CN104896257B - Circulation variable-pitch propeller pipe robot - Google Patents
Circulation variable-pitch propeller pipe robot Download PDFInfo
- Publication number
- CN104896257B CN104896257B CN201510188108.2A CN201510188108A CN104896257B CN 104896257 B CN104896257 B CN 104896257B CN 201510188108 A CN201510188108 A CN 201510188108A CN 104896257 B CN104896257 B CN 104896257B
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- CN
- China
- Prior art keywords
- motor
- bulb
- guide rod
- driving wheel
- short piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention open one circulation variable-pitch propeller pipe robot, including guide rod, linear telescopic motor, directive wheel, motor coordination dish, flake bulb, Telescopic short piece, driving wheel, driving wheel bracing frame and the motor of band deceleration group；Being provided with swivel bearing in described motor coordination dish, swivel bearing center is cased with flake bearing, and flake bearing sliding bush is on guide rod；Described directive wheel is connected with linear telescopic motor；Described flake bulb is contained on linear telescopic motor, and is socketed with the control bar of motor coordination dish；Described driving wheel is connected with the motor of the band deceleration group being arranged on Telescopic short piece；Described Telescopic short piece connects guide rod by driving wheel bracing frame；Bulb is installed on described Telescopic short piece, and is provided with connecting rod between the bulb on this bulb and swivel bearing；Described guide rod is connected with the bulb on swivel bearing also by synchronising (connecting) rod.The motion of this circulation variable-pitch propeller pipe robot is flexible, pull strength is big, can better adapt to operation in complicated pipeline.
Description
Technical field
The present invention relates to pipe robot, particularly relate to a kind of circulation change that can conveniently realize rate controlling, turning
Away from helical pipe robot.
Background technology
In modern production with life, all kinds of pipe networks such as petroleum gas, water delivery, heat supply are numerous.Pipe
Road is during long-term utilization, due to chemical attack, mechanical damage, crustal movement, conduit fittings abrasion etc.
Reason, easy appearance is such as corroded, and deforms, the damage of the forms such as crackle.Pipeline has and belongs to greatly
In the dangerous situations such as buried pipeline, the discovery of pipe leakage hidden danger difficulty, pole fire hazardous, blast, the life to the people
Life property safety causes serious threat, also has a strong impact on economic benefit.But, when finding leakage dangerous situation, enter
Row maintenance down will also result in huge economic loss and bad social influence.
Pipe robot is a kind of pipeline vehicle, be used for realizing pipeline conditions monitoring, breakdown maintenance and
Mechanical, electrical, the instrument integral system of the pipeline operations such as power tool conveying.In pipe robot running,
Portability multiple sensors, operation machinery etc., to realize the task such as Monitoring Pinpelines, maintenance.
At present, pipe robot according to its drive form can be largely classified into pipeline pig, wheeled, crawler type,
Brace type, walking, creeping motion type, spiral and snakelike formula.The most wheeled, crawler type, creeping motion type, spiral shell
Rotating utilization is relatively broad.
Wheeled pipe robot, typically directly or indirectly drives wheel by organizing motor more, and simple in construction is advanced
Speed is fast.Such as Chinese patent application publication No. is that " pipe robot " of CN 101915339 A uses wheel
Formula structure, it has two groups to take turns with tube wall vertical drive, adds the contact area of wheel outer rim and pipeline wall,
Robot is made to run the most steady.But this pipe robot obstacle detouring in the duct is the most difficult, is not suitable for
The pipeline of high inclination-angle, pull strength is the least.
Crawler belt type pipeline robot uses crawler belt to provide driving force, compared to wheeled pipe robot, crawler type
Pipe robot can be advanced in the pipeline that operating mode is the most severe, and obstacle climbing ability is relatively strong, is provided that bigger leading
Gravitation.Such as Chinese patent application publication No. is " a kind of crawler belt type pipeline robot " of CN 103697286 A,
It can realize the robot self adaptation to pipeline, but its overall dimension is bigger, it is difficult to realizes the functions such as turning.
Creeping motion type pipe robot is wriggled advance in the duct, and front-and-back unit replaces locking, it is provided that driving force is relatively
Greatly, good for adaptabilities such as defect of pipeline.Such as Chinese patent CN 103672290 A " drives wriggling entirely
Formula pipe robot ", the screwed pipe with internal and external threads used in its unit joint and drive lead screw and locking rack
Coordinate, it is achieved front-and-back unit replaces locking, and makes robot produce flexible advance or setback.This pipeline
Robot small volume, driving force is relatively strong, but this robot cannot independently detect whether locking, and structure is multiple
The miscellaneous pipe condition being difficult to be applicable to complexity.
