CN105114757B - Screw type geometry detecting robot device - Google Patents
Screw type geometry detecting robot device Download PDFInfo
- Publication number
- CN105114757B CN105114757B CN201510205777.6A CN201510205777A CN105114757B CN 105114757 B CN105114757 B CN 105114757B CN 201510205777 A CN201510205777 A CN 201510205777A CN 105114757 B CN105114757 B CN 105114757B
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- wheel
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- axle
- quan
- displacement
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Classifications
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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
Abstract
The invention relates to a pipeline detection mechanism, and particularly to a screw type geometry detecting robot device. The screw type geometry detecting robot device is characterized by comprising a guide mechanism, a connection mechanism, a displacement positioning and circumferential displacement detection mechanism, and a power mechanism and the like. Gas drive is adopted by the device, the guide mechanism is used for determining turn through a displacement sensor and a central processor, the power mechanism cooperates with a generator set to continuously supply power to the whole device, a storage battery is disposed at the same time, the circumferential displacement detection mechanism is used for driving an internal gear to rotate through a motor, the displacement sensor is used for detecting the screw type geometry through a rotary mechanism, four positioning wheels can position displacement through counting, a program is used for determining displacement increment, and the fault rate can be reduced. The screw type geometry detecting robot device is provided with an active turn determination mechanism, the accuracy of turn can be raised, jam hardly happens, the endurance can be ensured because of the generator set, the positioning wheels can be prevented from slipping because four wheels are disposed, and the device is simple in structure and low in cost.
Description
Technical field
The present invention relates to a kind of mechanism arrangement for pipe detection, more particularly to a kind of spiral geometry testing machine
Device people's device.
Background technology
In the fields such as general industry, nuclear facilities, petroleum gas, military equipment, pipeline is used as a kind of effective material
Transportation means and be widely used.To improve the generation of the accidents such as life-span, the prevent leakage of pipeline, just pipeline must be entered
Row effectively safeguard by detection, and pipe robot is produced to meet the needs.Pipe robot is that one kind can be along small sized pipeline
Portion or outside automatically walk, one or more sensor of carrying and operation machinery, in the remote manipulation or computer of staff
Automatically control down, carry out a series of mechanical, electrical, the instrument integral system of pipeline operations.The research of pipe robot both at home and abroad at present
Achievement a lot, but is carried out detecting, is keeped in repair in microtubule, special pipeline (such as tapered pipeline, the pipeline with U-tube)
Also ground zero, but as such pipeline is in the extensive application of every field, therefore research and develop such robot very attractive.
Robot exists and turns difficultly at present, it is impossible to the problems such as working long hours.
The content of the invention
Deficiency of the present invention for existing geometry robot, there is provided a kind of using independently turning round, carries charger
A kind of spiral geometry detection robot device of structure.The technical scheme which adopts is as follows：
A kind of spiral geometry detects robot device, it is characterised in that：Including guiding mechanism, displacement location and week
Displacement detecting mechanism, bindiny mechanism, actuating unit, power connector, electromotor, leather cup, protection shell body, bearing pin 10 × 22,
Leather cup support bar, nut M, bolt M, protection cap, block head, fan leaf, line shaft, bolt, bearing pin 10 × 24, power annulus,
Spring, fan shaft support ring, transmission axle, cylinder roller bearing NHE, bevel gear wheel, bevel pinion, wheel housing support car
Wheel, bearing pin 10 × 65, bearing pin 5 × 25, small rod, bearing pin 5 × 14, spring lever, nut cap, matrix put brush board, sensor
Post, big internal gear, laser displacement sensor, little gear, motor detect union joint, and cylinder roller bearing NHE, Ji Quan are fixed
Position support, slotted cheese head screw M2 × 8, turn round cover plate, positions gripper shoe, and encoder, L-type gripper shoe, counter wheel, positioning connect
