CN106015831B - A kind of driving wheel turns to controllable wheeled pipe robot - Google Patents
A kind of driving wheel turns to controllable wheeled pipe robot Download PDFInfo
- Publication number
- CN106015831B CN106015831B CN201610443897.4A CN201610443897A CN106015831B CN 106015831 B CN106015831 B CN 106015831B CN 201610443897 A CN201610443897 A CN 201610443897A CN 106015831 B CN106015831 B CN 106015831B
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- CN
- China
- Prior art keywords
- arm unit
- robot
- driving wheel
- pipeline
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Controllable wheeled pipe robot is turned to the present invention relates to a kind of driving wheel, is mainly made up of front and rear each two elastic arm unit with body.Motor is respectively arranged with before two on arm unit, driving robot moves forwards or backwards；Using differential control, robot can pass through bend pipe with high efficiency smooth.Driving wheel is provided with robot body and turns to side steering, by regulation simultaneously come four driving wheels and the angle of pipeline section, posture of the quick regulation robot in pipeline.The pipe robot of the present invention is simple in construction, adaptively small caliber it can change, posture of the energy quick regulation robot in pipeline, with obstacle climbing ability, and can be with optimal attitude angle, steadily efficiently by the complicated pipeline such as curved pipe and tapered pipeline, so as to can guarantee that the normal service of pipeline and maintenance.
Description
Technical field
The present invention relates to a kind of pipe robot research field, espespecially a kind of driving wheel turns to controllable wheeled pipeline machine
People.
Background technology
Nowadays, pipeline is obtained for extensive use in all trades and professions, and modern industry, agricultural and daily life all be unable to do without pipe
Road, pipeline transportation turns into one of important channels of matter transportation such as oil, natural gas and domestic water, but pipeline is originally deposited
In some defects, plus in use, because vibrated, thermal cycle, corrosion etc. act on, pipeline can be damaged, let out
Leakage.In order to improve the generation of the accidents such as pipeline life, prevent leakage, it is necessary to periodically effective detection and maintenance are carried out to pipeline,
Again because in underground, environment is complicated and caliber is smaller more than pipeline, artificial maintenance is not easy, and maintenance detective's pipe robot meets the tendency of with regard to this
And give birth to.
Pipe robot belongs to specialized robot, wanted according to pipeline environment as pipe-line maintenance, maintenance and cleaning equipment
Ask, derived many structure types.Because reason, the robot poses such as pipeline environment complexity and itself force unbalance are being transported
Inevitably changed during row, this just needs the posture of the robot of adjustment in time, but existing tubular service machine
The multi-pose regulation of the device National People's Congress is difficult, and avoidance ability is weaker, and bend pipe is poor by sexuality.
The content of the invention
The present invention is in order to solve above-mentioned problems of the prior art, it is proposed that and it is a kind of simple in construction, can quick regulation
Posture of the robot in pipeline, there is obstacle climbing ability, and the driving wheel of the adaptive small caliber change of energy turns to controllable wheel
Formula pipe robot, to can be steady efficiently by the complicated pipeline such as curved pipe and tapered pipeline with optimal attitude angle, from
And it can guarantee that normal service and the maintenance of pipeline.
The present invention adopts the following technical scheme that to solve above technical problem：
The present invention includes the characteristics of a kind of driving wheel turns to controllable wheeled pipe robot：Arm unit before two, two postbrachiums
Unit and body；
Arm unit is distributed in the body surrounding after arm unit and described two before described two, forms decussate texture；
The body turns to side steering by preceding case lid, casing, back box lid and the driving wheel that is set inside body and formed；
The preceding case lid is fixed on the casing front end face；The back box lid is fixed on the box back face；
The driving wheel turns to side steering by steering motor, reduction box, bevel gear wheel, four bevel pinions and four biographies
Moving axis forms；Reducing motor is formed by the reduction box and the steering motor, and is arranged on the preceding case lid；
The bevel gear wheel, the auger are provided with the output shaft of the reduction box, and in the box house
Gear is meshed with four bevel pinions respectively, and for transmitting moment of torsion and changing the direction of motion；
Four bevel pinions are separately fixed at four transmissions the tip of the axis, and four power transmission shafts are distributed in institute
Casing surrounding is stated, and is connected by bearing with the casing；Before the other end of four power transmission shafts is respectively arranged with described two
Arm unit after arm unit and two；
It is to utilize the steering motor and after the deceleration processing of the reduction box that the driving wheel, which turns to side steering,
Drive the bevel gear wheel and drive four bevel pinions to rotate, before driving described two using four power transmission shafts
Arm unit rotates together with arm unit after two, forms the attitude regulation structure of the wheeled pipe robot.
