CN106015831A - Wheel type pipeline robot with steering of driving wheels being controllable - Google Patents

Wheel type pipeline robot with steering of driving wheels being controllable Download PDF

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Publication number
CN106015831A
CN106015831A CN201610443897.4A CN201610443897A CN106015831A CN 106015831 A CN106015831 A CN 106015831A CN 201610443897 A CN201610443897 A CN 201610443897A CN 106015831 A CN106015831 A CN 106015831A
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China
Prior art keywords
arm unit
robot
pipeline
driving wheel
driving
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Granted
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CN201610443897.4A
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Chinese (zh)
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CN106015831B (en
Inventor
赵坤民
陈还
陈梁玉
丁志杨
吴寒
翟华
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Hefei University of Technology
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Hefei University of Technology
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Priority to CN201610443897.4A priority Critical patent/CN106015831B/en
Publication of CN106015831A publication Critical patent/CN106015831A/en
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Publication of CN106015831B publication Critical patent/CN106015831B/en
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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
    • 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
    • F16L55/40—Constructional aspects of the body
    • 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
    • F16L2101/10—Treating the inside of pipes
    • 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)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a wheel type pipeline robot with steering of driving wheels being controllable. The wheel type pipeline robot with steering of the driving wheels being controllable mainly consists of two front elastic arm units, two rear elastic arm units and a robot body. Driving motors are arranged on the two front elastic arm units separately to drive the robot to move forward or backward. The robot can pass through a bent pipeline efficiently and stably by differential speed control. A driving wheel steering and reversing mechanism is arranged in the robot body and the attitude of the robot in a pipeline can be adjusted rapidly by adjusting the included angles between the four driving wheels and the section of the pipeline simultaneously. The pipeline robot is simple in structure and capable of self-adaption of a tiny change of a pipe diameter and rapid adjustment of the attitude of the robot in the pipeline; furthermore, the pipeline robot has an obstacle crossing ability for efficiently and stably passing through the complicated pipeline such as the bent pipeline and a reducing pipeline with the best attitude angle, so that the normal inspection and maintenance of the pipeline can be guaranteed.

Description

A kind of driving wheel turns to controlled wheeled pipe robot
Technical field
The present invention relates to a kind of pipe robot research field, a kind of driving wheel turns to controlled wheeled pipe robot.
Background technology
Nowadays, pipeline is obtained for extensively application in all trades and professions, and modern industry, agricultural and daily life all be unable to do without pipeline, Pipeline transportation has become one of important channels of matter transportation such as oil, natural gas and domestic water, but pipeline originally exists for Some defects, add in use, and owing to vibrated, thermal cycle, corrosion etc. act on, pipeline can be damaged, leak. In order to improve pipeline life, prevent the generation of the accidents such as leakage, it is necessary to pipeline is carried out periodically effective detection and maintenance, again by Many in underground in pipeline, circumstance complication and caliber are less, and artificial maintenance is difficult to, and maintenance detective's pipe robot arises at the historic moment with regard to this.
Pipe robot as pipe-line maintenance, overhaul and cleaning equipment, belong to specialized robot, according to pipeline environment requirement, spread out Give birth to much version.Owing to pipeline environment is complicated and self is by reasons such as force unbalances, robot pose is at running In inevitably change, this attitude being accomplished by adjusting robot in time, but existing tubular service robot is most Attitude regulation difficulty, avoidance ability is more weak, and bend pipe is poor by sexuality.
Summary of the invention
The present invention is to solve above-mentioned problems of the prior art, it is proposed that a kind of simple in construction, can quickly regulate robot Attitude in pipeline, has obstacle climbing ability, and the driving wheel of energy self adaptation small caliber change turns to controlled wheeled pipe machine Device people, to can be with optimal attitude angle the most efficiently by the complicated pipeline such as curved pipe and tapered pipeline, it is thus possible to ensure pipe The normal service in road and maintenance.