Joint, copper band, copper band Ji Quan, car steelframe, side sleeve, side stay plate, bearing pin 8 × 35, side wheel, electric cylinder, installing plate, cylinder rod,
Bearing pin 5 × 10, axle connecting rod, block, sliding groove, sliding axle, turning connecting rod, bearing pin 10 × 18, wheel installing rack, front-wheel, bearing pin
10 × 24, trailing wheel, bearing pin 10 × 30, wheeling supporting frame take turns installing plate, and cross coupler, described guiding mechanism pass through connection machine
Structure and displacement location be connecteds with all displacement detecting mechanisms, described displacement location and all displacement detecting mechanisms pass through bindiny mechanism and
Actuating unit connects；Actuating unit includes power connector, and electromotor, leather cup protect shell body, bearing pin 10 × 22, leather cup
Strut, nut M, bolt M, protection cap, block head, fan leaf, line shaft, bolt, bearing pin 10 × 24, power annulus, spring, wind
Fan axle support ring, transmission axle, cylinder roller bearing NHE, bevel gear wheel, bevel pinion, described power connector and line shaft,
Cross coupler connects, and described electromotor is arranged on line shaft, while being connected with bevel gear wheel, described leather cup passes through pin
Axle 10 × 22 is connected with leather cup support bar, while be connected with line shaft by bolt, described protection shell body by bolt with
Axle connects, while nut M, bolt M are connected with protection cap, described block head is connected with line shaft by screw thread, described wind
Flabellum is arranged in transmission axle, and described transmission axle on cylinder roller bearing NHE, install by described fan shaft support ring
In line shaft, described cylinder roller bearing NHE is arranged in fan shaft support ring, and described bevel pinion is arranged on transmission
On axle；Displacement location includes wheel housing with all displacement detecting mechanisms, supports wheel, and bearing pin 10 × 65, bearing pin 5 × 25 are little
Connecting rod, bearing pin 5 × 14, spring lever, nut cap, matrix, point brush board, sensor strut, big internal gear, laser displacement sensor,
Little gear, motor, detection union joint, cylinder roller bearing NHE, Ji Quan, locating support, slotted cheese head screw M2 × 8,
Turn round cover plate, positioning gripper shoe, encoder, L-type gripper shoe, counter wheel, and be located by connecting head, copper band, copper band Ji Quan, described car
Wheel housings are connected with wheel is supported by bearing pin 10 × 65, and described small rod is connected with wheel housing by bearing pin 5 × 25
Connect, described bearing pin 5 × 14 connects small rod and spring lever, and described nut cap is connected with matrix, described point brush board is installed
On Ji Quan, on Ji Quan, described locating support passes through groove fillister head screw M2 × 8 and turns described sensor strut
Curved cover plate connection, described positioning gripper shoe are connected with encoder by L-type gripper shoe, and described counter wheel is connected with encoder
Connect, the described head that is located by connecting is connected with cross coupler, described copper band is arranged in copper band base circle；Guiding mechanism includes car
Steelframe, side sleeve, side stay plate, bearing pin 8 × 35, side wheel, electric cylinder, installing plate, cylinder rod, bearing pin 5 × 10, axle connecting rod, block,
Sliding groove, sliding axle, turning connecting rod, bearing pin 10 × 18, wheel installing rack, front-wheel, bearing pin 10 × 24, trailing wheel, bearing pin 10 × 30,
Wheeling supporting frame, takes turns installing plate, and described side sleeve is arranged on car steelframe, described side sleeve, side stay plate, bearing pin 8 × 35 with
Side wheel constitutes side traveling wheel, and described electric cylinder is installed on a mounting board, and described cylinder rod passes through bearing pin 5 × 10 and axle
Connecting rod connects, and described block be connected with sliding groove, and described sliding axle is arranged in sliding groove, described sliding axle and turning
Connecting rod connects, and described wheel installing rack is connected with car steelframe by bearing pin 10 × 18, and the described connection of bearing pin 10 × 24 is turned
Connecting rod and wheel installing rack, described front-wheel are arranged on wheel installing rack, and described trailing wheel is by bearing pin 10 × 30 and wheel
Support connects, and described wheel installing plate is connected with car steelframe；Bindiny mechanism is realized by cross coupler, is always divided into
Two groups.
