CN103697285A - Wheel and crawler compounding radial adjustable pipeline robot - Google Patents
Wheel and crawler compounding radial adjustable pipeline robot Download PDFInfo
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- CN103697285A CN103697285A CN201310505698.8A CN201310505698A CN103697285A CN 103697285 A CN103697285 A CN 103697285A CN 201310505698 A CN201310505698 A CN 201310505698A CN 103697285 A CN103697285 A CN 103697285A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses a wheel and crawler compounding radial adjustable pipeline robot. A bionic type pipeline robot has low moving speed and great fluctuation, the structure of a crawler type pipeline robot is complicated, and a vehicle type pipeline robot cannot enter a vertical pipeline. The wheel and crawler compound radial adjustable pipeline robot comprises a plurality of wheel and crawler compounding mechanisms, wherein each wheel and crawler compounding mechanism comprises a main casing, a radial adjusting mechanism, a crawler driving walking mechanism and a wheel type support mechanism, two installing side plates are connected through a driving belt wheel installing shaft and a driven belt wheel installing shaft, a driving belt wheel is fixedly arranged on the driving belt wheel installing shaft, a driven belt wheel is fixedly arranged on the driven belt wheel installing shaft, the driving belt wheel is connected with the driven belt wheel through a crawler, the installing side plates are hinged to the main casing through a driven swinging rod, each wheel type support mechanism comprises a bottom plate and a pulley, two ends of the bottom plate are respectively hinged to the main casing through the driven swinging rod, and the driven swinging rod arranged at one end is hinged to the other end of a driving swinging rod. The wheel and crawler compounding radial adjustable pipeline robot has good moving stability and is applicable to various complicated pipelines.
Description
Technical field
The invention belongs to Robotics field, relate to a kind of pipeline robot, relate in particular to a kind of wheel and carry out compound radial adjustable pipeline robot.
Background technique
At present, along with the high speed development of traffic, the energy, oil, chemical industry and urban construction, the application of pipeline is also increasingly extensive.Pipeline robot is widely used in the inside and outside operation of pipe.But current existing pipeline robot is mainly bionic movement formula, crawler, helical driving type, vehicle formula and support wheel type, has following defect:
Bionic type pipeline robot uses bionics principle, by robot body, stretches to move, and its travelling speed in pipeline is slow and fluctuation is large, and stationarity is poor, and driving force and travelling speed are limited, and sport efficiency is difficult for improving, and practical application is less.
Crawler belt type pipeline robot can keep good walking posture under the mal-conditions such as greasy dirt, muddy, obstacle, has good obstacle performance.But this class pipeline robot complex structure, boundary dimension is larger, and underaction, be generally used for caliber large, by the pipeline of environment more complicated.
Vehicle formula pipeline robot imitates general-utility car mechanism, relies on differential to realize and turns to flexibly.It is simple in structure, and size is less, but running environment is subject to the restriction of Action of Gravity Field direction.If without additional seal force, only depend on the gravity of robot self that seal force is provided, can only meet the bottom motion of horizontal pipe, its tractive force is little, and grade ability is extremely limited, can not enter vertical pipe.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, provide a kind of wheel to carry out compound radial adjustable pipeline robot, this pipeline robot stability of motions is better, and its crawler belt has stronger adhesion to tube wall, is applicable to the pipeline of various complexity.
The present invention includes a plurality of shoe composite mechanisms of taking turns of connecting by universal joint, each is taken turns shoe composite mechanism and comprises main casing, radial regulation mechanism, track drive traveller and wheeled supporting mechanism; Described main casing is the cylinder that two ends are all fixedly installed end cap, and sidewall offers three notches that are uniformly distributed along the circumference; Adjacent two wheels are carried out composite mechanism and are connected by universal joint, and the two ends of universal joint are connected with the end cap that adjacent two wheels are carried out composite mechanism respectively; Described radial regulation mechanism whole installation is inner at main casing, and track drive traveller and two wheeled supporting mechanisms are along circumferential uniform being arranged on outside main casing.
