame 51, and wheel bar 53 can be around bolt 2 52 rotations.Torsion spring 510 is housed on the bolt 2 52, and the restoring force of 510 pairs of wheel bars 53 of torsion spring makes road wheel 58 maintenances closely contact with inner-walls of duct, adapts to different calibers, for the walking of pipeline robot provides power.Torsion spring 510 adopts shape memory alloy spring, and this spring can be under the control of electric current, the size of adjustment spring force, thus regulate pressure and the frictional force of tube wall to road wheel 58.Wheel carrier 55 can be around bolt one 54 rotations, and wheel carrier 55 is the self adaption adjusting angle under the effect of wheel bar 53 and inner-walls of duct, and two road wheels 58 are contacted with inner-walls of duct all the time, guarantees that the body attitude is steady.Be full of three O type rubber rings 59 on the road wheel 58, O type rubber ring 59 has increased the frictional force of road wheel 58 with inner-walls of duct, makes the pipeline robot walking more stable.Unilateral bearing 57 is installed in the center hole of road wheel 58, and unilateral bearing is installed on the wheel carrier 55 through wheel shaft 56.Unilateral bearing 57 can only so road wheel 58 can only rotate forward, can not rotate backward along the rotation of direction, so flexible wriggle pipeline robot can only advance, and can not retreat.When current body 2 or back body 3 moved forward, road wheel 57 rotated forward, and suffered frictional force is force of rolling friction.When current body 2 or back body 3 had the trend that moves backward, road wheel stopped operating, and the frictional force of wheel and tube wall is force of sliding friction, because force of sliding friction is greater than force of rolling friction, body 2 or back body 3 are fixed before the institute.
Shown in Fig. 5 a, 5b and 5c; Robot wriggling walking process is following: movable motor rotor 35 drives motor shaft 34 rotations in the walking process; Motor shaft 34 is formed screw-drive mechanisms with flexure spring axle 4, and the running torque of movable motor rotor 35 is converted into the active force that flexure spring axle 4 straight lines move.Be depicted as the motion original state with Fig. 5 a, when flexure spring axle 4 moved right, the road wheel 58 of preceding body 2 rotated; Receive force of rolling friction; The road wheel 58 of back body 3 is locked, receives force of sliding friction, because force of sliding friction is greater than force of rolling friction; So preceding body 2 moves, back body 3 is fixed; After body before the robot 2 moves a segment distance, shown in Fig. 5 b, 35 counterrotatings of movable motor rotor, this moment, the road wheel 58 of back body 3 rotated, and the road wheel 58 of preceding body 2 is locked, and back body 3 moves, and preceding body 2 is fixed; When current body 2 and back body 3 will be closed, shown in Fig. 5 c, 35 counterrotatings of movable motor rotor.So move in circles, robot realizes the wriggling walking.
Shown in Fig. 6 a, 6b and 6c; Robot is following through the walking process of L type bend pipe: when through L type bend pipe; Shown in Fig. 6 a, this moment, guide head 11 rotated to pipeline breach direction under the control of guide head motor 14, owing to there is not the constraint of tube wall; Guide head 11 is swung to the breach direction under the effect of extension spring 13, shown in Fig. 6 b.Flexure spring axle 4 moves right, and back body 3 is fixed, and preceding body 2 moves to arm under the effect of flexure spring axle 4, and flexure spring axle 4 is bending under the effect of bending moment, makes the preceding body 2 of robot get in the bend pipe zones, shown in Fig. 6 c.After this body 2 and back body 3 alternating motions before the robot pass through L type pipeline adaptively.
Shown in Fig. 7 a, 7b, 7c, 7d and 7e; Robot is following through the walking process of T type bend pipe: if robot keeps straight line moving, do not get into arm, then guide head 11 is turned to the arm opposite; Shown in Fig. 7 a, robot wriggling walking can be crossed arm.If robot gets into arm, then guide head 11 rotates to the arm direction under the driving of guide head motor 14; Owing to there is not the constraint of tube wall; To the swing of breach direction, shown in Fig. 7 b, flexure spring axially moves right guide head 11 then under the effect of extension spring 13; Then back body 3 is fixing, and preceding body 2 moves right under the promotion of flexure spring axle; When the front end of guide head 11 touched tube wall, shown in Fig. 7 c, guide head no longer moved right owing to receive the tube wall constraint, slips into arm along tube wall, and body 2 gets into arm before the guiding, shown in Fig. 7 d.After this preceding body 2 also gets into lateral with back body 3 alternating motions until back body 3, shown in Fig. 7 e.Thus, robot is smoothly through T type bend pipe.
Claims (7)
1. flexible wriggle pipeline robot with guide head and unidirectional road wheel structure, it comprises: preceding body fuselage and back body fuselage, the end of forward and backward body fuselage is provided with forward and backward body end cap; The wriggling driving mechanism of robot; It comprises drive unit and transmission device; Drive unit is fixed on the body of back, and transmission device comprises the flexure spring axle, and front end is fixed on the preceding body through the flexible shaft flange; The inner trapezoidal thread engagement of itself and motor shaft forms screw-drive mechanism, and motor shaft passes the rotor of movable motor; Guide head mechanism; It comprises that one is installed in the guide head of preceding body end cap; Fix on the guide head motor output shaft through the guide head hinges fixing, on the body end cap, connect an extension spring between guide head and the guide head hinge before the guide head motor is fixed on through guide head;
Unidirectional road wheel mechanism, it comprises the some unidirectional road wheel that is installed on the forward and backward body end cap, said road wheel is provided with unilateral bearing can only rotate road wheel to a direction.