Spiral type of drive is used more in microtubule robot, and driving wheel and conduit axis are in necessarily
Helical angle, driving wheel rotarily drives whole body and moves forwards or backwards.Screw drives is provided that the biggest
" single motor, the wheeled and speed change of driving force, such as Chinese patent application publication No. CN 102691856 A
The pipe robot of spiral combination drive " use spiral way to drive and can be by controlling the size of helical angle
Control the speed of service of robot, but its driving wheel is driven by rotary body, it is difficult to realize the accurate of robot
Location and curve control.
Summary of the invention
The technical problem to be solved is to provide one and has the curved ability of stronger mistake, moves flexibly, leads
Gravitation is big, the circulation variable-pitch propeller pipe robot of the complicated pipeline operations of energy ground adaptation.
The technical solution adopted for the present invention to solve the technical problems is: circulation variable-pitch propeller pipe robot,
Including guide rod, linear telescopic motor, directive wheel, motor coordination dish, flake bulb, Telescopic short piece, driving
Wheel, driving wheel bracing frame and the motor of band deceleration group；In described motor coordination dish, swivel bearing is installed, rotation
The rotating shaft center of holding is cased with flake bearing, and flake bearing sliding bush is on guide rod；Described directive wheel and linear telescopic electricity
Machine connects；Described flake bulb is contained on linear telescopic motor, and is socketed with the control bar of motor coordination dish；Institute
The motor of the band deceleration group stating driving wheel and be arranged on Telescopic short piece is connected；Described Telescopic short piece is by driving
Wheeling supporting frame connects guide rod；Bulb is installed on described Telescopic short piece, and this bulb and the ball on swivel bearing
Connecting rod it is provided with between Tou；Described guide rod is connected with the bulb on swivel bearing also by synchronising (connecting) rod.
Further technical scheme as the present invention: described by driving wheel, driving wheel bracing frame with band deceleration group
The actuating unit A that constitutes of motor the most uniform on guide rod be provided with two groups；Described linear telescopic motor and
The actuating unit B that directive wheel is constituted is at least provided with two groups on guide rod, and both are at a distance of 120 °.
Further technical scheme as the present invention: described Telescopic short piece is spring, vapour-pressure type or fluid pressure type；
Also above-mentioned Telescopic short piece can be set up between directive wheel and linear telescopic motor.
Beneficial effects of the present invention: the present invention circulates the motor adjustment dish of variable-pitch propeller pipe robot and can adjust
The helical angle of joint driving wheel, particularly can regulate each driving wheel and have any helical angle in certain limit,
And regulation can be circulated in motor process, make pipe robot can realize curved function.Each driving wheel is equal
Controlled by an individual motor, can conveniently regulate the speed of each driving wheel and turn to, simultaneously drive wheel and produce
Raw driving force is not limited by helical angle, and robot axial thrust force is big；This pipe robot solves well
Spiral type pipeline robot of having determined rate controlling, the problem of turning, and by the coordination to each driving wheel helical angle
Control, it is achieved the high efficiency traveling of helical pipe robot.This New Cycle variable-pitch propeller pipe robot is transported
Dynamic flexibly, pull strength big, operation in complicated pipeline can be better adapted to.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the plan structure schematic diagram of the present invention；
Fig. 3 is the spiral figure of space helix in the embodiment of the present invention.
