CN105257950B - A kind of expansion self-locking formula movable robot in pipe - Google Patents
A kind of expansion self-locking formula movable robot in pipe Download PDFInfo
- Publication number
- CN105257950B CN105257950B CN201510496788.4A CN201510496788A CN105257950B CN 105257950 B CN105257950 B CN 105257950B CN 201510496788 A CN201510496788 A CN 201510496788A CN 105257950 B CN105257950 B CN 105257950B
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- component
- self
- vehicle body
- front vehicle
- aftercarriage
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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
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of expansion self-locking formula movable robot in pipe.Existing pipe robot load is small, and stability is poor, and the apparatus for work under the conditions of big resistance still suffers from major defect.The front vehicle body component of the present invention installs preceding self-locking mechanism component, and self-locking mechanism component after the installation of aftercarriage component, front vehicle body component passes through guide rod and guide pin bushing formation prismatic pair with aftercarriage component；The thread spindle of drive component constitutes worm drive with front vehicle body, by the movement for being converted into forward and backward vehicle body component of motor, drives movable robot in pipe.The present invention ensures fully to contact with inner-walls of duct by forward and backward self-locking mechanism component, is effectively increased its stability and load capacity in pipe；Holddown spring is always ensured that self-locking mechanism component and inner-walls of duct have thrust, it is ensured that robot is in the stability of in-pipe, and the screw pair that front vehicle body component is constituted with aftercarriage component has auto-lock function, can meet robot and stop locking at an arbitrary position.
Description
Technical field
The invention belongs to robotics, it is related to pipeline mobile robot, and in particular to a kind of expansion self-locking formula pipe
Interior mobile robot.
Background technology
It is liquid inside straight tube, and some pipelines that industrial piping system major part pipeline, which is, to ensure each pipe-line system peace
Efficiently operate entirely, detection need to be completed using pipe robot and is repaired.Existing pipe robot can be moved in the duct
With operation, but its smaller, less stable of load, the apparatus for work of mobile robot is still suffered from seriously in big resistance condition down tube
Defect.
The content of the invention
The purpose of the present invention is, in view of the shortcomings of the prior art there is provided a kind of expansion self-locking formula movable robot in pipe, to be somebody's turn to do
Movable robot in pipe ensures fully to contact with inner-walls of duct by forward and backward self-locking mechanism component, so as to be effectively increased it in pipe
Interior stability and load capacity.Holddown spring at car body suspension is always ensured that robot self-locking mechanism component and inner-walls of duct
There is thrust, it is ensured that robot is in the relative stability of in-pipe, and the spiral that front vehicle body component and aftercarriage component are constituted
Pair has auto-lock function, can meet robot and stop locking at an arbitrary position.
The technical solution adopted by the present invention is as follows：
The present invention includes front vehicle body component, aftercarriage component and drive component.Described drive component is installed on aftercarriage
Component, drives thread spindle；Described thread spindle and the screwed hole of centre of front vehicle body constitute worm drive.
Described front vehicle body component includes front vehicle body, guide rod, preceding adjusting nut, preceding lock nut, preceding holddown spring and preceding
Self-locking mechanism component；Many guide rods are evenly distributed and are fixed in front vehicle body；Described guide rod offers stopper slot；Before multiple certainly
Latch mechanism component is uniform along the circumference of front vehicle body；Bullet is compressed before being nested with the preceding self-locking mechanism component on the extension bar of skewback
Spring, and stretch into front vehicle body and be installed on by preceding adjusting nut and preceding lock nut in front vehicle body；Described preceding lock nut is set
Put on the inside of preceding adjusting nut.
