CN105276334B - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
- Publication number
- CN105276334B CN105276334B CN201510697140.3A CN201510697140A CN105276334B CN 105276334 B CN105276334 B CN 105276334B CN 201510697140 A CN201510697140 A CN 201510697140A CN 105276334 B CN105276334 B CN 105276334B
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- China
- Prior art keywords
- frame
- rocking bar
- transmission system
- wheel
- ratchet
- Prior art date
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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
- 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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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 discloses a kind of detecting robot of pipe, including the first housing, the first housing includes frame and the governor motion being installed in the frame and transmission system, the transmission system is used to impart power to the governor motion, the governor motion includes at least three groups of four-bar mechanisms with frame central axle rotational symmetry, the four-bar mechanism is slider-rocker mechanism, including the rocking bar and sliding block being installed in the frame, fixing point of the rocking bar in the frame is located at the middle part at the rocking bar both ends, the rocking bar is connected with sliding block by connecting rod, the one end of the rocking bar away from the connecting rod is bonded with the inwall of the pipeline, the rocking bar waves with the change of the internal diameter of the pipeline.The problem of a kind of detecting robot of pipe of the present invention, can adapt to the caliber of wide variation, and driving wheel can be overcome present in prior art to skid is driving power deficiency.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of detecting robot of pipe.
Background technology
With the improvement of living standards coal gas gradually turn into town dweller's daily life the main fuel energy, but
The substantial amounts of impurity contained in the gas of coke-stove gas has certain corrosiveness to gas piping, lower tube wall meeting of accumulating over a long period
It is easy to thinning by corroding, can then causes gas to leak initiation accident when serious, it is right so in order to ensure the normal life of resident
The detection work of gas piping is just particularly important.It is small compared with general pipeline yet with the bore of gas piping, so often
Often the service work of gas piping is set not to be smoothed out, so research work to gas pipeline inspection robot becomes
It is more and more significant.
It is main to include that there is telescopic and Liang Zhong robots of slide block type mechanism in the way of passive adaptation caliber.Stretch
Being mainly characterized by between body and driving wheel for the passive governor motion of contracting formula is compression spring, and the support bar of driving wheel is that wheel leg passes through
Stretching motion is done in axially direction in body to reach the purpose for adapting to caliber and changing, this kind of robot architecture's letter
It is single, but because the mechanics characteristic curve of spring is linear change, can make if the stroke of spring is excessive between wheel and tube wall
Frictional force vary widely, in the case where motor driving moment is certain, easily occur that driving wheel skids or driving is dynamic
The problems such as power deficiency, in order to ensure the stability of driving force, so the adjustable range of spring is limited, i.e., it can not adapt to a wide range of
The caliber of change.
The passive governor motion of slide block type is sliding block rocker device, and such mechanism is mainly characterized by turning by the movement of sliding block
The rotation of wheel leg mechanism is turned to, the purpose for adapting to caliber change is made up to, the type design, designs easy, easy, Er Qiexing
It can stablize and disclosure satisfy that most of requirement of experiment, but skid and drive the shortcomings of insufficient there are still driving wheel, it is impossible to adapt to
The caliber of wide variation.
Therefore there is the problem of driving wheel skidding or driving power deficiency in above mechanism, i.e., can not adapt to a wide range of
The caliber of change.
The content of the invention
It is an object of the invention to propose a kind of detecting robot of pipe, passively adaptive caliber can change, Neng Goushi
The caliber that should change in a big way, operates steadily.
To use following technical scheme up to this purpose, the present invention：
A kind of detecting robot of pipe, including the first housing, the first housing include frame and are installed on the frame
On governor motion and transmission system, the transmission system be used for impart power to the governor motion, the governor motion
Including at least three groups of four-bar mechanisms with frame central axle rotational symmetry, the four-bar mechanism is slider-rocker mechanism, including peace
Loaded on the rocking bar and sliding block in the frame, fixing point of the rocking bar in the frame is located in the rocking bar both ends
Portion, the rocking bar are connected with sliding block by connecting rod, and the one end of the rocking bar away from the connecting rod is bonded with the inwall of the pipeline,
The rocking bar waves with the change of the internal diameter of the pipeline.