Above-mentioned point brush board, sensor strut, big internal gear, laser displacement sensor, little gear, motor, cylinder
Roller bearing NHE, Ji Quan, copper band and copper band Ji Quan collectively constitute rotation testing agency, and point brush version is aligned with copper band, big internal gear
It is connected together with base lap welding, sensor strut is by being threadably mounted on Ji Quan.
Above-mentioned wheel housing, support wheel, bearing pin 10 × 65, bearing pin 5 × 25, small rod, bearing pin 5 × 14, spring
Bar, nut cap and matrix composition supporting mechanism, bearing pin 5 × 25, small rod and bearing pin 5 × 14 constitute small range rotating mechanism, match somebody with somebody
Close spring lever composition wheel rotating mechanism.
Above-mentioned locating support, slotted cheese head screw M2 × 8, the cover plate that turns round, positioning gripper shoe, encoder, L-type are supported
Plate and counter wheel composition displacement location mechanism, while equipped with individual counter wheel, per two neighboring counter wheel angle degree of being.
The invention has the advantages that：This device devises the active mechanism for identifying that turns round, and improves accuracy rate of turning round, and is difficult
It is stuck, equipped with generating set, provides guarantee for continuation of the journey, locating wheel is using four cooperations, it is therefore prevented that wheel slip phenomenon
Raw, equipment mechanism is simple, and cost is relatively low.
Description of the drawings
Fig. 1：A kind of spiral geometry detects robot device's overall structure diagram；
Fig. 2：A kind of spiral geometry detects robot device's actuating unit overall schematic；
Fig. 3：A kind of spiral geometry detects robot device's actuating unit partial schematic diagram；
Fig. 4：A kind of spiral geometry detection robot device's displacement location is integrally illustrated with all displacement detecting mechanisms
Figure；
Fig. 5：A kind of spiral geometry detection robot device's displacement location is partially schematic with all displacement detecting mechanisms
Figure；
Fig. 6：A kind of spiral geometry detection robot device guiding structural scheme of mechanism；
Fig. 7：A kind of spiral geometry detection robot device bindiny mechanism schematic diagram.
Symbol description
A. guiding mechanism, B. displacement locations and all displacement detecting mechanisms, C. bindiny mechanisms, D. actuating units, 1. power connect
Joint, 2. electromotor, 3. leather cup, 4. protects shell body, 5. bearing pin 10 × 22,6. leather cup support bar, 7. nut M5,8. bolt
M5,9. protection cap, 10. block head, 11. fan leafs, 12. line shafts, 13. bolts, 14. bearing pin, 10 × 24,15. power annulus,
16. springs, 17. fan shaft support rings, 18. transmission axles, 19. cylinder roller bearing NH202E2,20. bevel gear wheels, 21. conelets
Gear, 22. wheel housings, 23. support wheel, 24. bearing pin, 10 × 65,25. bearing pin, 5 × 25,26. small rod, 27. bearing pins 5
× 14,28. spring levers, 29. nut caps, 30. matrixes, 31. points of brush boards, 32. sensor struts, 33. big internal gears, 34. laser
Displacement transducer, 35. little gears, 36. motors, 37. detection union joints, 38. cylinder roller bearing NH236E2,39. bases
Circle, 40. locating supports, 41. slotted cheese head screw M2 × 8,42. turn round cover plate, 43. positioning gripper shoes, 44. encoders,
45.L type gripper shoes, 46. counter wheels, 47. are located by connecting head, 48. copper bands, 49. copper band Ji Quan, 50. car steelframes, 51. side sleeves,
52. side stay plates, 53. bearing pin, 8 × 35,54. side wheel, 55. electric cylinders, 56. installing plates, 57. cylinder rods, 58. bearing pins 5 × 10,59.