Described aftercarriage component includes aftercarriage, guide pin bushing, spacer pin, rear adjusting nut, rear lock nut, compresses bullet afterwards
Spring and rear self-locking mechanism component；Multiple rear self-locking mechanism components are circumferential uniform along aftercarriage；Skewback in self-locking mechanism component afterwards
Set postpones holddown spring on extension bar, and stretches into aftercarriage and be installed on aftercarriage by rear adjusting nut and rear lock nut
On；Described rear lock nut is arranged on the inside of rear adjusting nut.Multiple guide pin bushings are each attached on aftercarriage, and each guide pin bushing is with before
Prismatic pair is formed on the corresponding guide rod of vehicle body component；Spacer pin is set in the spacing hole of the guide pin bushing, before spacer pin insertion
It is spacing to guide rod in vehicle body component in the stopper slot of guide rod.
Described preceding self-locking mechanism component by skewback, ball, stage clip and support bar group into.Support on the outside of the skewback
Trench bottom is provided with inclined-plane, and described support bar is fixed on support groove sidewall；Described ball and stage clip is placed on support bar
On；The bottom bevel of stage clip and support slot carries out spacing to ball；Under off working state, sphere of the ball close to outside reveals
Go out outside support slot.
The structure and the structure of preceding self-locking mechanism component of the rear self-locking mechanism component are just the same, and rear self-locking mechanism group
The quantity of part is equal with the quantity of preceding self-locking mechanism component.
Described drive component includes motor and thread spindle；Described motor is installed on the electricity of aftercarriage component
On support；Described thread spindle nesting is fixed in the output shaft of motor；Described motor cabinet is fixed with all guide pin bushings.
Beneficial effects of the present invention：
1st, the present invention is contacted by installing forward and backward self-locking mechanism component with inner-walls of duct, robot is had relatively strong load
Ability；
2nd, the external part size adjustable of each self-locking mechanism component, the caliber scope for being adapted to movable robot in pipe can
Effectively regulation；
3rd, the holddown spring at car body suspension of the present invention, it is ensured that there is adhesive force in robot all the time with tube wall；
4th, the present invention is driven using a motor, simple in construction, it is easy to operate, and is easy to maintenance, low cost；
5th, the screw pair that front vehicle body component of the invention and aftercarriage component are constituted has auto-lock function, can effectively expire
Biped robot stops moving in free-position.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is kinematic sketch of mechanism of the invention；
Fig. 3 is front vehicle body modular construction stereogram of the invention；
Fig. 4 is preceding self-locking mechanism component decomposing schematic representation of the invention；
Fig. 5 is aftercarriage modular construction stereogram of the invention；
Fig. 6 is drive component structural perspective of the invention；
Fig. 7 A are in the schematic diagram of lower limit position for the front vehicle body component of the present invention with respect to aftercarriage component；
Fig. 7 B are front vehicle body component movement process schematic of the invention；
Fig. 7 C are in the schematic diagram of upper extreme position for the front vehicle body component of the present invention with respect to aftercarriage component；
Fig. 8 A are that aftercarriage component of the present invention is in lower limit position schematic diagram with respect to front vehicle body component；
Fig. 8 B are aftercarriage component movement process schematic of the present invention；
Fig. 8 C are that aftercarriage component of the present invention is in upper extreme position schematic diagram with respect to front vehicle body component.
In figure：1st, front vehicle body component, 2, aftercarriage component, 3, drive component；1-1, front vehicle body, 1-2, guide rod are 1-3, preceding
Adjusting nut, 1-4, preceding lock nut, 1-5, preceding holddown spring, 1-6, preceding self-locking mechanism component, 1-7, skewback, 1-8, rubber
Ball, 1-9, stage clip, 1-10, support bar；2-1, aftercarriage, 2-2, guide pin bushing, 2-3, motor cabinet, 2-4, spacer pin, 2-5, rear regulation
Nut, 2-6, rear lock nut, 2-7, rear holddown spring, 2-8, rear self-locking mechanism component；3-1, motor, 3-2, screw thread
Axle.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As depicted in figs. 1 and 2, a kind of expansion self-locking formula movable robot in pipe, including front vehicle body component 1, aftercarriage group
Part 2 and drive component 3.