Driving wheel of the present invention turns to the characteristics of controllable wheeled pipe robot and lain also in：
Any one rear arm unit includes in arm unit after described two：Driving wheel, live axle, U-shaped frame, sleeve, maintainance block,
Spring and guide rod；
The front end of the power transmission shaft is provided with the sleeve；There is the U-shaped frame in the end set of the sleeve；Institute
The opening for stating U-shaped frame is provided with the driving wheel by the live axle；
The maintainance block is provided with the bottom of the U-shaped frame, the maintainance block is connected by bearing with the sleeve；
The guide rod is provided between the maintainance block and the casing；The bullet is set with the guide rod
Spring；
Any one preceding arm unit is to be provided with drive mechanism on the basis of arm unit in the rear in arm unit before described two；
The drive mechanism includes：Worm screw, worm gear and motor；
The motor is provided with the side of the U-shaped frame；It is provided with the output shaft of the motor
The worm screw；
The worm gear, and the worm gear and the snail are provided with a side end face of the live axle of the preceding arm unit
Bar is meshed；
The drive mechanism is to drive the worm screw by the motor, and drives the worm gear wheel so that institute
The driving wheel for stating arm unit before two rotates, the driving wheel of arm unit also concomitant rotation after described two, so as to form the wheeled pipe
The walking structure of pipeline robot.
Two video cameras are provided with the robot, be respectively used to shoot the wheeled pipe robot advancing and
Pipeline environment during gyration.
Compared with the prior art, the present invention has the beneficial effect that：
1st, pipe robot of the invention is by arm unit before two, and arm unit and body composition after two, its is simple and compact for structure,
Control is easy；Arm unit is respectively arranged with motor before two, and driving robot moves forwards or backwards；Using differential principle,
Robot is enabled steadily efficiently to pass through bend pipe；Suitable for Various Complex pipe condition；
2nd, the arm of robot four of the invention uses the supporting way of spring, and there is certain flexibility in robot so that robot
The adaptive caliber minor variations of energy, can pass through tapered pipeline；During by bend pipe and regulation posture so that robot drives
It is dynamic to be contacted all the time with inner-walls of duct, robot tractive force is increased, improves the drive efficiency of robot；
3rd, the driving wheel set in robot body of the invention turns to side steering, is cut by adjusting driving wheel with pipeline
The angle in face, it can just adjust posture of the driving quick regulation robot in pipeline；When angle is less than 90 degree, robot can be around
Conduit axis is for the helical movement；When angle is equal to 90 degree, robot makees gyration on inner-walls of duct, so as to quick
Posture of the regulation robot of wide-angle in pipeline, with optimal attitude angle, steadily efficiently by bend pipe, and is realized
Barrier avoiding function on the spot；
4th, robot of the invention both can be for linear motion along pipeline, can also make on inner-walls of duct around central axis
Gyration, pipeline degree of impairment can quickly, accurately be detected with this.Front end and middle each setting one in robot
Video camera, the image of the video camera of front end is nosed into pipe condition roughly by being used for after processing, when finding pipe problems, machine
Device people makees gyration, and middle video camera is used to accurately nose into pipe condition.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the pipe robot of the present invention；
Fig. 2 is the steering deflecting structural representation of the pipe robot of the present invention；
Label in figure：1：Driving wheel；2：Live axle；3：U-shaped frame；4：Maintainance block；5：Power transmission shaft；6：Worm gear；7：Worm screw；
8：Electric machine support；9：Motor；10：Reduction box；11：Steering motor；12：Preceding case lid；13：Casing；14：Back box lid；15 is big
Bevel gear；16：Bevel pinion；17：Spring；18：Guide rod；19：Sleeve.
Embodiment
As shown in figure 1, a kind of driving wheel turns to controllable wheeled pipe robot, including arm unit, two postbrachium lists before two
Member and body, wherein arm unit is distributed in body surrounding after arm unit and two before two, form decussate texture.Body is by preceding case
Lid, casing, back box lid and the driving wheel steering side steering composition set inside body, before preceding case lid is fixed on the casing
On end face, back box lid is fixed on the box back face.
