CN106224689A - A kind of umbrella shape driving wheel structure and application thereof - Google Patents
A kind of umbrella shape driving wheel structure and application thereof Download PDFInfo
- Publication number
- CN106224689A CN106224689A CN201610433819.6A CN201610433819A CN106224689A CN 106224689 A CN106224689 A CN 106224689A CN 201610433819 A CN201610433819 A CN 201610433819A CN 106224689 A CN106224689 A CN 106224689A
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- China
- Prior art keywords
- driving wheel
- umbrella shape
- slide block
- upper frame
- tensioning
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Walking Sticks, Umbrellas, And Fans (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to pipe robot, in particular for a kind of umbrella shape driving wheel structure of pipe robot.It is a umbrella folding structure, including tensioning spring, tensioning slide block, beveled structure upper frame, master arm, secondary support arm, driving wheel and wheel carrier；Described beveled structure upper frame is the body of whole driving wheel structure；Master arm one end is connected with beveled structure upper frame, and the other end hangs driving wheel and wheel carrier structure；And the stage casing of master arm, it being connected with secondary support arm, the other end of secondary support arm is connected with tensioning slide block；Tensioning slide block can slide on beveled structure upper frame, is provided with tensioning spring between tensioning slide block and beveled structure upper frame.When slide block moves, tensioning spring can give the restoring force that slide block is suitable, thus secondary support arm can be driven further to promote master arm, gives, with this, the tensile force that driving wheel is enough with wheel carrier.
Description
Technical field
The present invention relates to pipe robot, in particular for a kind of umbrella shape driving wheel structure of pipe robot.
Background technology
Due to pipe robot, particularly can adapt to the screw type pipeline machine of vertical pipe and horizontal pipe simultaneously
People, at present also in the research and development stage, seldom has the case having carried out commercial Application.Therefore in actual application
Fault rescue seldom accounts for, and carries out targeted design.
At present, in the design of pipe inner-spiral type robot, for the electric adjusting mechanism that inside pipe wall normal pressure is regulated,
To a certain extent, the function facilitating robot fault to rescue is completed.Owing to it belongs to motor drive mechanism, it may be assumed that use electric adjustable
Whole mode, regains driving wheel structure to robot body direction, thoroughly solves with this in artificial distraction procedure for driving
The friction damage of wheel construction.But it is motor drive mechanism, it is therefore desirable to have driver, a power supply unit etc., complicated structure, no
It is applicable to the use of small-bore pipeline screw machines people.The space allowable of motor drive mechanism meeting extrusion press human body.
Summary of the invention
The purpose of the present invention is to propose to one and overcome existing motor drive mechanism, be not suitable for the use of Small Diameter Pipe Inspection Robot
Problem so that driving wheel structure, when proper motion, has enough normal pressures to provide stable power to tube wall；Artificially rescuing
When helping, reducing normal pressure, frictional force as far as possible, convenient rescue promotes, the umbrella shape driving wheel structure of the two existence switching.
The concrete technical scheme of the present invention is:
A kind of umbrella shape driving wheel structure, is a umbrella folding structure, including tensioning spring, tensioning slide block, beveled structure upper frame, master
Support arm, secondary support arm, driving wheel and wheel carrier；Described beveled structure upper frame is the body of whole driving wheel structure；Master arm
One end is connected with beveled structure upper frame, and the other end hangs driving wheel and wheel carrier structure；And the stage casing of master arm, with secondary support arm
Connecting, the other end of secondary support arm is connected with tensioning slide block；Tensioning slide block can slide on beveled structure upper frame, and tensioning is sliding
It is provided with tensioning spring between block and beveled structure upper frame.When slide block moves, tensioning spring can give the restoring force that slide block is suitable, from
And secondary support arm can be driven further to promote master arm, give, with this, the tensile force that driving wheel is enough with wheel carrier.
Further, described master arm one end is connected with beveled structure upper frame is riveting.
Further, the stage casing of described master arm, being connected with secondary support arm is riveting.
Further, described master arm is the master arm of parallelogram sturcutre.
Further, the invention provides the application as robot electric governor motion of a kind of umbrella shape driving wheel structure.
Above-mentioned robot is pipe robot, especially pipe inner-spiral type robot.
Pipe inner-spiral type robot, mainly relies on the rotation of radially wheel (driving wheel) to give equipment with axial force, it is ensured that
Equipment some position (even in vertical pipeline) stably can be shut down in pipeline, and can give in motor process
Necessary power.Just because of so, have led to in-pipe robot and be in use difficult to carry out moving machine by artificial action
Device people.During but Practical Project uses, must rescue after robot have failed in pipe, and artificially implement pipe
Pipe robot is lifted out pipeline by the mode of inner machine people rescue exactly completely.This demand and the demand of stable axial force
Run counter to, and umbrella shape driving wheel structure just can be by meeting the two demand.