2. the flexible wriggle pipeline robot with guide head and unidirectional road wheel structure according to claim 1, it is characterized in that: said drive unit is no frame composition motor, the rotor of this motor is a hollow.Said driving mechanism comprises a motor shaft and a flexure spring axle; Movable motor is installed in the movable motor shell; The movable motor shell is fixed on the body end cap of said back, and motor shaft is installed in the through hole of movable motor rotor, and this motor shaft has inner trapezoidal thread; The inner trapezoidal thread engagement of flexure spring axle and motor shaft constitutes power screw, and the front end of flexible shaft is fixed through flexible shaft flange and preceding body.
3. the flexible wriggle pipeline robot with guide head and unidirectional road wheel structure according to claim 1 and 2; It is characterized in that: motor shaft passes through Bearing Installation on the body end cap of back and on the movable motor shell; End at movable motor is installed code-disc, and said code-disc reads the speed and the angle information of code-disc through encoder.
4. the flexible wriggle pipeline robot with guide head and unidirectional road wheel structure according to claim 1 and 2; It is characterized in that: the road wheel mechanism that unidirectional road wheel and inner-walls of duct are closely contacted, said road wheel mechanism comprises fixing frame, bolt one and bolt two, torsion spring and wheel bar.Said fixing frame is fixed on the end cap of said forward and backward body, and the said bar of taking turns is connected on the fixing frame through bolt two, and the wheel bar can be equipped with torsion spring around bolt two rotations on the bolt, road wheel is kept and the inner-walls of duct close contact.Said torsion spring adopts shape memory alloy spring, and this spring can be under the control of electric current, the size of adjustment spring force.Said wheel carrier can be installed two road wheels around bolt one rotation on the wheel carrier.
5. according to the described flexible wriggle pipeline robot of claim 1 or 2 or 4 with guide head and unidirectional road wheel structure; It is characterized in that: road wheel that can only unidirectional rotation; This road wheel comprises wheel carrier, road wheel, unilateral bearing and wheel shaft, and a unilateral bearing is installed in the said road wheel, and road wheel can only unidirectionally be rotated; Be with three O type rubber rings on the wheel face, make robot ambulation more steady.Said wheel shaft is installed in road wheel on the wheel carrier.
6. the flexible wriggle pipeline robot with guide head and unidirectional road wheel structure according to claim 1 is characterized in that: this guide mechanism comprises guide head motor, guide head hinge, guide head and extension spring.On the body end cap, said guide head hinges fixing fixed on the guide head motor output shaft before said guide head motor was fixed on, and said guide head is fixed on the guide head hinge, and said extension spring connects guide head and guide head hinge.Guide head can be around 360 ° of guide head electrical axis direction rotations under the control of guide head motor, and guide head swings aside under the effect of extension spring, and contacts with inner-walls of duct.The spherical structure on guide head top can reduce the surface friction drag of tube wall to robot.
7. according to claim 1 or 6 described flexible wriggle pipeline robots, it is characterized in that: 6 through holes are arranged on said guide head hinge with guide head and unidirectional road wheel structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101878217A CN102401213A (en) | 2011-07-06 | 2011-07-06 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101878217A CN102401213A (en) | 2011-07-06 | 2011-07-06 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102661470A (en) * | 2012-05-17 | 2012-09-12 | 北京邮电大学 | Novel crawling pipeline robot |
| CN103277473A (en) * | 2013-05-29 | 2013-09-04 | 北京邮电大学 | Novel flexible shaft spiral transmission device |
| CN106352904A (en) * | 2016-09-19 | 2017-01-25 | 上海未来伙伴机器人有限公司 | Photoelectric encoder coded disc, photoelectric detection device, photoelectric encoder and robot |
| CN108194763A (en) * | 2018-01-24 | 2018-06-22 | 天津大学 | The wheeled T-shaped pipe robot of big reducing |
| CN109404660A (en) * | 2018-12-14 | 2019-03-01 | 航天科工智能机器人有限责任公司 | Creeping motion type pipe robot with unidirectional wheel construction |
| CN110500470A (en) * | 2019-09-09 | 2019-11-26 | 浙江工业大学之江学院 | A kind of pipeline climbing robot with relative position navigation feature |
| CN110789629A (en) * | 2019-09-23 | 2020-02-14 | 中国矿业大学 | Rope climbing robot capable of crossing obstacle and obstacle crossing method thereof |
| CN111571081A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Pipeline inner wall welding robot |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
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| CN110500470B (en) * | 2019-09-09 | 2023-12-26 | 浙江工业大学之江学院 | Pipeline crawling robot with relative position navigation function |
| CN110789629A (en) * | 2019-09-23 | 2020-02-14 | 中国矿业大学 | Rope climbing robot capable of crossing obstacle and obstacle crossing method thereof |
| CN110789629B (en) * | 2019-09-23 | 2021-06-25 | 中国矿业大学 | Rope climbing robot capable of crossing obstacle and obstacle crossing method thereof |
| AU2019436656B2 (en) * | 2019-09-23 | 2021-12-23 | China University Of Mining And Technology | Rope climbing robot capable of surmounting obstacle and obstacle surmounting method thereof |
| CN111571081A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Pipeline inner wall welding robot |
| CN111571081B (en) * | 2020-06-01 | 2022-05-27 | Dig自动化工程（武汉）有限公司 | Pipeline inner wall welding robot |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
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Application publication date: 20120404 |