The present invention solves that above technical problem adopts the following technical scheme that
A kind of driving wheel of the present invention turns to the feature of controlled wheeled pipe robot to include: arm unit before two, after two arm unit and Body；
Before described two, after arm unit and described two, arm unit is distributed in described body surrounding, forms decussate texture；
Described body is turned to side steering to form by front case lid, casing, back box lid and the driving wheel arranged inside body；
Described front case lid is fixed on described casing front end face；Described back box lid is fixed on described box back face；
Described driving wheel turns to side steering by steer motor, reduction box, bevel gear wheel, four bevel pinions and four power transmission shafts Composition；Formed reducing motor by described reduction box and described steer motor, and be arranged on described front case lid；
On the output shaft of described reduction box, and being in described box house and be provided with described bevel gear wheel, described bevel gear wheel divides It is not meshed with described four bevel pinions, and is used for transmitting moment of torsion and changing the direction of motion；
Described four bevel pinions are separately fixed at described four transmission thes tip of the axis, and described four power transmission shafts are distributed in described casing Surrounding, and be connected with described casing by bearing；The other end of described four power transmission shafts be respectively arranged with described two before arm unit and Arm unit after two；
Described driving wheel turns to side steering to be to utilize described steer motor and after the deceleration of described reduction box processes, and drives institute State bevel gear wheel and drive four described bevel pinions to rotate, thus before utilizing described four power transmission shafts to drive described two arm unit with After two, arm unit rotates together, forms the attitude regulation structure of described wheeled pipe robot.
Driving wheel of the present invention turns to the feature of controlled wheeled pipe robot to lie also in:
After described two, in arm unit, any one rear arm unit includes: driving wheel, live axle, U-shaped frame, sleeve, maintainance block, Spring and guide post；
The front end of described power transmission shaft is provided with described sleeve；Described U-shaped frame it is provided with in the end of described sleeve；At described U The opening part of type frame is provided with described driving wheel by described live axle；
The bottom of described U-shaped frame is provided with described maintainance block, and described maintainance block is connected with described sleeve by bearing；
Described guide post it is provided with between described maintainance block and described casing；Described guide post is set with described spring；
Before described two, in arm unit, any one front arm unit is to be provided with drive mechanism on the basis of arm unit in the rear；
Described drive mechanism includes: worm screw, worm gear and driving motor；
The side of described U-shaped frame is provided with described driving motor；The output shaft of described driving motor is provided with described snail Bar；
A side end face of the live axle of described front arm unit is provided with described worm gear, and described worm gear is nibbled mutually with described worm screw Close；
Described drive mechanism is to drive described worm screw by described driving motor, and drives described worm gear wheel so that before described two The driving wheel of arm unit rotates, the driving wheel of arm unit also concomitant rotation after described two, thus forms described wheeled pipe robot Walking structure.
Described robot is provided with two video cameras, is respectively used to shoot described wheeled pipe robot and is advancing and revolution fortune Pipeline environment time dynamic.
Compared with the prior art, the present invention has the beneficial effect that:
1, the pipe robot of the present invention is by arm unit before two, and arm unit and body composition after two, it is simple and compact for structure, control System is easily；Before two, arm unit is respectively arranged with driving motor, and driven machine people move forwards or backwards；Utilize differential principle, make Obtain robot and can pass through bend pipe the most efficiently；It is applicable to Various Complex pipe condition；
2, robot four arm of the present invention uses the supporting way of spring, and there is certain flexibility in robot so that robot can be certainly Adapt to caliber minor variations, tapered pipeline can be passed through；By bend pipe and regulation attitude during so that robotically-driven with Inner-walls of duct contacts all the time, increases robot pull strength, improves the drive efficiency of robot；
3, the driving wheel arranged in the robot body of the present invention turns to side steering, by regulation driving wheel and pipeline section Angle, just can regulate driving quickly regulation robot attitude in pipeline；When angle is less than 90 degree, robot can be around pipeline Axis is for the helical movement；When angle is equal to 90 degree, robot makees gyration on inner-walls of duct, it is thus possible to quickly big angle The regulation robot attitude in pipeline of degree, with optimal attitude angle, the most efficiently by bend pipe, and achieves on the spot Barrier avoiding function；
4, the robot of the present invention both can be for linear motion along pipeline, it is also possible to turns round around central axis on inner-walls of duct Motion, can detect pipe damage situation quickly, accurately with this.In robot, front end and centre respectively arrange a shooting Machine, by the image of the video camera of front end by being used for nosing into roughly pipe condition after processing, when finding pipe problems, robot Making gyration, middle video camera is for accurately nosing into pipe condition.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the pipe robot of the present invention；
Fig. 2 be the pipe robot of the present invention turn to break-in structural representation；
Label in figure: 1: driving wheel；2: live axle；3:U type frame；4: maintainance block；5: power transmission shaft；6: worm gear； 7: worm screw；8: electric machine support；9: drive motor；10: reduction box；11: steer motor；12: front case lid；13: casing； 14: back box lid；15 bevel gear wheels；16: bevel pinion；17: spring；18: guide post；19: sleeve.