Further technical scheme, the frame include the first frame, the second frame and connection first frame and
The supporting plate of second frame, the rocking bar are fixed in the supporting plate.
Further technical scheme, the governor motion also include the adjusting screw rod being installed in first frame, institute
The central shaft of adjusting screw rod and the center overlapping of axles of the frame are stated, the sliding block is set on the adjusting screw rod, the tune
Sleeve pipe and spring are also arranged with section screw rod, described sleeve pipe is enclosed between the sliding block and the adjusting screw rod, the spring position
Between the sliding block and first frame, for adjusting the distance between the sliding block and the first frame.
Further technical scheme, it is synchronous that the transmission system includes motor, crossed helical involute gears system, the first order
Belt wheel transmission system and second level synchronous belt pulley transmission system, the motor with the input shaft of the motor connection by driving institute
Crossed helical involute gears system is stated, is led between crossed helical involute gears system and the first order synchronous belt pulley transmission system
Jackshaft transmission is crossed, passes through biography between the first order synchronous belt pulley transmission system and the second level synchronous belt pulley transmission system
Driving-axle gearing, the second level synchronous belt pulley transmission system are located on the rocking bar.
Further technical scheme, the rocking bar include wheel leg group, and the wheel leg group is installed on the support including two
The symmetrical wheel leg of plate both sides, described two wheel legs are hinged by the power transmission shaft and the supporting plate, and the wheel leg is remote
One end from the supporting plate is provided with output shaft, and driving wheel, the driving wheel and the pipeline are provided with the output shaft
Inwall fitting.
Further technical scheme, first pulley is installed on the power transmission shaft, the second belt wheel is installed on the output shaft,
The second level synchronous belt pulley transmission system include the first pulley, the second belt wheel and with the first pulley and the second band
The first timing belt coordinated jointly is taken turns, second pulley diameters are more than first pulley diameter.
Further technical scheme, the crossed helical involute gears system, including active oblique gear, the active helical teeth
Wheel be located on the input shaft, the active oblique gear engages with driven helical gear, the driven helical gear be fixed on it is described in
On countershaft, the jackshaft provides power for the first order synchronous belt pulley transmission system, the driven helical gear number with
The number of the four-bar mechanism is corresponding.
Further technical scheme, the first order synchronous belt pulley transmission system include the 3rd belt wheel and the 4th belt wheel, institute
State the 3rd belt wheel and the 4th belt wheel jointly with the second timing belt to coordinate, the 3rd belt wheel and the 4th belt wheel are individually fixed in described
On jackshaft and power transmission shaft.
Further technical scheme, detecting robot of pipe also include the second housing, the structure of the second housing and institute
It is identical to state the structure of the first housing, is connected between the first housing and the second housing by shaft coupling.
Further technical scheme, the output shaft are provided with ratchet mechanism, and the ratchet mechanism includes ratchet and pawl,
The ratchet is fixed side by side with second belt wheel, and the ratchet coordinated with the ratchet is fixed on the output shaft, and described the
Bearing is provided between two belt wheels and output shaft.
Beneficial effects of the present invention：
Detecting robot of pipe proposed by the present invention, including four-bar mechanism, on four-bar mechanism, fixation of the rocking bar in frame
Positioned at the middle part at rocking bar both ends, the free end of rocking bar contacts point with the inwall of pipeline, the four-bar mechanism sliding block slide it is shorter away from
From when, one end of rocking bar and tube contacts can realize movement by a relatively large margin, hence in so that the four-bar mechanism can adapt to compared with
Large-scale caliber change, and be not in the problem of driving wheel skids or is short of power in conventional mechanism.