It is unique owing to artificially pulling the direction of failed machines people, it may be assumed that near the direction of entrance.Therefore it may only be necessary to protect
Card is during pulling robot body, and driving wheel gives the axial force of robot and can reduce, it becomes possible to spiral shell in convenient pipe
The fault rescue of rotating robot.And umbrella shape drives " structure, the most just there is directivity.When beveled structure is carried out upwards people
For the process of lifting, this structure can hesitate the effect inward collapsible of frictional force, thus for tube cavity wall just reduces driving wheel
Pressure further reduces frictional force.Such stress variation tendency so that whole umbrella shape driving wheel can meet normally simultaneously
For the tensioning demand of tube wall during motion, it also is able to meet the demand of the artificial traction of fault rescue simultaneously.
Accompanying drawing explanation
The three-dimensional plan view of Fig. 1 umbrella shape driving wheel structure.
Fig. 2 umbrella shape driving wheel structure tension calculation model.
Detailed description of the invention
A kind of umbrella shape driving wheel structure, is a umbrella folding structure, including tensioning spring, tensioning slide block, beveled structure top
Frame, master arm, secondary support arm, driving wheel and wheel carrier；Described beveled structure upper frame is the body of whole driving wheel structure；Main
Support arm one end rivets with beveled structure upper frame, and the other end hangs driving wheel and wheel carrier structure；And the stage casing of master arm, with pair
Support arm rivets, and the other end of secondary support arm is connected with tensioning slide block；Tensioning slide block can slide on beveled structure upper frame,
It is provided with tensioning spring between tensioning slide block and beveled structure upper frame.When slide block moves, tensioning spring can give slide block suitable returning
Multiple power, thus secondary support arm can be driven further to promote master arm, give, with this, the tensile force that driving wheel is enough with wheel carrier.Institute
State the master arm that master arm is parallelogram sturcutre.
1. umbrella shape driving wheel structure
Umbrella shape driving wheel structure of the present invention, is that one is similar to umbrella folding structure, and has tensioning ability to inner cavity of pipe
Frame for movement.As it is shown in figure 1, mainly by tensioning spring, tensioning slide block, beveled structure upper frame, master arm, secondary support arm, drive
The parts such as driving wheel and wheel carrier are constituted.Its progress pattern is that tensile force is applied to tensioning slide block by tensioning spring；Tensioning slide block passes through
Change the position hinged with secondary support arm, allow secondary support arm promote master arm to be displaced outwardly；Master arm drive driving wheel and
The outside tensioning of wheel carrier, completes the support for inner cavity of pipe wall with this.
Such as Fig. 2, " umbrella shape driving wheel " structure is for can by the quantitative relationship of tensioning spring power Yu the tensile force of inner-walls of duct
To be calculated in the following manner:
Assume: the stiffness factor of known tensioning spring is KN/m, and the change of spring is changed to Lmin by Lmax, the most permissible
Try to achieve: F=K(Lmax-Lmin), again because: be fixed with on tensioning slide blockThe secondary support arm of group, therefore opens single group supporting construction
Clamp force is F/n；
By the analysis in the support direction, last position for secondary support arm, tensile force Fn can be decomposed into Fx and Fy by us, and
By non-concurrent force equilibrium principle, drive driving wheel and wheel carrier for the malleation of inner cavity of pipe it is known that Fx is master arm
Power, i.e. tensile force.As can be seen here, in concrete pipe, tensile force can quantitatively be tried to achieve, and by for secondary position, support arm end
The design in direction, can improve the service efficiency of tensile force.
1. the parallelogram sturcutre design of umbrella shape driving wheel master arm
In the design of master arm structure, owing to it is joined directly together with driving wheel and wheel carrier, again by then passing through its angle of swing
Degree adjusts the total tensile force for inner-walls of duct, and therefore adjusting process can affect driving wheel and wheel carrier for pipeline
The tensile force direction of inner chamber.If driving wheel direction is not exclusively positioned at pipeline radially, it is easy to cause the unilateral mill of driving wheel structure
Damage.Artificial priming during fault rescue is more prone to the damage causing driving structure.