As shown in Figure 3 and Figure 4, front vehicle body component 1 includes front vehicle body 1-1, guide rod 1-2, preceding adjusting nut 1-3, preceding locking
Nut 1-4, preceding holddown spring 1-5 and preceding self-locking mechanism component 1-6；Three guide rod 1-2, which are evenly distributed, is fixed on front vehicle body 1-1
On；Guide rod 1-2 offers stopper slot；Three preceding self-locking mechanism component 1-6 are uniform along front vehicle body 1-1 circumference；Preceding self-locking mechanism
Component 1-6 is made up of skewback 1-7, ball 1-8, stage clip 1-9 and support bar 1-10.Preceding pressure is nested with skewback 1-7 extension bar
Tight spring 1-5, and stretch into and be installed in front vehicle body 1-1 by preceding adjusting nut 1-3 and preceding lock nut 1-4 on front vehicle body 1-1；
Preceding lock nut 1-4 is arranged on the inside of preceding adjusting nut 1-3；Support trench bottom on the outside of skewback 1-7 is provided with inclined-plane, support bar 1-
10 are fixed on support groove sidewall；Ball 1-8 and stage clip 1-9 are placed on support bar 1-10；Stage clip 1-9 and support slot bottom
Portion inclined-plane carries out spacing to ball 1-8；Under off working state, spheres of the ball 1-8 close to outside exposes outside support slot；Before
Skewback 1-7 extension bar stretches out size and can adjusted by preceding adjusting nut 1-3 in self-locking mechanism component 1-6, so that in pipe
The caliber scope that mobile robot is adapted to can be adjusted effectively.
As shown in figure 5, aftercarriage component 2 includes aftercarriage 2-1, guide pin bushing 2-2, motor cabinet 2-3, spacer pin 2-4, rear regulation
Nut 2-5, rear lock nut 2-6, rear holddown spring 2-7 and rear self-locking mechanism component 2-8；Self-locking mechanism component 2-8 knot afterwards
The structure of structure and preceding self-locking mechanism component 1-6 is just the same.Self-locking mechanism component 2-8 is circumferential uniform along aftercarriage 2-1 after three；
Set postpones holddown spring 2-7 on skewback 1-7 extension bar in self-locking mechanism component 2-8 afterwards, and stretches into aftercarriage 2-1 by rear
Adjusting nut 2-5 and rear lock nut 2-6 are installed on aftercarriage 2-1；Lock nut 2-6 is arranged on rear adjusting nut 2-5 afterwards
Inner side.Skewback 1-7 extension bar stretching size can be adjusted by rear adjusting nut 2-5 in self-locking mechanism component 2-8 afterwards, so that
The caliber scope for being adapted to movable robot in pipe can be adjusted effectively.Three guide pin bushing 2-2 are each attached on aftercarriage 2-1, and
Respectively prismatic pair is formed with 1 corresponding guide rod 1-2 of front vehicle body component；Spacer pin 2- is set in guide pin bushing 2-2 spacing hole
It is spacing to guide rod 1-2 in the guide rod 1-2 of 4, spacer pin 2-4 insertion front vehicle body component 1 stopper slot；Motor cabinet 2-3 is led with three
Set 2-2 is fixed.
As shown in fig. 6, drive component 3 includes motor 3-1 and thread spindle 3-2.Motor 3-1 is installed on aftercarriage
On the motor cabinet 2-3 of component 2；Thread spindle 3-2 nestings are fixed in the output shaft of motor, and with front vehicle body 2-1 center spiral shell
Pit constitutes worm drive.