Axle connecting rod, 60. blocks, 61. sliding grooves, 62. sliding axles, 63. turning connecting rods, 64. bearing pin, 10 × 18,65. wheel installing rack,
66. front-wheels, 67. bearing pin, 10 × 24,68. trailing wheel, 69. bearing pin, 10 × 30,70. wheeling supporting frame, 71. wheel installing plates, 72. ten couplets
Axle device.
Specific embodiment
The invention will be further described with example below in conjunction with the accompanying drawings：
As shown in figs. 1-7, a kind of spiral geometry detects robot device, including guiding mechanism (A), displacement location
With all displacement detecting mechanisms (B), bindiny mechanism (C), actuating unit (D), power connector (1), electromotor (2), leather cup (3),
Protection shell body (4), bearing pin 10 × 22 (5), leather cup support bar (6), nut M5 (7), bolt M5 (8), protection cap (9), closure
Head (10), fan leaf (11), line shaft (12), bolt (13), bearing pin 10 × 24 (14), power annulus (15), spring (16), wind
Fan axle support ring (17), transmission axle (18), cylinder roller bearing NH202E2 (19), bevel gear wheel (20), bevel pinion (21),
Wheel housing (22), supports wheel (23), bearing pin 10 × 65 (24), bearing pin 5 × 25 (25), small rod (26), bearing pin 5 × 14
(27), spring lever (28), nut cap (29), matrix (30), point brush board (31), sensor strut (32), big internal gear (33) are swashed
Optical displacement sensor (34), little gear (35), motor (36), detection union joint (37), cylinder roller bearing NH236E2
(38), Ji Quan (39), locating support (40), slotted cheese head screw M2 × 8 (41), the cover plate that turns round (42) position gripper shoe
(43), encoder (44), L-type gripper shoe (45), counter wheel (46), the head that is located by connecting (47), copper band (48), copper band Ji Quan
(49), car steelframe (50), side sleeve (51), side stay plate (52), bearing pin 8 × 35 (53), side wheel (54), electric cylinder (55) are installed
Plate (56), cylinder rod (57), bearing pin 5 × 10 (58), axle connecting rod (59), block (60), sliding groove (61), sliding axle (62) turn
Curved rod (63), bearing pin 10 × 18 (64), wheel installing rack (65), front-wheel (66), bearing pin 10 × 24 (67), trailing wheel (68), pin
Axle 10 × 30 (69), wheeling supporting frame (70), wheel installing plate (71), cross coupler (72), described guiding mechanism (A) is by even
Connection mechanism (C) and displacement location be connecteds with all displacement detecting mechanisms (B), described displacement location and week displacement detecting mechanism (B)
It is connected with actuating unit (D) by bindiny mechanism (C).
When spiral geometry detects robot plant running, power supply is supplied to into whole device, is installed
Whole device is pushed pipeline from the import of pipeline by arduino circuit boards, is then passed through gas pressure from conduit entrance, dress
Put and driven using air pressure, under the influence of air pressure, due to the effect of keeping out the wind of leather cup, there is provided thrust forward, whole device start
Operation, the fan leaf (11) of actuating unit (D) under the action of the forces of the wind, start to rotate, so as to drive bevel pinion (21) to rotate,
Bevel pinion (21) is rotated and bevel gear wheel (20) is rotated by Bevel Gear Transmission, and then drives electromotor (2) to rotate, and is carried out
Storage electricity, it is ensured that the electricity of accumulator, in running, motor (36) is rotated device, by being driven in gear,
So that the driving path of laser displacement sensor (34) is helical form, while have 4 groups, therefore the structure for detecting is 4
Be separated by 90 degree of spiral points, the later stage is processed, realize the reduction of geometry, when run into turn round when, by programme-control electricity
Dynamic cylinder (55) carries out action, realizes turn round direction rotation of the front-wheel (66) to pipeline, so as to guide whole device to realize smooth turning
It is curved, while other mechanisms ensure the steady trouble-free operation of whole device, device depositing by circuit board carry by the data of detection
Storage module is stored, and when detection is finished, after device takes out, data is derived, and then carries out data processing, analysis.