Therefore for this demand, design has the master arm of parallelogram sturcutre.Utilize the structure of parallelogram
Characteristic, during the angle of two parallel edges changes, another two parallel edges are the most parallel, it may be assumed that the appearance of holding itself
State is constant.Thus can ensure that under any circumstance, driving wheel and wheel carrier are constant for the laminating attitude holding of inner cavity of pipe.
2. facilitate the fault rescue of in-pipe robot, it may be assumed that driving wheel structure requires when proper motion, has tube wall enough
Normal pressure to provide stable power；When artificially rescuing, reduce the convenient rescue of normal pressure as far as possible and promote.
As shown in Figure 2, during umbrella shape driving wheel structure artificially promotes rescue, driving wheel and wheel carrier can be subject to
Frictional force f consistent with Fy direction.This frictional force can help the tensioning spring in " umbrella shape driving wheel " structure to shrink further,
Tight slide block rises.
Tensioning slide block rising can cause tensioning slide block to rise with the pin joint of secondary support arm, and umbrella shape driving wheel structure shrinks,
Reduce radially normal pressure, facilitate artificial lifting, play the effect accelerating accident rescue.
Claims (7)
1. a umbrella shape driving wheel structure, it is characterised in that be a umbrella folding structure, including tensioning spring, tensioning slide block, umbrella
Shape structure upper frame, master arm, secondary support arm, driving wheel and wheel carrier；Described beveled structure upper frame is whole driving wheel structure
Body；Master arm one end is connected with beveled structure upper frame, and the other end hangs driving wheel and wheel carrier structure；And in master arm
Section, is connected with secondary support arm, and the other end of secondary support arm is connected with tensioning slide block；Tensioning slide block can be at beveled structure upper frame
Upper slip, is provided with tensioning spring between tensioning slide block and beveled structure upper frame.
A kind of umbrella shape driving wheel structure the most according to claim 1, it is characterised in that described master arm one end and umbrella shape
It is riveting that structure upper frame connects.
A kind of umbrella shape driving wheel structure the most according to claim 1, it is characterised in that the stage casing of described master arm, with
It is riveting that secondary support arm connects.
A kind of umbrella shape driving wheel structure the most according to claim 1, it is characterised in that described master arm is parallel four limits
The master arm of shape structure.
A kind of umbrella shape driving wheel structure the most as claimed in claim 1 is as the application of robot electric governor motion.
The application of a kind of umbrella shape driving wheel structure the most as claimed in claim 5, described robot is pipe robot.
The application of a kind of umbrella shape driving wheel structure the most as claimed in claim 6, described Shi Guan inner-spiral type robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433819.6A CN106224689B (en) | 2016-06-18 | 2016-06-18 | Umbrella-shaped driving wheel structure and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610433819.6A CN106224689B (en) | 2016-06-18 | 2016-06-18 | Umbrella-shaped driving wheel structure and application thereof |
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| Publication Number | Publication Date |
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| CN106224689A true CN106224689A (en) | 2016-12-14 |
| CN106224689B CN106224689B (en) | 2020-05-15 |
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| CN201610433819.6A Active CN106224689B (en) | 2016-06-18 | 2016-06-18 | Umbrella-shaped driving wheel structure and application thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758594A (en) * | 2019-10-08 | 2020-02-07 | 中国矿业大学 | Robot walking device for narrow reducing pipeline in underwater missile launching shaft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788093A (en) * | 2010-03-10 | 2010-07-28 | 大庆石油学院 | Drive running mechanism of pipeline 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 |
| WO2014079116A1 (en) * | 2012-11-24 | 2014-05-30 | 西南石油大学 | Actively driven spiral pipeline robot |
| CN105003791A (en) * | 2015-06-16 | 2015-10-28 | 北京石油化工学院 | Supporting wheel type pipeline robot driving device |
| CN206290904U (en) * | 2016-06-18 | 2017-06-30 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure |
-
2016
- 2016-06-18 CN CN201610433819.6A patent/CN106224689B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788093A (en) * | 2010-03-10 | 2010-07-28 | 大庆石油学院 | Drive running mechanism of pipeline 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 |
| WO2014079116A1 (en) * | 2012-11-24 | 2014-05-30 | 西南石油大学 | Actively driven spiral pipeline robot |
| CN105003791A (en) * | 2015-06-16 | 2015-10-28 | 北京石油化工学院 | Supporting wheel type pipeline robot driving device |
| CN206290904U (en) * | 2016-06-18 | 2017-06-30 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758594A (en) * | 2019-10-08 | 2020-02-07 | 中国矿业大学 | Robot walking device for narrow reducing pipeline in underwater missile launching shaft |
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| Publication number | Publication date |
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| CN106224689B (en) | 2020-05-15 |
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