As shown in Fig. 2 driving wheel turn to side steering by steering motor, reduction box, bevel gear wheel, four bevel pinions and
Four power transmission shaft compositions；Wherein reduction box and steering motor composition reducing motor, and be arranged on preceding case lid；In the defeated of reduction box
On shaft, and box house is provided with bevel gear wheel, bevel gear wheel is meshed with four bevel pinions respectively, for transmitting
Moment of torsion and the change direction of motion；Four bevel pinions are separately fixed at four transmission thes tip of the axis for being distributed in casing surrounding, its
Middle power transmission shaft is connected by bearing with casing；Arm unit and two postbrachium lists before the other end of four power transmission shafts is respectively arranged with two
Member；
The driving wheel set inside pipe robot body, which turns to side steering, to be using steering motor and passes through reduction box
Deceleration processing after, driving bevel gear wheel simultaneously drives four bevel pinions to rotate, so as to drive two using four power transmission shafts
Preceding arm unit rotates together with arm unit after two, and thus adjusting robotically-driven wheel and the angle of pipeline section, (- 90 spend and arrive
90 degree), when driving wheel is parallel with pipeline section, robot is for linear motion along pipeline；When angle is less than 90 degree, machine
People can be for the helical movement around conduit axis；When angle is equal to 90 degree, robot makees gyration on inner-walls of duct, according to this
Posture in pipeline of quick regulation robot or barrier avoiding function can be realized.
As depicted in figs. 1 and 2, any one preceding arm unit is that drive is provided with the basis of rear arm unit in two preceding arm units
Motivation structure；Any one rear arm unit includes in arm unit after two：Driving wheel, live axle, U-shaped frame, sleeve, maintainance block, spring
And guide rod.The front end of power transmission shaft is provided with sleeve, has U-shaped frame in the end set of sleeve, passes through in the opening of U-shaped frame
Live axle is provided with driving wheel：Composition machine wheeled pipe robot device people's walking mechanism.
Maintainance block is provided with the bottom of U-shaped frame, and maintainance block is connected by bearing with sleeve, maintainance block with it is described
Guide rod is provided between casing, is set with spring on the guide bar：Form the supporting mechanism of robot.The arm of robot four uses
The supporting way of spring so that there is certain flexibility in robot, adaptively small caliber can change, and is passing through bend pipe and regulation appearance
During state so that robotically-driven to be contacted all the time with inner-walls of duct.
Wherein, the drive mechanism of preceding arm unit includes：Worm screw, worm gear and motor, it is provided with the side of U-shaped frame
Motor, worm screw is provided with the output shaft of motor；Set on a side end face of the live axle of preceding arm unit
There is the worm gear being meshed with worm screw；
The drive mechanism of preceding arm unit is to drive worm screw by motor, and drives worm gear wheel so that two forearm lists
The driving wheel of member rotates, the driving wheel of arm unit also concomitant rotation after two, so as to form the walking structure of wheeled pipe robot.
Two video cameras are provided with the body of robot, is respectively used to shoot the wheeled pipe robot and is advancing
With pipeline environment during gyration.Wherein, what the video camera in robot front medial location was shot during moving ahead
Image roughly noses into pipe condition by being used for after processing, and when finding that pipeline has the defects of damaging, now robot is on the spot
Make gyration, another video camera on body back box lid is started working, and for accurately nosing into pipe condition, this is helped
In raising detection efficiency and the degree of accuracy.