Described radial regulation mechanism comprises radial regulation motor, radial regulation initiatively cylindrical gears, radial regulation driven cylindrical gear, radial regulation drive bevel gear, radial regulation driven wheel of differential, worm screw, worm gear, leading screw and feed screw nut; Described radial regulation motor is fixed on the inwall of main casing, output shaft and radial regulation initiatively cylindrical gears are fixed, radial regulation driven cylindrical gear and radial regulation drive bevel gear are all fixed on driven shaft, and radial regulation driven wheel of differential is fixed on worm screw, and worm gear is fixed on leading screw; Driven shaft, worm screw and leading screw are all connected by bearing with main casing.Described radial regulation is cylindrical gears and the engagement of radial regulation driven cylindrical gear initiatively, radial regulation drive bevel gear and the engagement of radial regulation driven wheel of differential, worm and wheel engagement; Described feed screw nut is nested with on leading screw and sliding bar, and is connected with threads of lead screw, and feed screw nut is along being circumferentially evenly equipped with three bearings, and one end of each bearing and an active fork is hinged, and every active fork stretches out outside corresponding notch.Described sliding bar is fixed on the inwall of main casing.
Described track drive traveller comprises installs side plate, driving pulley installation shaft, driven pulley installation shaft, driving pulley, driven pulley, crawler belt, track drive motor and train of reduction gears; Two one end that side plate is installed are all connected by bearing with driving pulley installation shaft, and the other end is all connected by bearing with driven pulley installation shaft; The described every two ends that side plate is installed are all hinged by driven fork and main casing, and the other end of the driven fork of one end and an active fork is hinged; In described driving pulley installation shaft, be fixedly installed two driving pulleys, be fixedly installed two driven pulleys in driven pulley installation shaft, each driving pulley connects by crawler belt with corresponding driven pulley; Described track drive motor is fixedly installed on one and installs on side plate, and drives driving pulley to rotate by train of reduction gears.
Described train of reduction gears comprises three grades of cylindrical gear pairs and three grades of bevel gear pairs, on the output shaft of track drive motor, be fixedly installed initiatively cylindrical gears of the first order, first order driven cylindrical gear and first order drive bevel gear are fixed in same rooted tooth wheel installation shaft, first order driven wheel of differential and the second level initiatively cylindrical gears are fixed in same rooted tooth wheel installation shaft, second level driven cylindrical gear and the third level initiatively cylindrical gears are fixed in same rooted tooth wheel installation shaft, third level driven cylindrical gear and second level drive bevel gear are fixed in same rooted tooth wheel installation shaft, second level driven wheel of differential and third level drive bevel gear are fixed in same rooted tooth wheel installation shaft, third level driven wheel of differential is fixed in driving pulley installation shaft, all gear installation shaft are bearing with installation side plate and are connected.
Described wheeled supporting mechanism comprises base plate and pulley; The two ends of described base plate are all hinged by driven fork and main casing, and the other end of the driven fork of one end and an active fork is hinged, and the driven fork of the other end is connected with main casing by spring; Two pulleys are hinged with the two ends, bottom of base plate respectively.With the hinged active fork of two wheeled supporting mechanisms and with the hinged active fork of track drive traveller same one end towards main casing; Hinged with track drive traveller and hinged with two wheeled supporting mechanisms active oscillating bar length all equates, all hinged with track drive traveller and hinged with wheeled supporting mechanism slave pendulum pole lengths all equate.
Beneficial effect of the present invention:
1, the shoe composite mechanism of taking turns of the present invention connects by universal joint, smooth bending while guaranteeing to run into bend; The radial regulation mechanism being comprised of worm gear, worm mechanism and screw pair can produce larger power, makes crawler belt produce stronger adhesion to tube wall; When wheeled supporting mechanism launches, the pressure of spring has played the effect that increases pipeline adhesion; Track drive traveller and two wheeled supporting mechanisms are along pipeline synchronization telescope radially, when robot is when walking in pipe runs into caliber variation or runnability variation, it is consistent with central axis that central axis of the present invention remains, therefore can firm support on tube wall, stability of motions is better.
2, the present invention is applicable to become the Detection task of caliber pipeline, bend and vertical pipeline.