Preferably, described actuating unit (D) includes power connector (1), electromotor (2), leather cup (3), protects shell
Body (4), bearing pin 10 × 22 (5), leather cup support bar (6), nut M5 (7), bolt M5 (8), protection cap (9), block head (10), wind
Flabellum (11), line shaft (12), bolt (13), bearing pin 10 × 24 (14), power annulus (15), spring (16), fan shaft are supported
Ring (17), transmission axle (18), cylinder roller bearing NH202E2 (19), bevel gear wheel (20), bevel pinion (21), described are dynamic
Power union joint (1) is connected with line shaft (12), cross coupler (72), described electromotor (2) on line shaft (12),
It is connected with bevel gear wheel (20) simultaneously, described leather cup (3) is connected with leather cup support bar (6) by bearing pin 10 × 22 (5), while
It is connected with line shaft (12) by bolt (13), described protection shell body (4) is connected with axle (12) by bolt (13), while
Nut M5 (7), bolt M5 (8) are connected with protection cap (9), and described block head (10) is connected with line shaft (12) by screw thread,
, in transmission axle (18), described transmission axle (18) is installed in cylinder roller bearing NH202E2 for described fan leaf (11)
(19) on, interior installed in line shaft (12), the described cylinder roller bearing NH202E2 (19) of described fan shaft support ring (17)
In fan shaft support ring (17), described bevel pinion (21) in transmission axle (18), whole actuating unit (D)
While forward thrust being provided, moreover it is possible to storing electricity, it is ensured that continuation of the journey.
Preferably, described displacement location supports wheel with all displacement detecting mechanisms (B) including wheel housing (22)
(23), bearing pin 10 × 65 (24), bearing pin 5 × 25 (25), small rod (26), bearing pin 5 × 14 (27), spring lever (28), nut cap
(29), matrix (30), point brush board (31), sensor strut (32), big internal gear (33), laser displacement sensor (34), little tooth
Wheel (35), motor (36), detection union joint (37), cylinder roller bearing NH236E2 (38), Ji Quan (39), locating support
(40), slotted cheese head screw M2 × 8 (41), the cover plate that turns round (42), positioning gripper shoe (43), encoder (44), L-type gripper shoe
(45), counter wheel (46), the head that is located by connecting (47), copper band (48), the wheel housing (22) described in copper band Ji Quan (49) pass through
Bearing pin 10 × 65 (24) is connected with wheel (23) is supported, and described small rod (26) is by bearing pin 5 × 25 (25) and wheel shell
Body (22) connects, and described bearing pin 5 × 14 (27) connects small rod (26) and spring lever (28), described nut cap (29) and base
Body (30) connects, and, on Ji Quan (39), described sensor strut (32) is installed in Ji Quan for described point brush board (31)
(39), on, described locating support (40) is connected with the cover plate that turns round (42) by groove fillister head screw M2 × 8 (41), and described determines
Position gripper shoe (43) is connected with encoder (44) by L-type gripper shoe (45), and described counter wheel (46) is with encoder (44) even
Connect, the described head that is located by connecting (47) is connected with cross coupler (72), described copper band (48) is installed in copper band Ji Quan (49)
Interior, whole said mechanism can realize that spiral detection data is stored, straight-line displacement positioning, reasonable obstacle detouring.