Shown in figure: 1-guide rod；2-linear telescopic motor；3-directive wheel；4-motor coordination dish；5-flake
Bulb；6-Telescopic short piece；7-driving wheel；8-driving wheel bracing frame；The motor of 9-band deceleration group；10-rotates
Bearing；11-flake bearing；12-synchronising (connecting) rod；13-bulb.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, the circulation variable-pitch propeller pipe robot of the present invention, stretch including guide rod 1, straight line
Contracting motor 2, directive wheel 3, motor coordination dish 4, flake bulb 5, Telescopic short piece 6, driving wheel 7, driving
Wheeling supporting frame 8 and the motor 9 of band deceleration group；Swivel bearing 10 is installed, rotation in described motor coordination dish 4
Rotating shaft is held 10 centers and is cased with flake bearing 11, and flake bearing 11 sliding sleeve is on guide rod 1；Described directive wheel 3
It is connected with linear telescopic motor 2；Described flake bulb 5 is contained on linear telescopic motor 2, and and motor coordination
The control bar socket of dish 4；The motor 9 of described driving wheel 7 and the band deceleration group being arranged on Telescopic short piece 6
Connect；Described Telescopic short piece 6 connects guide rod 1 by driving wheel bracing frame 8；Install on described Telescopic short piece 6
There is a bulb 13, and be provided with connecting rod between the bulb on this bulb 13 and swivel bearing 10；Described guide rod 1
It is connected with the bulb on swivel bearing 10 also by synchronising (connecting) rod 12.Described bulb (13) is with actuating unit A
Synchronous rotary, motor coordination dish (4) is synchronized with the movement in the circumferential with actuating unit B.
Preferred embodiment, described by motor 9 structure of driving wheel 7, driving wheel bracing frame 8 and band deceleration group
The actuating unit A of one-tenth is the most uniform on guide rod 1 is provided with two groups；Described linear telescopic motor 2 and guiding
The actuating unit B of wheel 3 composition is at least provided with two groups on guide rod 1, and both are at a distance of 120 °.
Preferred embodiment, described Telescopic short piece 6 is spring, vapour-pressure type or fluid pressure type；Directive wheel (3)
And also can set up above-mentioned Telescopic short piece 6 between linear telescopic motor 2.
The work process of the present embodiment is as follows: when linear motion, linear telescopic motor 2 all stretches out same
Length, promotes motor coordination dish 4 to move along guide rod 1.Motor coordination dish 4 controls dynamic structure A by connecting rod
Produce identical helixangleθ.The motor 9 of band deceleration group drives driving wheel 7 to rotate, and driving wheel 7 has self
Around the spinning motion of driving wheel axis, also there is the revolution motion around conduit axis simultaneously.The motion of driving wheel 7
Form the spatially spiral around conduit axis in the duct linear, drive whole body to travel forward, engine
The retainer of structure B and support composition thereof then plays the effect of centering.The present invention can also be by linear telescopic electricity
Machine 2 regulates motor coordination dish 4 to control the helical angle of driving wheel 7 or directly to regulate the motor 9 of band deceleration group
Rotating speed regulate circulation variable-pitch propeller pipe robot movement velocity.
At needs curved time, linear telescopic motor 2 stretches out different length, promotes motor coordination dish to produce and inclines
Tiltedly, control the driving wheel 7 close to curve inner side and produce less helical angle, the driving outside bend
The helical angle that wheel 7 generation is bigger.Due to the effect of the retainer that actuating unit B and support thereof form, motion
Coordination dish 4 only random device people is along conduit axis horizontal movement.The motor 9 of band deceleration group drives driving wheel 7 to revolve
Turning, outside driven wheel 7 is during revolving round the sun around conduit axis, due to the effect spiral of motor coordination dish 4
Angle constantly reduces；In like manner, the driving wheel 7 of inner side helical angle in motor process laterally the most constantly increases.
The movement locus of driving wheel 7 is the outside width around conduit axis, and the narrow spatially spiral line in inner side is as shown in Figure 3.
Therefore circulation variable-pitch propeller pipe robot can realize curved motion.
Claims (3)
1. circulation variable-pitch propeller pipe robot, it is characterised in that: include guide rod (1), linear telescopic motor
(2), directive wheel (3), motor coordination dish (4), flake bulb (5), Telescopic short piece (6), driving wheel
(7), the motor (9) of driving wheel bracing frame (8) and band deceleration group；Peace in described motor coordination dish (4)
Equipped with swivel bearing (10), swivel bearing (10) center is cased with flake bearing (11), flake bearing (11) sliding sleeve
On guide rod (1)；Described directive wheel (3) is connected with linear telescopic motor (2)；Described flake bulb (5)
It is contained on linear telescopic motor (2), and is socketed with the control bar of motor coordination dish (4)；Described driving wheel (7)
It is connected with the motor (9) of the band deceleration group being arranged on Telescopic short piece (6)；Described Telescopic short piece (6) leads to
Wheeling supporting frame (8) of overdriving connects guide rod (1)；Bulb (13) is installed on described Telescopic short piece (6),
And it is provided with connecting rod between the bulb on this bulb (13) and swivel bearing (10)；Described guide rod (1) is the most logical
Cross synchronising (connecting) rod (12) to be connected with the bulb on swivel bearing (10).