3, track drive traveller of the present invention has the frictional force larger to tube wall, and uses wheeled supporting mechanism can effectively alleviate weight of the present invention.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the stereogram that in Fig. 1, wheel is carried out composite mechanism;
Fig. 3 is the stereogram of controlling mechanism radially in the present invention;
Fig. 4 is the stereogram of track drive traveller in the present invention;
Fig. 5 is the transmission principle schematic diagram of track drive traveller in the present invention;
Fig. 6 is the assembling stereogram of wheeled supporting mechanism and main casing in the present invention;
Fig. 7 is that in the present invention, wheel is carried out the stereogram of composite mechanism in pipeline.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As illustrated in fig. 1 and 2, a kind of compound radial adjustable pipeline robot of shoe of taking turns comprises three wheel shoe composite mechanisms 1 of connecting by universal joint 3, and each is taken turns shoe composite mechanism 1 and comprises main casing 2, radial regulation mechanism 6, track drive traveller 4 and wheeled supporting mechanism 5; Main casing 2 is the cylinder that two ends are all fixedly installed end cap, and sidewall offers three notch 2-1 that are uniformly distributed along the circumference, and adjacent two wheels are carried out composite mechanisms 1 and connected by universal joint 3, and the two ends of universal joint 3 are connected with the end caps that adjacent two wheels are carried out composite mechanisms 1 respectively; Radial regulation mechanism 6 whole installations are in main casing 2 inside, and track drive traveller 4 and two wheeled supporting mechanisms 5 are along circumferential uniform being arranged on outside main casing 2.
As shown in Figures 2 and 3, radial regulation mechanism 6 comprises radial regulation motor 6-1, radial regulation initiatively cylindrical gears 6-2, radial regulation driven cylindrical gear 6-3, radial regulation drive bevel gear 6-4, radial regulation driven wheel of differential 6-5, worm screw 6-6, worm gear 6-7, leading screw 6-8 and feed screw nut 6-9; Radial regulation motor 6-1 is fixed on the inwall of main casing 2, output shaft and radial regulation initiatively cylindrical gears 6-2 are fixed, radial regulation driven cylindrical gear 6-3 and radial regulation drive bevel gear 6-4 are all fixed on driven shaft, it is upper that radial regulation driven wheel of differential 6-5 is fixed on worm screw 6-6, and worm gear 6-7 is fixed on leading screw 6-8; Driven shaft, worm screw 6-6 and leading screw 6-8 are all connected by bearing with main casing 2.Radial regulation is cylindrical gears 6-2 and radial regulation driven cylindrical gear 6-3 engagement initiatively, radial regulation drive bevel gear 6-4 and radial regulation driven wheel of differential 6-5 engagement, worm screw 6-6 and worm gear 6-7 engagement; Feed screw nut 6-9 is nested with on leading screw 6-8 and sliding bar 6-10, and is threaded with leading screw 6-8, and feed screw nut 6-9 is along being circumferentially evenly equipped with three bearings, and one end of each bearing and an active fork 7 is hinged, and every active fork 7 stretches out outside corresponding notch 2-1.Sliding bar 6-10 is fixed on the inwall of main casing 2.
As shown in Fig. 2,4 and 5, track drive traveller 4 comprises installs side plate 4-1, driving pulley installation shaft 4-2, driven pulley installation shaft 4-3, driving pulley 4-4, driven pulley 4-5, crawler belt 4-6, track drive motor 4-7 and train of reduction gears; Two one end that side plate 4-1 is installed are all connected by bearing with driving pulley installation shaft 4-2, and the other end is all connected by bearing with driven pulley installation shaft 4-3; The every two ends that side plate 4-1 is installed are all hinged with main casing 2 by driven fork 8, and the other end of the driven fork 8 of one end and an active fork 7 is hinged; On driving pulley installation shaft 4-2, be fixedly installed two driving pulley 4-4, be fixedly installed two driven pulley 4-5 on driven pulley installation shaft 4-3, each driving pulley 4-4 connects by crawler belt 4-6 with corresponding driven pulley 4-5; Track drive motor 4-7 is fixedly installed on one and side plate 4-1 is installed above, and drives driving pulley 4-4 to rotate by train of reduction gears.
Train of reduction gears comprises three grades of cylindrical gear pairs and three grades of bevel gear pairs, on the output shaft of track drive motor 4-7, be fixedly installed initiatively cylindrical gears 4-8 of the first order, first order driven cylindrical gear 4-9 and first order drive bevel gear 4-10 are fixed in same rooted tooth wheel installation shaft, first order driven wheel of differential 4-11 and the second level initiatively cylindrical gears 4-12 are fixed in same rooted tooth wheel installation shaft, second level driven cylindrical gear 4-13 and the third level initiatively cylindrical gears 4-14 are fixed in same rooted tooth wheel installation shaft, third level driven cylindrical gear 4-15 and second level drive bevel gear 4-16 are fixed in same rooted tooth wheel installation shaft, second level driven wheel of differential 4-17 and third level drive bevel gear 4-18 are fixed in same rooted tooth wheel installation shaft, third level driven wheel of differential 4-19 is fixed on driving pulley installation shaft 4-2, all gear installation shaft are bearing with installation side plate and are connected.Track drive motor 4-7 drive the first order initiatively cylindrical gears 4-8 rotate, and by power transmission to third level driven wheel of differential 4-19, then drive driving pulley 4-4 to rotate.