Preferably, described guiding mechanism (A) includes car steelframe (50), side sleeve (51), side stay plate (52), bearing pin 8 ×
35 (53), side wheel (54), electric cylinder (55), installing plate (56), cylinder rod (57), bearing pin 5 × 10 (58), axle connecting rod (59), lid
Cap (60), sliding groove (61), sliding axle (62), turning connecting rod (63), bearing pin 10 × 18 (64), wheel installing rack (65), front-wheel
(66), bearing pin 10 × 24 (67), trailing wheel (68), bearing pin 10 × 30 (69), wheeling supporting frame (70), wheel installing plate (71) are described
Side sleeve (51) on car steelframe (50), described side sleeve (51), side stay plate (52), bearing pin 8 × 35 (53) and side wheel
(54) side traveling wheel is constituted, on installing plate (56), described cylinder rod (57) passes through described electric cylinder (55)
Bearing pin 5 × 10 (58) is connected with axle connecting rod (59), and described block (60) is connected with sliding groove (61), described sliding axle (62)
In sliding groove (61), described sliding axle (62) is connected with turning connecting rod (63), and described wheel installing rack (65) leads to
Cross bearing pin 10 × 18 (64) to be connected with car steelframe (50), described connection turning connecting rod of bearing pin 10 × 24 (67) (63) is pacified with wheel
Shelve (65), on wheel installing rack (65), described trailing wheel (68) is by bearing pin 10 × 30 for described front-wheel (66)
(69) it is connected with wheeling supporting frame (70), described wheel installing plate (71) is connected with car steelframe (50), whole guiding mechanism (A) can
Realize supporting tube wall, control direction of turning round, loading circuit plate and accumulator.
Preferably, described bindiny mechanism (C) realized by cross coupler (72), is always divided into two groups, ten
Word shaft coupling (72) is conducive to control of turning round so that whole device turning process is more steady.
Preferably, described point brush board (31), sensor strut (32), big internal gear (33), laser displacement sensor
(34), little gear (35), motor (36), cylinder roller bearing NH236E2 (38), Ji Quan (39), copper band (48) and copper band
Ji Quan (49) collectively constitutes rotation testing agency, and point brush version (31) is aligned with copper band (48), big internal gear (33) and Ji Quan (39)
Weld together, by being threadably mounted on Ji Quan, 4 laser displacement sensor (34) purposes of distribution are sensor strut (32)
In order to stroke is spaced 90 degree of helix, it is ensured that precision.
Preferably, described wheel housing (22), wheel (23), bearing pin 10 × 65 (24), bearing pin 5 × 25 are supported
(25), small rod (26), bearing pin 5 × 14 (27), spring lever (28), nut cap (29) constitute supporting mechanism, pin with matrix (30)
Axle 5 × 25 (25), small rod (26) constitute small range rotating mechanism with bearing pin 5 × 14 (27), coordinate spring lever (28) composition wheel
Sub- rotating mechanism, supporting mechanism can be when across raised or pits, it is ensured that the plateau of whole device.
Preferably, described locating support (40), slotted cheese head screw M2 × 8 (41), the cover plate that turns round (42), positioning
Fagging (43), encoder (44), L-type gripper shoe (45) and counter wheel (46) composition displacement location mechanism, while counting equipped with 4
Number wheel (46), is 90 degree per two neighboring counter wheel angle, it is therefore an objective to places individual wheels and skids and causes displacement location error, 4
Individual wheel Rational Procedure control, can be accurately positioned displacement.
