CN107255205B - A kind of general-using type spiral wheeled pipe robot - Google Patents
A kind of general-using type spiral wheeled pipe robot Download PDFInfo
- Publication number
- CN107255205B CN107255205B CN201710412511.8A CN201710412511A CN107255205B CN 107255205 B CN107255205 B CN 107255205B CN 201710412511 A CN201710412511 A CN 201710412511A CN 107255205 B CN107255205 B CN 107255205B
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- CN
- China
- Prior art keywords
- radiai adjustment
- wheel
- motor
- wheel module
- decoupling rod
- 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.)
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of general-using type spiral wheeled pipe robots, belong to pipe robot field, including Athey wheel module and helical wheel module two parts.Athey wheel module includes mobile mechanism and radiai adjustment mechanism, mobile mechanism realizes the movement of robot by motor-driven caterpillar tracks wheel, radiai adjustment mechanism drives lead screw rotation by radiai adjustment motor, keep feed screw nut reciprocating in the axial direction, link motion is driven through decoupling rod, achievees the purpose that radiai adjustment.Helical wheel module includes spiral mobile mechanism and radiai adjustment mechanism, and it is for the helical movement along tube wall that spiral mobile mechanism by three groups of motors respectively drives wheel, while fuselage is moved along conduit axis；Radiai adjustment mechanism drives starframe rotation by radiai adjustment motor, to drive decoupling rod movement to realize variable diameter.There is stronger flexibility in the robot, can work in the pipeline of different tube diameters, can carry different functional modules to realize different pipeline operations.
Description
Technical field
The invention belongs to pipe robot field more particularly to a kind of general-using type spiral wheeled pipe robots.
Background technique
Pipeline transportation and railway transportation, highway transportation, waterway transportation, air transportation and five big transports of the referred to as world today
Mode.Common people are difficult to the extreme environment directly reached such as municipal sewage, natural gas transportation, industrial material transport, discharge
Water and constructure ventilation system etc. use large amount of complex and hidden pipeline, how economic and promptly unimpeded and in time
Material leakage is prevented, is pipe-line system maintenance and the biggest problem that inspection and repair shop faces, therefore develop and develop and can be managed in complexity
It freely walks in road system and the pipe robot for carrying out tubular service and maintenance has become wanting for pipeline development and application field
The hot spot in business and mechanical investigations field.
Since pipe diameter is smaller, maintenance is inconvenient, and pipe robot is very widely used in pipe detection, and difference is driven
Respectively there are advantage and disadvantage in the robot of flowing mode.However no matter which kind of driving method nearly all has operational module to carry lacking for ability difference
Point.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of general-using type spiral wheeled pipe robot, with
Solve the problems, such as that current pipe robot obstacle climbing ability is insufficient, adaptation caliber size is excessively single, which has stronger spirit
Activity can work in the pipeline of different tube diameters, can carry different functional modules to realize different pipeline operations.
A kind of general-using type spiral wheeled pipe robot includes the Athey wheel module and helical wheel module being cascaded.
Athey wheel module mainly includes radiai adjustment mechanism and mobile mechanism；The radiai adjustment mechanism includes radial adjusts
Save motor, feed screw nut, lead screw, linear bearing, feed rod, main casing, decoupling rod, securing plate and fixed frame；The feed rod is logical
It crosses linear bearing to connect with feed screw nut, be connect respectively with spiral cabin and main casing by fixed frame；Described lead screw one end is logical
Shaft coupling is crossed to connect with radiai adjustment motor；Decoupling rod one end and feed screw nut are hinged, and the other end is cut with scissors by securing plate and deck board
It connects.
The mobile mechanism includes that driving wheel, driven wheel, pulley shaft, miniature bearing, deck board, crawler belt and worm and gear subtract
Speed motor；The Worm reduction motor is fixed on the outside of the deck board of side, and driving wheel is mounted on Worm reduction motor
On axis；Driven wheel is mounted on the inside of deck board by pulley shaft and miniature bearing；It is connected between driven wheel and driving wheel by crawler belt.
Helical wheel module includes radiai adjustment mechanism and mobile mechanism；The radiai adjustment mechanism includes starframe, diameter
To adjusting motor and decoupling rod；Starframe center and radiai adjustment motor are fixed together, and outer end is hinged with decoupling rod.