As shown in Figure 6, wheeled supporting mechanism 5 comprises base plate 5-1 and pulley 5-2; The two ends of base plate 5-1 are all hinged with main casing 2 by driven fork 8, and the other end of the driven fork 8 of one end and an active fork 7 is hinged, and the driven fork 8 of the other end is connected with main casing 2 by spring 9; Two pulley 5-2 are hinged with the two ends, bottom of base plate 5-1 respectively.With the hinged active fork 7 of two wheeled supporting mechanisms 5 and with the hinged active fork 7 of track drive traveller 4 same one end towards main casing 2; Hinged and with hinged active fork 7 identical length of two wheeled supporting mechanisms 5 etc. with track drive traveller 4, all hinged and with hinged driven fork 8 identical length of wheeled supporting mechanism 5 etc. with track drive traveller 4.
This takes turns the working principle of carrying out compound radial adjustable pipeline robot:
Radial regulation motor 6-1 drives initiatively cylindrical gears 6-2 rotation of radial regulation, through radial regulation driven cylindrical gear 6-3, radial regulation drive bevel gear 6-4 and radial regulation driven wheel of differential 6-5, power is passed to worm screw 6-6, after the big speed ratio deceleration increasing of worm gear 6-7, worm screw 6-6 is turned round, give the enough torque drive feed screw nut 6-9 of leading screw 6-8 and reciprocatingly move on sliding bar 6-10.Driving track drive travellers 4 and wheeled supporting mechanism 5 radially to do synchronization telescope along pipeline with the hinged active fork of feed screw nut 6-9 7 moves and is adjacent to inner-walls of duct.Track drive motor 4-7 drives initiatively cylindrical gears 4-8 rotation of the first order, through three grades of cylindrical gear pairs and three grades of bevel gear pairs, power is passed to driving pulley 4-4, driving pulley 4-4 and driven pulley 4-5 pass through crawler belt 4-6 transferring power, thereby realize the walking function of track drive traveller 4.
This is taken turns and carries out compound radial adjustable pipeline robot when bending part, and universal joint 3 has just played the effect flexibly connecting; While entering the pipeline of vertical direction, radial regulation motor 6-1 starts, and drives track drive traveller 4 and wheeled supporting mechanism 5 to be adjacent to inner-walls of duct.Spring 9 is impaction state before wheeled supporting mechanism 5 does not launch, and when wheeled supporting mechanism 5 launches, the pressure of spring 9 promotes driven fork 8 and moves upward, and has played the effect that increases pipeline adhesion.
As shown in Figure 7, this is taken turns the compound radial adjustable pipeline robot of shoe and is supported on inner-walls of duct by track driving mechanism and 5 tensionings of wheeled supporting mechanism, can walking vertically in pipe.Because track drive traveller 4 and two wheeled supporting mechanisms 5 are along pipeline synchronization telescope radially, when robot is when walking in pipe runs into caliber variation or runnability variation, this central axis of taking turns the compound radial adjustable pipeline robot of shoe remains consistent with central axis, therefore can firm support on tube wall, stability of motions is better.Meanwhile, the radial regulation mechanism 6 being comprised of worm gear, worm mechanism and screw pair can produce larger power, makes crawler belt 4-6 produce stronger adhesion to tube wall, is applicable to the pipeline of various complexity, and application prospect is extensive.