Claims (4)
1. a kind of spiral geometry detects robot device, it is characterised in that：Including guiding mechanism (A), displacement location with
All displacement detecting mechanisms (B), bindiny mechanism (C), actuating unit (D), power connector (1), electromotor (2), leather cup (3) are protected
Shield shell body (4), bearing pin 10 × 22 (5), leather cup support bar (6), nut M5 (7), bolt M5 (8), protection cap (9), block head
(10), fan leaf (11), line shaft (12), bolt (13), bearing pin 10 × 24 (14), power annulus (15), spring (16), fan
Axle support ring (17), transmission axle (18), cylinder roller bearing NH202E2 (19), bevel gear wheel (20), bevel pinion (21), car
Wheel housings (22), support wheel (23), bearing pin 10 × 65 (24), bearing pin 5 × 25 (25), small rod (26), bearing pin 5 × 14
(27), spring lever (28), nut cap (29), matrix (30), point brush board (31), sensor strut (32), big internal gear (33) are swashed
Optical displacement sensor (34), little gear (35), motor (36), detection union joint (37), cylinder roller bearing NH236E2
(38), Ji Quan (39), locating support (40), slotted cheese head screw M2 × 8 (41), the cover plate that turns round (42) position gripper shoe
(43), encoder (44), L-type gripper shoe (45), counter wheel (46), the head that is located by connecting (47), copper band (48), copper band Ji Quan
(49), car steelframe (50), side sleeve (51), side stay plate (52), bearing pin 8 × 35 (53), side wheel (54), electric cylinder (55) are installed
Plate (56), cylinder rod (57), bearing pin 5 × 10 (58), axle connecting rod (59), block (60), sliding groove (61), sliding axle (62) turn
Curved rod (63), bearing pin 10 × 18 (64), wheel installing rack (65), front-wheel (66), bearing pin 10 × 24 (67), trailing wheel (68), pin
Axle 10 × 30 (69), wheeling supporting frame (70), wheel installing plate (71), cross coupler (72), described guiding mechanism (A) is by even
Connection mechanism (C) and displacement location be connecteds with all displacement detecting mechanisms (B), described displacement location and week displacement detecting mechanism (B)
It is connected with actuating unit (D) by bindiny mechanism (C)；Actuating unit (D) includes power connector (1), electromotor (2), leather cup
(3), protection shell body (4), bearing pin 10 × 22 (5), leather cup support bar (6), nut M5 (7), bolt M5 (8), protection cap (9),
Block head (10), fan leaf (11), line shaft (12), bolt (13), bearing pin 10 × 24 (14), power annulus (15), spring
(16), fan shaft support ring (17), transmission axle (18), cylinder roller bearing NH202E2 (19), bevel gear wheel (20), small bevel gear
Wheel (21), described power connector (1) are connected with line shaft (12), cross coupler (72), and described electromotor (2) is installed
On line shaft (12), while being connected with bevel gear wheel (20), described leather cup (3) is by bearing pin 10 × 22 (5) and leather cup
Strut (6) connects, while being connected with line shaft (12) by bolt (13), described protection shell body (4) is by bolt (13)
It is connected with axle (12), while nut M5 (7), bolt M5 (8) are connected with protection cap (9), described block head (10) is by screw thread
It is connected with line shaft (12), in transmission axle (18), described transmission axle (18) is installed in circle for described fan leaf (11)
On post roller bearing NH202E2 (19), in line shaft (12), described cylinder is rolled described fan shaft support ring (17)
, in fan shaft support ring (17), described bevel pinion (21) is installed in transmission axle (18) for sub- bearing NH202E2 (19)
On；Displacement location supports wheel (23) with all displacement detecting mechanisms (B) including wheel housing (22), bearing pin 10 × 65 (24),
Bearing pin 5 × 25 (25), small rod (26), bearing pin 5 × 14 (27), spring lever (28), nut cap (29), matrix (30) put brush board
(31), sensor strut (32), big internal gear (33), laser displacement sensor (34), little gear (35), motor (36),
Detection union joint (37), cylinder roller bearing NH236E2 (38), Ji Quan (39), locating support (40), slotted cheese head screw M2
× 8 (41), the cover plate that turns round (42), positioning gripper shoe (43), encoder (44), L-type gripper shoe (45), counter wheel (46), positioning
Union joint (47), copper band (48), the wheel housing (22) described in copper band Ji Quan (49) is by bearing pin 10 × 65 (24) and support
Wheel (23) connects, and described small rod (26) is connected with wheel housing (22) by bearing pin 5 × 25 (25), described bearing pin