Brief description of the drawings
Fig. 1 is the structural representation of the first housing in detecting robot of pipe provided by the invention；
Fig. 2 is first order synchronous belt pulley transmission system provided by the invention and jackshaft and the installation diagram of power transmission shaft；
Fig. 3 is the assembly relation schematic diagram of the first housing and the second housing provided by the invention；
Fig. 4 is the structural representation of detecting robot of pipe turning process provided by the invention；
Fig. 5 is structural representation provided by the invention；
Fig. 6 is the front view of bidirectional ratchet mechanism provided by the invention.
Wherein, 1, the first housing；11st, frame；111st, the first frame；112nd, the second frame；113rd, supporting plate；12nd, adjust
Mechanism；121st, four-bar mechanism；1211st, rocking bar；12111st, wheel leg；1212nd, sliding block；1213rd, connecting rod；1214th, spring；122nd, adjust
Screw rod；1221st, sleeve pipe；123rd, locking nut；13rd, transmission system；131st, motor；132nd, input shaft；133rd, crossed helical gears
Transmission system；1331st, active oblique gear；1332nd, driven helical gear；134th, jackshaft；135th, first order synchronous belt pulley transmission system
System；1351st, the 3rd belt wheel；1352nd, the 4th belt wheel；1353rd, the second timing belt；136th, power transmission shaft；137th, second level synchronous pulley
Transmission system；1371st, first pulley；1372nd, the second belt wheel；1373rd, the first timing belt；1374th, tensioning apparatus；138th, two-way spine
Take turns mechanism；1381st, the first single direction ratchet mechanism；13811st, ratchet；13812nd, the first ratchet；13813rd, the second ratchet；1382nd,
Two single direction ratchet mechanisms；139th, output shaft；1391st, support；1392nd, driving wheel；2nd, the second housing；3rd, shaft coupling.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Embodiment 1
As shown in figure 1, a kind of detecting robot of pipe, including the first housing 1, the first housing 1 include frame 11 and installation
In governor motion 12 and transmission system in frame 11, transmission system 13 is used to impart power to governor motion 12, adjusts machine
Structure 12 includes the four-bar mechanism 121 at least three groups with the central shaft rotational symmetry of frame 11, and four-bar mechanism 121 is the sliding block of rocking bar 1211
1212 mechanisms, including the rocking bar 1211 and sliding block 1212 being installed in frame 11, fixing point position of the rocking bar 1211 in frame 11
In the middle part at the both ends of rocking bar 1211, rocking bar 1211 and sliding block 1212 are connected by connecting rod 1213, and rocking bar 1211 is away from connecting rod 1213
One end be bonded with the inwall of pipeline, rocking bar 1211 waves with the change of internal diameter of the pipeline, and the four-bar mechanism 121 overcomes in the past
Structure can not realize the problem of adapting to a wide range of caliber change, the problems such as solving driving deficiency or skid.
Frame 11 includes the first frame 111, the second frame 112 and the branch of the first frame 111 of connection and the second frame 112
Fagging 113, rocking bar 1211 are fixed in supporting plate 113.
As shown in figure 1, governor motion 12 also includes the adjusting screw rod 122 being installed in the first frame 111, adjusting screw rod
122 central shaft and the center overlapping of axles of frame 11, sliding block 1212 are set on adjusting screw rod 122, also covered on adjusting screw rod 122
Provided with sleeve pipe 1221 and spring 1214, sleeve pipe 1221 is enclosed between sliding block 1212 and adjusting screw rod 122, is easy to sliding block 1212 along tune
Section screw rod 122 slidably reciprocates, and spring 1214 is located between the frame 111 of sliding block 1212 and first, for adjusting slider 1212 and the
The distance between one frame 111, one end away from sliding block 1212 is provided with locking nut 123 on adjusting screw rod 122, is adjusted by rotating
Section screw rod 122 can change the distance between initial position and first frame 111 of sliding block 1212, and spring 1214 can be applied
Precompression, locked after having adjusted using locking nut 123.