The operation principle of the expansion self-locking formula movable robot in pipe is：
As depicted in figs. 1 and 2, three be evenly distributed are installed on the front vehicle body component 1 of the movable robot in pipe
Self-locking mechanism component 2-8, driving group after three be evenly distributed are installed on preceding self-locking mechanism component 1-6, aftercarriage component 2
Part 3 is installed on aftercarriage component 2, and front vehicle body component 1 forms prismatic pair with aftercarriage component 2 by guide rod 1-2 and guide pin bushing 2-2,
And it is spacing by spacer pin 2-4.The movable robot in pipe passes through in the thread spindle 3-2 in drive component 3 and front vehicle body 1-1
Heart screwed hole constitutes worm drive, by the motor 3-1 movement for being converted into forward and backward vehicle body component, and driving tube is interior to be moved
Mobile robot is sailed in pipeline internal.Self-locking mechanism component 2-8 ensures in-pipe after three preceding self-locking mechanism component 1-6 and three
Robot is fully contacted with inner-walls of duct.
In pipeline, when the relative aftercarriage component 2 of the front vehicle body component 1 of movable robot in pipe is in lower limit position
(as shown in Figure 7 A) when, robot travels forward, motor 3-1 is rotated forward, rear self-locking mechanism component 2-8 by back pressure,
Due to rear self-locking mechanism component 2-8 ball 1-8 by skewback 1-7 and inner-walls of duct pressure keep self-locking state, and it is preceding from
Latch mechanism component 1-6 is released self-locking by forward thrust, and motor 3-1 power makes front vehicle body component 1 by worm drive
Travel forward, in the process, if motor 3-1 stops operating, robot is maintained at the position transfixion (such as Fig. 7 B
It is shown).When current vehicle body component 1 moves forward to upper extreme position with respect to aftercarriage component 2, front vehicle body component 1 stops movement
(as seen in figure 7 c).
(i.e. aftercarriage component 2 is relative when current vehicle body component 1 moves forward to upper extreme position with respect to aftercarriage component 2
Front vehicle body component 1 be in lower limit position, as shown in Figure 8 A), motor 3-1 reversion, preceding self-locking mechanism component 1-6 by
Back pull, due to preceding self-locking mechanism component 1-6 ball 1-8 by skewback 1-7 and inner-walls of duct pressure keep self-locking state,
Then self-locking mechanism 2-8 is released self-locking, moves forward aftercarriage component 2 by forward pulling force.In the process, if driving
Motor 3-1 stops operating, then movable robot in pipe is maintained at the position transfixion (as shown in Figure 8 B).When aftercarriage component
When 2 relative front vehicle body components 1 move to upper extreme position, motor 3-1 is rotated forward, and rear self-locking mechanism component 2-8 self-lockings are (as schemed
Shown in 8C).Front vehicle body component 1, the alternating movement process of aftercarriage component 2 can make robot be travelled forward with stretch mode.
Claims (3)
1. a kind of expansion self-locking formula movable robot in pipe, including front vehicle body component, aftercarriage component and drive component, its feature
It is：Described drive component is installed on aftercarriage component, drives thread spindle；Described thread spindle and the center screw thread of front vehicle body
Hole constitutes worm drive；
Described front vehicle body component includes front vehicle body, guide rod, preceding adjusting nut, preceding lock nut, preceding holddown spring and preceding self-locking
Mechanism assembly；Many guide rods are evenly distributed and are fixed in front vehicle body；Described guide rod offers stopper slot；From lock machine before multiple
Structure component is uniform along the circumference of front vehicle body；Preceding holddown spring is nested with the extension bar of skewback in the preceding self-locking mechanism component, and
Stretch into and be installed in front vehicle body by preceding adjusting nut and preceding lock nut in front vehicle body；Before described preceding lock nut is arranged on
On the inside of adjusting nut；
Described aftercarriage component include aftercarriage, guide pin bushing, spacer pin, rear adjusting nut, rear lock nut, rear holddown spring and
Self-locking mechanism component afterwards；Multiple rear self-locking mechanism components are circumferential uniform along aftercarriage；Afterwards in self-locking mechanism component skewback stretching
Set postpones holddown spring on bar, and stretches into and be installed in aftercarriage by rear adjusting nut and rear lock nut on aftercarriage；Institute
The rear lock nut stated is arranged on the inside of rear adjusting nut；Multiple guide pin bushings are each attached on aftercarriage, each guide pin bushing and front vehicle body
Prismatic pair is formed on the corresponding guide rod of component；Spacer pin, spacer pin insertion front vehicle body are set in the spacing hole of the guide pin bushing
It is spacing to guide rod in component in the stopper slot of guide rod；
Described preceding self-locking mechanism component by skewback, ball, stage clip and support bar group into；Support slot bottom on the outside of the skewback
Portion is provided with inclined-plane, and described support bar is fixed on support groove sidewall；Described ball and stage clip is placed on support bar；Pressure
The bottom bevel of spring and support slot carries out spacing to ball；Under off working state, sphere of the ball close to outside exposes branch
Support outside groove.