Claims (3)
1. wheel is carried out a compound radial adjustable pipeline robot, comprises a plurality of shoe composite mechanisms of taking turns of connecting by universal joint, it is characterized in that:
Described each taken turns shoe composite mechanism and comprised main casing, radial regulation mechanism, track drive traveller and wheeled supporting mechanism; Described main casing is the cylinder that two ends are all fixedly installed end cap, and sidewall offers three notches that are uniformly distributed along the circumference; Adjacent two wheels are carried out composite mechanism and are connected by universal joint, and the two ends of universal joint are connected with the end cap that adjacent two wheels are carried out composite mechanism respectively; Described radial regulation mechanism whole installation is inner at main casing, and track drive traveller and two wheeled supporting mechanisms are along circumferential uniform being arranged on outside main casing;
Described radial regulation mechanism comprises radial regulation motor, radial regulation initiatively cylindrical gears, radial regulation driven cylindrical gear, radial regulation drive bevel gear, radial regulation driven wheel of differential, worm screw, worm gear, leading screw and feed screw nut; Described radial regulation motor is fixed on the inwall of main casing, output shaft and radial regulation initiatively cylindrical gears are fixed, radial regulation driven cylindrical gear and radial regulation drive bevel gear are all fixed on driven shaft, and radial regulation driven wheel of differential is fixed on worm screw, and worm gear is fixed on leading screw; Driven shaft, worm screw and leading screw are all connected by bearing with main casing; Described radial regulation is cylindrical gears and the engagement of radial regulation driven cylindrical gear initiatively, radial regulation drive bevel gear and the engagement of radial regulation driven wheel of differential, worm and wheel engagement; Described feed screw nut is nested with on leading screw and sliding bar, and is connected with threads of lead screw, and feed screw nut is along being circumferentially evenly equipped with three bearings, and one end of each bearing and an active fork is hinged, and every active fork stretches out outside corresponding notch; Described sliding bar is fixed on the inwall of main casing;
Described track drive traveller comprises installs side plate, driving pulley installation shaft, driven pulley installation shaft, driving pulley, driven pulley, crawler belt, track drive motor and train of reduction gears; Two one end that side plate is installed are all connected by bearing with driving pulley installation shaft, and the other end is all connected by bearing with driven pulley installation shaft; The described every two ends that side plate is installed are all hinged by driven fork and main casing, and the other end of the driven fork of one end and an active fork is hinged; In described driving pulley installation shaft, be fixedly installed two driving pulleys, be fixedly installed two driven pulleys in driven pulley installation shaft, each driving pulley connects by crawler belt with corresponding driven pulley; Described track drive motor is fixedly installed on one and installs on side plate, and drives driving pulley to rotate by train of reduction gears;
Described wheeled supporting mechanism comprises base plate and pulley; The two ends of described base plate are all hinged by driven fork and main casing, and the other end of the driven fork of one end and an active fork is hinged, and the driven fork of the other end is connected with main casing by spring; Two pulleys are hinged with the two ends, bottom of base plate respectively; With the hinged active fork of two wheeled supporting mechanisms and with the hinged active fork of track drive traveller same one end towards main casing.
2. a kind of wheel according to claim 1 carried out compound radial adjustable pipeline robot, it is characterized in that: described train of reduction gears comprises three grades of cylindrical gear pairs and three grades of bevel gear pairs, on the output shaft of track drive motor, be fixedly installed initiatively cylindrical gears of the first order, first order driven cylindrical gear and first order drive bevel gear are fixed in same rooted tooth wheel installation shaft, first order driven wheel of differential and the second level initiatively cylindrical gears are fixed in same rooted tooth wheel installation shaft, second level driven cylindrical gear and the third level initiatively cylindrical gears are fixed in same rooted tooth wheel installation shaft, third level driven cylindrical gear and second level drive bevel gear are fixed in same rooted tooth wheel installation shaft, second level driven wheel of differential and third level drive bevel gear are fixed in same rooted tooth wheel installation shaft, third level driven wheel of differential is fixed in driving pulley installation shaft, all gear installation shaft are bearing with installation side plate and are connected.
3. a kind of wheel according to claim 1 carried out compound radial adjustable pipeline robot, it is characterized in that: described hinged with track drive traveller and hinged with two wheeled supporting mechanisms active oscillating bar length all equates, all hinged with track drive traveller and hinged with wheeled supporting mechanism slave pendulum pole lengths all equate.
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| CN201310505698.8A CN103697285B (en) | 2014-01-13 | 2014-01-13 | A kind of wheel carries out compound radial adjustable pipeline robot |
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| CN201310505698.8A CN103697285B (en) | 2014-01-13 | 2014-01-13 | A kind of wheel carries out compound radial adjustable pipeline robot |
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| CN103697285B CN103697285B (en) | 2015-10-28 |
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