Transmission system 13 includes motor 131, crossed helical involute gears system 133, first order synchronous belt pulley transmission system
135 and second level synchronous belt pulley transmission system 137, motor 131 friendship is driven by the input shaft 132 being connected with motor 131
Wrong axis helical teeth wheel transmission system 133, between crossed helical involute gears system 133 and first order synchronous belt pulley transmission system 135
It is driven by jackshaft 134, is led between first order synchronous belt pulley transmission system 135 and second level synchronous belt pulley transmission system 137
Power transmission shaft 136 is crossed to be driven.
Wherein, second level synchronous belt pulley transmission system 137 is located on rocking bar 1211, and rocking bar 1211 includes wheel leg group, wheel leg
Group includes two symmetrical wheel legs 12111 for being installed on the both sides of supporting plate 113, and two wheel legs 12111 pass through power transmission shaft 136
Be hinged with supporting plate 113, the one end of wheel leg 12111 away from supporting plate 113 is provided with output shaft 139, is provided with output shaft 139
Driving wheel 1392, driving wheel 1392 are bonded with the inwall of pipeline；First pulley 1371, output shaft 139 are installed on power transmission shaft 136
It is upper installation the second belt wheel 1372, second level synchronous belt pulley transmission system 137 include first pulley 1371, the second belt wheel 1372 and
The first timing belt 1373 coordinated jointly with the belt wheel 1372 of first pulley 1371 and second, the diameter of the second belt wheel 1372 are more than first
The diameter of belt wheel 1371, it is preferable that tensioning apparatus 1374, tensioning apparatus are provided between the belt wheel 1372 of first pulley 1371 and second
1374 are fixed between two wheel legs 12111, play a part of tensioning to the first timing belt 1373, ensure that the reliable of transmission
Property.
Crossed helical involute gears system 133, including active oblique gear 1331, active oblique gear 1331 are located at input shaft
On 132, active oblique gear 1331 is engaged with driven helical gear 1332, and driven helical gear 1332 is fixed on jackshaft 134, middle
Axle 134 is that first order synchronous belt pulley transmission system 135 provides power, number and the four-bar mechanism 121 of driven helical gear 1332
Number is corresponding, because driven helical gear 1332 engages with same active oblique gear 1331 so that different driven helical gears
1332 velocity of rotation is identical.
As shown in Fig. 2 first order synchronous belt pulley transmission system 135 includes the 3rd belt wheel 1351 and the 4th belt wheel 1352, the
Three belt wheels 1351 and the 4th belt wheel 1352 coordinate with the second timing belt 1353 jointly, and the 3rd belt wheel 1351 and the 4th belt wheel 1352 divide
It is not fixed on jackshaft 134 and power transmission shaft 136.
The cooperation of above transmission system 13 so that first order synchronous belt pulley transmission system 135 and second level synchronous pulley pass
Dynamic system 137 under the drive of active oblique gear 1331, realizes turning for driving wheel 1392 in crossed helical involute gears system 133
It is dynamic identical.
As shown in figure 3, the robot also includes the second housing 2, the structure of the second housing 2 and the structure phase of the first housing 1
Together, connected between the first housing 1 and the second housing 2 by shaft coupling 3.Output shaft 139 on the first housing 1 is provided with ratchet machine
Structure, ratchet mechanism include ratchet 13811 and ratchet, and ratchet 13811 is fixed side by side with the second belt wheel 1372, ratchet 13811 and
The synchronous axial system of two belt wheel 1372, the ratchet coordinated with ratchet 13811 are fixed on output shaft 139, the second belt wheel 1372 and output
Bearing is provided between axle 139 so that realize and relatively rotate between the second belt wheel 1372 and output shaft 139, when robot turns,
The motor 131 of corresponding body stops operating, if the second belt wheel 1372 is stuck, can ensure that output shaft 139 can still turn
It is dynamic, and can realize that different output shafts 139 have different rotating speeds, and then complete to turn.