Circulation variable-pitch propeller pipe robot the most according to claim 1, it is characterised in that: by driving
The actuating unit A that the motor (9) of wheel (7), driving wheel bracing frame (8) and band deceleration group is constituted is at guide rod
(1) the most uniform on it is provided with two groups；It is dynamic that described linear telescopic motor (2) and directive wheel (3) are constituted
Force mechanisms B is at least provided with two groups on guide rod (1), and both are at a distance of 120 °.
Circulation variable-pitch propeller pipe robot the most according to claim 1 and 2, it is characterised in that: institute
Stating Telescopic short piece (6) is spring, vapour-pressure type or fluid pressure type；Directive wheel (3) and linear telescopic motor (2)
Between have additional above-mentioned Telescopic short piece (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510188108.2A CN104896257B (en) | 2015-04-20 | 2015-04-20 | Circulation variable-pitch propeller pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510188108.2A CN104896257B (en) | 2015-04-20 | 2015-04-20 | Circulation variable-pitch propeller pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104896257A CN104896257A (en) | 2015-09-09 |
| CN104896257B true CN104896257B (en) | 2016-10-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510188108.2A Expired - Fee Related CN104896257B (en) | 2015-04-20 | 2015-04-20 | Circulation variable-pitch propeller pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104896257B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247081B (en) * | 2016-09-08 | 2019-08-13 | 肇庆市小凡人科技有限公司 | A kind of pipe robot |
| CN106870874B (en) * | 2017-04-10 | 2022-10-28 | 廊坊市润旭机电设备有限公司 | Pipeline movement device |
| CN107152585B (en) * | 2017-07-14 | 2023-03-28 | 哈工大机器人（合肥）国际创新研究院 | Spiral pipeline inner wall running gear |
| CN107270026B (en) * | 2017-08-08 | 2019-11-05 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN107448730B (en) * | 2017-08-08 | 2019-11-01 | 浙江海洋大学 | A kind of crusing robot for gas pipeline |
| CN109533318B (en) * | 2018-09-28 | 2024-08-02 | 北京因时机器人科技有限公司 | Tilting disk driving mechanism and model helicopter |
| CN109940592A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | Elastic ectoskeleton backrest |
| CN110173607B (en) * | 2019-07-10 | 2024-03-26 | 浙江天煌科技实业有限公司 | Multi-joint omnidirectional movement pipeline robot |
| CN110773522B (en) * | 2019-07-16 | 2022-05-17 | 中国石油大学(华东) | Paraffin cleaning operation pipeline robot |
| CN112077723B (en) * | 2020-09-15 | 2021-11-19 | 山东凯迪威家具有限公司 | Soft packet burnishing device of skin carving |
| CN113353168B (en) * | 2021-08-11 | 2021-10-12 | 西南石油大学 | Outer pipeline detection robot and walking method |
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|---|---|---|---|---|
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN201143507Y (en) * | 2007-12-14 | 2008-11-05 | 德昌电机(深圳)有限公司 | Multi-direction pipe cleaner |
| CN102128335A (en) * | 2011-01-27 | 2011-07-20 | 西北工业大学 | Adjustable adaptive traveling mechanism in pipeline |
| CN202914966U (en) * | 2012-11-30 | 2013-05-01 | 电子科技大学 | Folding type wheeled leg pipeline robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5164826A (en) * | 1991-08-19 | 1992-11-17 | Westinghouse Electric Corp. | Method and apparatus for visual inspection of the internal structure of apparatus through internal passages |
-
2015
- 2015-04-20 CN CN201510188108.2A patent/CN104896257B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN201143507Y (en) * | 2007-12-14 | 2008-11-05 | 德昌电机(深圳)有限公司 | Multi-direction pipe cleaner |
| CN102128335A (en) * | 2011-01-27 | 2011-07-20 | 西北工业大学 | Adjustable adaptive traveling mechanism in pipeline |
| CN202914966U (en) * | 2012-11-30 | 2013-05-01 | 电子科技大学 | Folding type wheeled leg pipeline robot |
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| Publication number | Publication date |
|---|---|
| CN104896257A (en) | 2015-09-09 |
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