Detailed description of the invention
As it is shown in figure 1, a kind of driving wheel turns to controlled wheeled pipe robot, including arm unit before two, after two arm unit and Body, wherein after arm unit and two, arm unit is distributed in body surrounding before two, forms decussate texture.Body is by front case lid, case Body, back box lid and the driving wheel arranged inside body turn to side steering to form, and front case lid is fixed on described casing front end face, Back box lid is fixed on described box back face.
As in figure 2 it is shown, driving wheel turns to side steering by steer motor, reduction box, bevel gear wheel, four bevel pinions and four Individual power transmission shaft forms；Wherein reduction box and steer motor composition reducing motor, and be arranged on front case lid；Output at reduction box On axle, and being in box house and be provided with bevel gear wheel, bevel gear wheel is meshed with four bevel pinions respectively, is used for transmitting torsion Square and the change direction of motion；Four bevel pinions are separately fixed at four the transmission thes tip of the axis being distributed in casing surrounding, Qi Zhongchuan Moving axis is connected with casing by bearing；The other end of four power transmission shafts be respectively arranged with two before arm unit after arm unit and two；
The internal driving wheel arranged of pipe robot body turns to side steering to be to utilize steer motor the deceleration through reduction box After process, drive bevel gear wheel and drive four described bevel pinions to rotate, thus arm unit before utilizing four power transmission shafts to drive two Rotate together with arm unit after two, thus can regulate the robotically-driven angle (-90 degree are to 90 degree) taken turns with pipeline section, when When driving wheel is parallel with pipeline section, robot is for linear motion along pipeline；When angle is less than 90 degree, robot can be around pipe Road axis is for the helical movement；When angle is equal to 90 degree, robot makees gyration on inner-walls of duct, according to this just can fast velocity modulation Save robot attitude in pipeline or realize barrier avoiding function.
As depicted in figs. 1 and 2, in two front arm units, any one front arm unit is the driving machine that is provided with on the basis of rear arm unit Structure；After two, in arm unit, any one rear arm unit includes: driving wheel, live axle, U-shaped frame, sleeve, maintainance block, spring And guide post.The front end of power transmission shaft being provided with sleeve, the end of sleeve is provided with U-shaped frame, the opening part at U-shaped frame leads to Wheel shaft of overdriving is provided with driving wheel: constitute wheel formula pipe robot device people's walking mechanism.
The bottom of U-shaped frame is provided with maintainance block, and maintainance block is connected with sleeve by bearing, at maintainance block and described casing Between be provided with guide post, be set with spring on the guide bar: constitute the supporting mechanism of robot.Robot four arm uses spring Supporting way so that there is a certain flexibility in robot, can the change of self adaptation small caliber, and by bend pipe and regulation attitude During so that robotically-driven contact all the time with inner-walls of duct.
Wherein, the drive mechanism of front arm unit includes: worm screw, worm gear and driving motor, is provided with and drives on the side of U-shaped frame Galvanic electricity machine, is provided with worm screw on the output shaft driving motor；A side end face of the live axle of front arm unit is provided with The worm gear that worm screw is meshed；
The drive mechanism of front arm unit is by driving motor to drive worm screw, and drives worm gear wheel so that before two, arm unit drives Wheel rotation, the driving wheel of arm unit also concomitant rotation after two, thus form the walking structure of wheeled pipe robot.