Further, ratchet mechanism is bidirectional ratchet mechanism 138, can realize robot advanced in pipeline or after
Move back, realize bidirectional-movement；Bidirectional ratchet mechanism 138 includes structure identical single direction ratchet mechanism, as it can be seen in figures 5 and 6, being respectively
The first single direction ratchet mechanism 1381 and the second single direction ratchet mechanism 1382 being reversely coaxially disposed, first single direction ratchet mechanism
1381 include ratchet 13811 and ratchet, and wherein ratchet includes the first ratchet 13812 and the second ratchet 13813, the second ratchet
13813 are arranged and are fixed on output shaft 139, and the first ratchet 13812 is fixed on output shaft 139 on the support 1391 installed,
Ratchet 13811 promotes the motion of the first ratchet 13812, and the first ratchet 13812 promotes the second ratchet 13813 to move；When the first list
When promoting ratchet to the ratchet 13811 of ratchet mechanism 1381, the ratchet of the second single direction ratchet mechanism 1382 does not interfere with corresponding
Ratchet rotation, when robot motion is reverse, the ratchet of the second single direction ratchet mechanism 1382 promotes pawl rotation, and first
The ratchet 13811 of single direction ratchet mechanism 1381 does not interfere with the rotation of ratchet thereon.
When above-mentioned detecting robot of pipe is run in straight pipeline, start motor 131, driven and inputted by motor 131
Axle 132, input shaft 132 drive crossed helical involute gears system 133, first order synchronous belt pulley transmission system 135 and successively
Secondary synchronization belt wheel transmission system 137, second level synchronous belt pulley transmission system 137 drive the first single direction ratchet mechanism 1381 dynamic
Make, so as to drive output shaft 139 to rotate, output shaft 139 drives the driving wheel 1392 on output shaft 139 to rotate, and promotes robot
Run in straight pipeline.
When entering small-caliber pipeline by big-diameter pipeline in straight pipeline, driving wheel 1392 by the pressure from tube wall,
So that the power transmission shaft 136 that wheel leg 12111 is wound in frame 11 rotates, the drivening rod 1213 of wheel leg 12111 moves, and then promotes and slide
Block 1212 is along the compression spring 1214 of adjusting screw rod 122 and close to the first frame 111；Entered when in straight pipeline by small-caliber pipeline
It is the inverse process of said process during big-diameter pipeline.
When robot passes through bend, two bodies are divided into front and rear arrival bend, as shown in figure 4, first reaching the machine of bend
Body is the first housing 1, and when the first housing 1 reaches bend, the motor 131 on the first housing 1 stops operating, on the second housing 2
Motor 131 keep rotating, the second housing 2 promotes the first housing 1 to advance, with into bend, connecting the first housing 1 and second
The shaft coupling 3 of body 2 rotates, the driving wheel 1392 on the first housing 1 in different wheel leg groups by ratchet mechanism adaptively
Adjust rotating speed so that rotating speed is different, and after the first housing 1 is by bend, the motor 131 on the first housing 1 starts, different thereon
The rotating speed of driving wheel 1392 in wheel leg group is identical, and when the second housing 2 reaches bend, the motor 131 on the second housing 2 stops
Rotate, the second housing 2 under the traction of the first housing 1 by bend, the driving wheel in different wheel leg groups on the second housing 2
1392 are adaptively adjusted rotating speed by ratchet mechanism, and rotating speed is different, after by bend, the weight of motor 131 on the second housing 2
It is new to start.
Due to setting bidirectional ratchet mechanism 138 on the output shaft 139 of body, when Robot direction of advance moves, lead to
The first single direction ratchet mechanism 1381 driving output shaft 139 is crossed, and then drives driving wheel 1392 to rotate, when robot moves to opposite direction
When dynamic, output shaft 139 is driven by the second single direction ratchet mechanism 1382, now driving wheel 1392 is rotated backward.