5 × 14 (27) connections small rod (26) and spring lever (28), described nut cap (29) are connected with matrix (30), described point brush
Plate (31) on Ji Quan (39), described sensor strut (32) on Ji Quan (39), described locating support
(40) it is connected with the cover plate that turns round (42) by groove fillister head screw M2 × 8 (41), described positioning gripper shoe (43) is by L-type
Fagging (45) is connected with encoder (44), and described counter wheel (46) is connected with encoder (44), the described head that is located by connecting
(47) it is connected with cross coupler (72), described copper band (48) is in copper band Ji Quan (49)；Guiding mechanism (A) is including car
Steelframe (50), side sleeve (51), side stay plate (52), bearing pin 8 × 35 (53), side wheel (54), electric cylinder (55), installing plate (56),
Cylinder rod (57), bearing pin 5 × 10 (58), axle connecting rod (59), block (60), sliding groove (61), sliding axle (62), turning connecting rod
(63), bearing pin 10 × 18 (64), wheel installing rack (65), front-wheel (66), bearing pin 10 × 24 (67), trailing wheel (68), bearing pin 10 ×
30 (69), wheeling supporting frame (70), wheel installing plate (71), described side sleeve (51) on car steelframe (50), described side
Sleeve (51), side stay plate (52), bearing pin 8 × 35 (53) constitute side traveling wheel, described electric cylinder (55) with side wheel (54)
On installing plate (56), described cylinder rod (57) is connected with axle connecting rod (59) by bearing pin 5 × 10 (58), described lid
Cap (60) is connected with sliding groove (61), described sliding axle (62) in sliding groove (61), described sliding axle (62) with
Turning connecting rod (63) connects, and described wheel installing rack (65) is connected with car steelframe (50) by bearing pin 10 × 18 (64), described
Connection turning connecting rod of bearing pin 10 × 24 (67) (63) and wheel installing rack (65), described front-wheel (66) installed installed in wheel
On frame (65), described trailing wheel (68) is connected with wheeling supporting frame (70) by bearing pin 10 × 30 (69), described wheel installing plate
(71) it is connected with car steelframe (50)；Bindiny mechanism (C) realized by cross coupler (72), is always divided into two groups.
2. a kind of spiral geometry according to claim 1 detects robot device, it is characterised in that：Point brush board
(31), sensor strut (32), big internal gear (33), laser displacement sensor (34), little gear (35), motor (36),
Cylinder roller bearing NH236E2 (38), Ji Quan (39), copper band (48) collectively constitute rotation testing agency with copper band Ji Quan (49),
Point brush version (31) is aligned with copper band (48), and big internal gear (33) is welded together with Ji Quan (39), and sensor strut (32) passes through
It is threadably mounted on Ji Quan.
3. a kind of spiral geometry according to claim 1 detects robot device, it is characterised in that：Wheel shell
Body (22), support wheel (23), bearing pin 10 × 65 (24), bearing pin 5 × 25 (25), small rod (26), bearing pin 5 × 14 (27), bullet
Spring base (28), nut cap (29) constitute supporting mechanism, bearing pin 5 × 25 (25), small rod (26) and bearing pin 5 × 14 with matrix (30)
(27) small range rotating mechanism is constituted, coordinates spring lever (28) composition wheel rotating mechanism.
4. a kind of spiral geometry according to claim 1 detects robot device, it is characterised in that：Locating support
(40), slotted cheese head screw M2 × 8 (41), the cover plate that turns round (42), positioning gripper shoe (43), encoder (44), L-type gripper shoe
(45) with counter wheel (46) composition displacement location mechanism, while equipped with 4 counter wheels (46), per two neighboring counter wheel angle
For 90 degree.
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| CN105114757B true CN105114757B (en) | 2017-04-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106672107A (en) * | 2016-11-27 | 2017-05-17 | 申俊 | Probing robot |
| CN106672111A (en) * | 2016-11-27 | 2017-05-17 | 申俊 | Scout robot for deep-layer stored materials |
| CN107191739A (en) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | A kind of reducing type pipeline detection robot that generates electricity of optimization |
| CN110296295B (en) * | 2019-06-17 | 2020-04-24 | 清华大学 | Method for rapidly probing pipeline path change |
| CN110886928B (en) * | 2019-12-12 | 2021-09-21 | 苏州赛荣建筑装饰工程有限公司 | Auxiliary device for welding and repairing large pipeline |
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