The body of robot is provided with two video cameras, is respectively used to shoot described wheeled pipe robot and is advancing and revolution Pipeline environment during motion.Wherein, it is in the image that the video camera of robot front medial location shoots during moving ahead to pass through For nosing into roughly pipe condition after process, when finding that pipeline exists the defects such as damage, now robot makees gyration on the spot, Another video camera being positioned on body back box lid is started working, and for accurately nosing into pipe condition, this is favorably improved detection effect Rate and accuracy.

Claims (3)

1. driving wheel turns to a controlled wheeled pipe robot, and its feature includes: arm unit before two, after two arm unit and Body；
Before described two, after arm unit and described two, arm unit is distributed in described body surrounding, forms decussate texture；
Described body is turned to side steering to form by front case lid, casing, back box lid and the driving wheel arranged inside body；
Described front case lid is fixed on described casing front end face；Described back box lid is fixed on described box back face；
Described driving wheel turns to side steering by steer motor, reduction box, bevel gear wheel, four bevel pinions and four power transmission shafts Composition；Formed reducing motor by described reduction box and described steer motor, and be arranged on described front case lid；
On the output shaft of described reduction box, and being in described box house and be provided with described bevel gear wheel, described bevel gear wheel divides It is not meshed with described four bevel pinions, and is used for transmitting moment of torsion and changing the direction of motion；
Described four bevel pinions are separately fixed at described four transmission thes tip of the axis, and described four power transmission shafts are distributed in described casing Surrounding, and be connected with described casing by bearing；The other end of described four power transmission shafts be respectively arranged with described two before arm unit and Arm unit after two；
Described driving wheel turns to side steering to be to utilize described steer motor and after the deceleration of described reduction box processes, and drives institute State bevel gear wheel and drive four described bevel pinions to rotate, thus before utilizing described four power transmission shafts to drive described two arm unit with After two, arm unit rotates together, forms the attitude regulation structure of described wheeled pipe robot.
Driving wheel the most according to claim 1 turns to controlled wheeled pipe robot, it is characterized in that:
After described two, in arm unit, any one rear arm unit includes: driving wheel, live axle, U-shaped frame, sleeve, maintainance block, Spring and guide post；
The front end of described power transmission shaft is provided with described sleeve；Described U-shaped frame it is provided with in the end of described sleeve；At described U The opening part of type frame is provided with described driving wheel by described live axle；
The bottom of described U-shaped frame is provided with described maintainance block, and described maintainance block is connected with described sleeve by bearing；
Described guide post it is provided with between described maintainance block and described casing；Described guide post is set with described spring；
Before described two, in arm unit, any one front arm unit is to be provided with drive mechanism on the basis of arm unit in the rear；
Described drive mechanism includes: worm screw, worm gear and driving motor；
The side of described U-shaped frame is provided with described driving motor；The output shaft of described driving motor is provided with described snail Bar；
A side end face of the live axle of described front arm unit is provided with described worm gear, and described worm gear is nibbled mutually with described worm screw Close；
Described drive mechanism is to drive described worm screw by described driving motor, and drives described worm gear wheel so that before described two The driving wheel of arm unit rotates, the driving wheel of arm unit also concomitant rotation after described two, thus forms described wheeled pipe robot Walking structure.
Driving wheel the most according to claim 1 turns to controlled wheeled pipe robot, it is characterized in that: at described machine It is provided with two video cameras on people, is respectively used to the pipeline environment shooting described wheeled pipe robot when advancing with gyration.