Embodiment 2
Pipe detection machine in the present embodiment and the structure in embodiment 1 are essentially identical, including the first housing 1, and first
Body 1 includes frame 11 and the governor motion 12 being installed in frame 11 and transmission system 13, and transmission system 13 is used for power
Passing to governor motion 12, governor motion 12 includes the four-bar mechanism 121 at least three groups with the central shaft rotational symmetry of frame 11, and four
Linkage 121 is the mechanism of 1211 sliding block of rocking bar 1212, including the rocking bar 1211 and sliding block 1212 being installed in frame 11, rocking bar
1211 fixing point in frame 11 is located at the middle part at the both ends of rocking bar 1211, and rocking bar 1211 and sliding block 1212 are connected by connecting rod 1213
Connect, the one end of rocking bar 1211 away from connecting rod 1213 is bonded with the inwall of pipeline, and rocking bar 1211 waves with the change of internal diameter of the pipeline.
Difference is that the concrete structure of transmission system 13 is unlimited, and rocking bar 1211, the size of connecting rod 1213 are unlimited, sliding
The structure of block 1212 is unlimited, enables to the robot to change by the passive adaptive caliber of the four-bar mechanism 121, can
Adapt to the caliber compared with prior art larger change scope.
Obviously, the above embodiment of the present invention is merely to clearly illustrate example of the present invention, and be not to this
The restriction of the embodiment of invention.For those of ordinary skill in the field, on the basis of the above description can be with
Make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all in this hair
All any modification, equivalent and improvement made within bright spirit and principle etc., should be included in the claims in the present invention
Within protection domain.
Claims (3)
1. a kind of detecting robot of pipe, including the first housing (1), the first housing (1) includes frame (11) and is installed on
Governor motion (12) and transmission system (13) on the frame (11), the transmission system (13) are used to impart power to institute
State governor motion (12), it is characterised in that the governor motion (12) includes at least three groups with the rotation pair of frame (11) central shaft
The four-bar mechanism (121) of title, the four-bar mechanism (121) are rocking bar (1211) sliding block (1212) mechanism, including are installed on described
Rocking bar (1211) and sliding block (1212) in frame (11), fixing point of the rocking bar (1211) in the frame (11) are located at
The middle part at rocking bar (1211) both ends, the rocking bar (1211) and sliding block (1212) are connected by connecting rod (1213), described to shake
The one end of bar (1211) away from the connecting rod (1213) is bonded with the inwall of the pipeline, and the rocking bar (1211) is with the pipeline
The change of internal diameter and wave；
The frame (11) includes the first frame (111), the second frame (112) and connection first frame (111) and the
The supporting plate (113) of two frames (112), the rocking bar (1211) are fixed in the supporting plate (113)；
The governor motion (12) also includes the adjusting screw rod (122) being installed on first frame (111), the regulation spiral shell
The central shaft of bar (122) and the center overlapping of axles of the frame (11), the sliding block (1212) are set in the adjusting screw rod
(122) on, sleeve pipe (1221) and spring (1214) are also arranged with the adjusting screw rod (122), described sleeve pipe (1221) is enclosed on
Between the sliding block (1212) and the adjusting screw rod (122), the spring (1214) be located at the sliding block (1212) with it is described
Between first frame (111), for adjusting the distance between the sliding block (1212) and the first frame (111), the regulation spiral shell
Remote described one end from sliding block (1212) is provided with locking nut (123) on bar (122)；
The transmission system (13) includes motor (131), crossed helical involute gears system (133), first order synchronous pulley and passed
Dynamic system (135) and second level synchronous belt pulley transmission system (137), the motor (131) with the motor (131) by being connected
Input shaft (132) drive the crossed helical involute gears system (133), the crossed helical involute gears system (133)
It is driven between first order synchronous belt pulley transmission system (135) by jackshaft (134), the first order synchronous belt pulley transmission system