Claims (2)
1. a kind of driving wheel turns to controllable wheeled pipe robot, including：Arm unit before two, arm unit and body after two；
Arm unit is distributed in the body surrounding after arm unit and described two before described two, forms decussate texture；
The body turns to side steering by preceding case lid, casing, back box lid and the driving wheel that is set inside body and formed；
The preceding case lid is fixed on the casing front end face；The back box lid is fixed on the box back face；
The driving wheel turns to side steering by steering motor, reduction box, bevel gear wheel, four bevel pinions and four power transmission shafts
Composition；Reducing motor is formed by the reduction box and the steering motor, and is arranged on the preceding case lid；
The bevel gear wheel, the bevel gear wheel are provided with the output shaft of the reduction box, and in the box house
It is meshed respectively with four bevel pinions, and for transmitting moment of torsion and changing the direction of motion；
Four bevel pinions are separately fixed at four transmissions the tip of the axis, and four power transmission shafts are distributed in the case
Body surrounding, and be connected by bearing with the casing；The other end of four power transmission shafts is respectively arranged with the two forearms list
Arm unit after member and two；
It is the driving using the steering motor and after the deceleration processing of the reduction box that the driving wheel, which turns to side steering,
The bevel gear wheel simultaneously drives four bevel pinions to rotate, so as to drive the two forearms list using four power transmission shafts
Member rotates together with arm unit after two, forms the attitude regulation structure of the wheeled pipe robot；It is characterized in that：
Any one rear arm unit includes in arm unit after described two：Driving wheel, live axle, U-shaped frame, sleeve, maintainance block, spring
And guide rod；
The front end of the power transmission shaft is provided with the sleeve；There is the U-shaped frame in the end set of the sleeve；In the U
The opening of type frame is provided with the driving wheel by the live axle；
The maintainance block is provided with the bottom of the U-shaped frame, the maintainance block is connected by bearing with the sleeve；
The guide rod is provided between the maintainance block and the casing；The spring is set with the guide rod；
Any one preceding arm unit is to be provided with drive mechanism on the basis of arm unit in the rear in arm unit before described two；
The drive mechanism includes：Worm screw, worm gear and motor；
The motor is provided with the side of the U-shaped frame；It is provided with the output shaft of the motor described
Worm screw；
The worm gear, and the worm gear and the worm screw phase are provided with a side end face of the live axle of the preceding arm unit
Engagement；
The drive mechanism is to drive the worm screw by the motor, and drives the worm gear wheel so that described two
The driving wheel of preceding arm unit rotates, the driving wheel of arm unit also concomitant rotation after described two, so as to form the wheeled pipe machine
The walking structure of device people.
2. driving wheel according to claim 1 turns to controllable wheeled pipe robot, it is characterized in that：In the robot
On be provided with two video cameras, be respectively used to shoot pipe ring of the wheeled pipe robot when advancing and gyration
Border.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443897.4A CN106015831B (en) | 2016-06-16 | 2016-06-16 | A kind of driving wheel turns to controllable wheeled pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443897.4A CN106015831B (en) | 2016-06-16 | 2016-06-16 | A kind of driving wheel turns to controllable wheeled pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106015831A CN106015831A (en) | 2016-10-12 |
| CN106015831B true CN106015831B (en) | 2017-11-28 |
Family
ID=57085349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610443897.4A Expired - Fee Related CN106015831B (en) | 2016-06-16 | 2016-06-16 | A kind of driving wheel turns to controllable wheeled pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106015831B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2683421C1 (en) * | 2018-05-30 | 2019-03-28 | Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" | Device for surveying the internal pipe surface |
| WO2021044171A1 (en) * | 2019-09-06 | 2021-03-11 | Doosan Babcock Limited | Pipe inspection tool |
| FR3103022A1 (en) * | 2019-11-12 | 2021-05-14 | Naval Group | PIPING NETWORK INSPECTION DEVICE |
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| CN106402577B (en) * | 2016-11-17 | 2018-05-04 | 天津大学 | A kind of wheeled pipe robot draw-gear |
| CN106885098A (en) * | 2017-04-10 | 2017-06-23 | 燕胜 | A kind of oil-gas pipeline detects walking mechanism |
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| CN101788093B (en) * | 2010-03-10 | 2011-08-10 | 大庆石油学院 | Drive running mechanism of pipeline robot |
| CN101890708B (en) * | 2010-06-08 | 2012-06-20 | 北京信息科技大学 | Wheeled-movement pipeline robot |
| US9429266B2 (en) * | 2013-11-26 | 2016-08-30 | Research & Business Foundation Sungkyunkwan University | Brake mechanism of robot using multi-output differential gear |
| CN203614993U (en) * | 2013-12-06 | 2014-05-28 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN104500914B (en) * | 2014-12-11 | 2016-09-14 | 浙江理工大学 | Reservoir culvert measuring robots |
| CN204717232U (en) * | 2015-04-10 | 2015-10-21 | 浙江水利水电学院 | Pipeline robot drive unit and pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2683421C1 (en) * | 2018-05-30 | 2019-03-28 | Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" | Device for surveying the internal pipe surface |
| WO2021044171A1 (en) * | 2019-09-06 | 2021-03-11 | Doosan Babcock Limited | Pipe inspection tool |
| FR3103022A1 (en) * | 2019-11-12 | 2021-05-14 | Naval Group | PIPING NETWORK INSPECTION DEVICE |
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| Publication number | Publication date |
|---|---|
| CN106015831A (en) | 2016-10-12 |
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