2. a kind of expansion self-locking formula movable robot in pipe according to claim 1, it is characterised in that：From lock machine after described
The structure of structure component and the structure of preceding self-locking mechanism component are just the same, and the quantity and preceding self-locking mechanism of rear self-locking mechanism component
The quantity of component is equal.
3. a kind of expansion self-locking formula movable robot in pipe according to claim 1, it is characterised in that：Described driving group
Part includes motor and thread spindle；Described motor is installed on the motor cabinet of aftercarriage component；Described thread spindle
Nesting is fixed in the output shaft of motor；Described motor cabinet is fixed with all guide pin bushings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496788.4A CN105257950B (en) | 2015-08-13 | 2015-08-13 | A kind of expansion self-locking formula movable robot in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496788.4A CN105257950B (en) | 2015-08-13 | 2015-08-13 | A kind of expansion self-locking formula movable robot in pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105257950A CN105257950A (en) | 2016-01-20 |
| CN105257950B true CN105257950B (en) | 2017-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510496788.4A Active CN105257950B (en) | 2015-08-13 | 2015-08-13 | A kind of expansion self-locking formula movable robot in pipe |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105508803B (en) * | 2016-01-22 | 2017-11-21 | 厉展源 | A kind of water pipe detection means |
| CN105465550B (en) * | 2016-01-25 | 2017-12-01 | 董怡君 | A kind of pipeline gas detection means |
| CN105840950B (en) * | 2016-06-06 | 2019-03-15 | 沈阳建筑大学 | Stepped pipe pipeline robot |
| CN106439387B (en) * | 2016-12-07 | 2018-08-10 | 中国计量大学 | A kind of pipe robot of adaptive caliber |
| CN110130675B (en) * | 2019-05-30 | 2021-06-25 | 湖南湘禹水电建设开发有限公司 | Steel pipe structure reinforcing and supporting device for construction engineering construction |
| DE102021131720A1 (en) | 2021-12-02 | 2023-06-07 | Voith Patent Gmbh | Robots for moving inside pipes and operating methods |
| CN115325323B (en) * | 2022-10-14 | 2022-12-27 | 广东广宇科技发展有限公司 | Pipeline inspection robot and inspection method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435522B (en) * | 2008-12-16 | 2010-12-08 | 安徽工程科技学院 | Pipe walking robot |
| DE102009025829A1 (en) * | 2009-05-18 | 2010-11-25 | Thomas Reutemann | Apparatus for curing plastic liners |
| CN202708464U (en) * | 2012-05-22 | 2013-01-30 | 西安文理学院 | Peristaltic type pipeline robot movement traction mechanism |
| CN203594916U (en) * | 2013-12-11 | 2014-05-14 | 电子科技大学 | All-wheel-drive peristaltic pipeline robot |
| CN205001760U (en) * | 2015-08-13 | 2016-01-27 | 浙江理工大学 | It is flexible from locking -type move within barrel robot |
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2015
- 2015-08-13 CN CN201510496788.4A patent/CN105257950B/en active Active
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| CN105257950A (en) | 2016-01-20 |
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