Unite (135) and be driven between the second level synchronous belt pulley transmission system (137) by power transmission shaft (136), the second level is same
Step belt wheel transmission system (137) is located on the rocking bar (1211)；
The rocking bar (1211) includes wheel leg group, and the wheel leg group includes two phases for being installed on the supporting plate (113) both sides
Mutually symmetrical wheel leg (12111), described two wheel legs (12111) are cut with scissors by the power transmission shaft (136) and the supporting plate (113)
Connect, the one end of the wheel leg (12111) away from the supporting plate (113) is provided with output shaft (139), the output shaft (139)
On driving wheel (1392) is installed, the driving wheel (1392) is bonded with the inwall of the pipeline；
First pulley (1371) is installed on the power transmission shaft (136), the second belt wheel is installed on the output shaft (139)
(1372), the second level synchronous belt pulley transmission system (137) include the first pulley (1371), the second belt wheel (1372) with
And the first timing belt (1373) coordinated jointly with the first pulley (1371) and the second belt wheel (1372), second belt wheel
(1372) diameter is more than first pulley (1371) diameter；
The crossed helical involute gears system (133), including active oblique gear (1331), the active oblique gear (1331) set
On the input shaft (132), the active oblique gear (1331) is engaged with driven helical gear (1332), the driven helical gear
(1332) it is fixed on the jackshaft (134), the jackshaft (134) is the first order synchronous belt pulley transmission system
(135) power is provided, the number of the driven helical gear (1332) is corresponding with the number of the four-bar mechanism (121)；
The first order synchronous belt pulley transmission system (135) includes the 3rd belt wheel (1351) and the 4th belt wheel (1352), and described
Three belt wheels (1351) and the 4th belt wheel (1352) coordinate with the second timing belt (1353) jointly, the 3rd belt wheel (1351) and the
Four belt wheels (1352) are individually fixed on the jackshaft (134) and power transmission shaft (136).
2. detecting robot of pipe according to claim 1, it is characterised in that detecting robot of pipe also includes the second machine
Body (2), the structure of the second housing (2) is identical with the structure of the first housing (1), the first housing (1) and second
Connected between body (2) by shaft coupling (3).
3. detecting robot of pipe according to claim 2, it is characterised in that the output shaft (139) is provided with ratchet
Mechanism, the ratchet mechanism include ratchet (13811) and ratchet, and the ratchet (13811) and second belt wheel (1372) are simultaneously
Row are fixed, and the ratchet coordinated with the ratchet (13811) is fixed on the output shaft (139), second belt wheel (1372)
Bearing is provided between output shaft (139).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510697140.3A CN105276334B (en) | 2015-10-23 | 2015-10-23 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510697140.3A CN105276334B (en) | 2015-10-23 | 2015-10-23 | A kind of detecting robot of pipe |
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| CN105276334A CN105276334A (en) | 2016-01-27 |
| CN105276334B true CN105276334B (en) | 2018-01-09 |
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| CN201510697140.3A Expired - Fee Related CN105276334B (en) | 2015-10-23 | 2015-10-23 | A kind of detecting robot of pipe |
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| CN111623192B (en) * | 2019-02-27 | 2022-05-10 | 香港理工大学 | Pipeline robot and system |
| CN111828773B (en) * | 2019-04-22 | 2022-05-27 | 西北工业大学 | Space steering mechanism of pipeline robot |
| CN110529693B (en) * | 2019-08-31 | 2020-12-11 | 大连理工大学 | A explosion-proof walking robot for natural gas line |
| CN112728287B (en) * | 2020-11-24 | 2022-03-01 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
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| CN102011915A (en) * | 2010-11-09 | 2011-04-13 | 刘成琪 | Multifunctional pipeline robot driving mechanism |
| CN205278674U (en) * | 2015-10-23 | 2016-06-01 | 河北工业大学 | Pipeline detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319747A (en) * | 2008-06-03 | 2008-12-10 | 东南大学 | Self-adapting pipe robot |
| CN101818842A (en) * | 2010-04-02 | 2010-09-01 | 浙江师范大学 | Pipeline robot walking mechanism realizing walking by using self-locking |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN104329395A (en) * | 2014-09-15 | 2015-02-04 | 陈兆红 | Bidirectional transmission mechanism |
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