CN201610443897.4A 2016-06-16 2016-06-16 A kind of driving wheel turns to controllable wheeled pipe robot Expired - Fee Related CN106015831B (en)

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Cited By (23)

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CN106402577A (en) * 2016-11-17 2017-02-15 天津大学 Traction device for wheeled pipeline robot
CN106885098A (en) * 2017-04-10 2017-06-23 燕胜 A kind of oil-gas pipeline detects walking mechanism
CN107035935A (en) * 2017-06-15 2017-08-11 湖州丘天电子科技有限公司 A kind of pipe robot for conveniently adapting to different pipelines
CN107218473A (en) * 2017-05-31 2017-09-29 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN107270027A (en) * 2017-05-16 2017-10-20 哈尔滨工程大学 A kind of support wheel type pipeline detection robot of optimization
CN107990085A (en) * 2017-12-29 2018-05-04 南京工程学院 Multi-pose pipe with variable diameter pipeline robot
CN108253227A (en) * 2018-01-03 2018-07-06 浙江理工大学 A kind of pipe robot applied to reservoir culvert
CN108533885A (en) * 2018-04-27 2018-09-14 国网浙江省电力有限公司信息通信分公司 A kind of wisdom inspection mobile terminal
CN109357105A (en) * 2018-10-15 2019-02-19 西华大学 Wheel-track combined type pipeline robot
CN109352146A (en) * 2018-11-12 2019-02-19 南通航运职业技术学院 A kind of mariages narrow clearance welding gun
CN109352148A (en) * 2018-11-12 2019-02-19 南通航运职业技术学院 A kind of narrow clearance welding gun
CN109955123A (en) * 2019-03-29 2019-07-02 河海大学常州校区 A kind of slender pipeline is comprehensive to remove tumor robot
CN109967563A (en) * 2019-04-30 2019-07-05 广东银浩市政工程有限公司 A kind of drain pipeline structure deformation non-excavation rehabilitation device
CN110340083A (en) * 2019-07-18 2019-10-18 辽宁工程技术大学 A kind of tube cleaning mechanism
CN110953439A (en) * 2019-11-22 2020-04-03 清华大学 Integrated robot suitable for complex pipeline
CN111410013A (en) * 2020-04-09 2020-07-14 北京京东乾石科技有限公司 Transport mechanism, transport device and pipeline transport system
CN111571081A (en) * 2020-06-01 2020-08-25 刘俊 Pipeline inner wall welding robot
CN112549883A (en) * 2020-12-22 2021-03-26 华东勘测设计院(福建)有限公司 Four-wheel driving mechanism and pipeline box culvert detection robot
CN113294625A (en) * 2021-05-27 2021-08-24 河海大学 Robot and method for walking on bent pipeline
CN113374985A (en) * 2021-06-02 2021-09-10 厦门吾桑贸易有限公司 Pipeline exploration vehicle
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CN106402577B (en) * 2016-11-17 2018-05-04 天津大学 A kind of wheeled pipe robot draw-gear
CN106402577A (en) * 2016-11-17 2017-02-15 天津大学 Traction device for wheeled pipeline robot
CN106885098A (en) * 2017-04-10 2017-06-23 燕胜 A kind of oil-gas pipeline detects walking mechanism
CN107270027A (en) * 2017-05-16 2017-10-20 哈尔滨工程大学 A kind of support wheel type pipeline detection robot of optimization
CN107218473A (en) * 2017-05-31 2017-09-29 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN107218473B (en) * 2017-05-31 2018-05-15 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN107035935B (en) * 2017-06-15 2019-04-05 陈红 A kind of pipe robot conveniently adapting to different pipelines
CN107035935A (en) * 2017-06-15 2017-08-11 湖州丘天电子科技有限公司 A kind of pipe robot for conveniently adapting to different pipelines
CN107990085A (en) * 2017-12-29 2018-05-04 南京工程学院 Multi-pose pipe with variable diameter pipeline robot
CN107990085B (en) * 2017-12-29 2023-11-03 南京工程学院 Multi-gesture variable-diameter pipeline robot
CN108253227A (en) * 2018-01-03 2018-07-06 浙江理工大学 A kind of pipe robot applied to reservoir culvert
CN108533885A (en) * 2018-04-27 2018-09-14 国网浙江省电力有限公司信息通信分公司 A kind of wisdom inspection mobile terminal
CN109357105A (en) * 2018-10-15 2019-02-19 西华大学 Wheel-track combined type pipeline robot
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