The mobile mechanism includes helical wheel, Worm reduction motor, wheel support, spiral cabin, and helical wheel is directly solid
Worm reduction motor both ends are scheduled on, wheel support one end is fixed on Worm reduction motor, and the other end is fixed on spiral
On cabin.
Detailed description of the invention
Fig. 1 is overall structure perspective view of the invention；
Fig. 2 is Athey wheel module perspective view of the invention；
Fig. 3 is helical wheel module perspective view of the invention；
Fig. 4 is Athey wheel internal structure perspective view of the invention；
Fig. 5 is control route map of the invention.
Specific embodiment
A kind of general-using type spiral wheeled pipe robot includes the Athey wheel module 4 and helical wheel module 1 being cascaded.
Athey wheel module 4 mainly includes radiai adjustment mechanism 6 and mobile mechanism 5；The radiai adjustment mechanism 6 includes solid
Determine frame 7, feed rod 8, feed screw nut 9, linear bearing 10, decoupling rod 11, securing plate 12, lead screw 13 and radiai adjustment motor 17；Institute
The feed rod 8 stated is connect by linear bearing 10 with feed screw nut 9, is connected respectively with spiral cabin 26 and main casing 15 by fixed frame 7
It connects；Described 13 one end of lead screw is connect by shaft coupling 14 with radiai adjustment motor 17；11 one end of decoupling rod and feed screw nut 9 are cut with scissors
It connects, the other end is hinged by securing plate 12 and deck board 19.
The mobile mechanism 5 includes Worm reduction motor 18, deck board 19, crawler belt 20, driving wheel 29, small driven wheel
30, pulley shaft 31, miniature bearing 32, big driven wheel 33；The Worm reduction motor 18 is fixed on outside side deck board 19
Side, driving wheel 29 are mounted on 18 axis of Worm reduction motor；Driven wheel 30,33 is pacified by pulley shaft 31 and miniature bearing 32
Mounted in 19 inside of deck board；It is connected between driven wheel 30,33 and driving wheel 29 by crawler belt 20.
Helical wheel module 1 includes radiai adjustment mechanism 3 and mobile mechanism 2；The radiai adjustment mechanism 3 includes decoupling rod
22, starframe 23 and radiai adjustment motor 24；23 center of starframe and radiai adjustment motor 24 are fixed together, outer end and damping
Bar 22 is hinged.
The mobile mechanism 2 includes helical wheel 21, hatchcover 25, spiral cabin 26, wheel support 27, Worm reduction motor
28, helical wheel 21 is directly anchored to 28 both ends of Worm reduction motor, and 27 one end of wheel support is fixed on worm and gear deceleration electricity
On machine 28, the other end is fixed on spiral cabin 26.
A kind of working principle of general-using type spiral wheeled pipe robot:
Worm reduction motor 18 drives driving wheel 29 to rotate, and drives big driven wheel 33 and small driven wheel by crawler belt 20
30 rotations, to realize the movement of Athey wheel module；Helical wheel 21 is driven to do spiral shell along tube wall by Worm reduction motor 28
Rotation movement, moves Robot conduit axis, realizes the locomotive function of robot.
When the pipe robot is turned, controlling one of Worm reduction motor 18 makes one of Athey wheel slow down
Or stop, other two Athey wheel accelerates, and realizes turning function.
When pipe robot in tapered pipeline when driving, in the radiai adjustment mechanism 6 of Athey wheel module 4, radiai adjustment
Motor 17 drives lead screw 13 to rotate, and feed screw nut 9 is moved along 13 axis direction of lead screw, and decoupling rod 11 is driven to move back and forth, thus
It drives connecting rod 16 to move, realizes the adaptation to different tube diameters；In the radiai adjustment mechanism 3 of helical wheel module 1, radiai adjustment motor
24 drive starframe 23 to rotate, so that decoupling rod 22 be driven to move, realize variable diameter function.
Claims (3)
1. a kind of general-using type spiral wheeled pipe robot, it is characterised in that: including the Athey wheel module being cascaded and spiral shell
Spinning roller module；The Athey wheel module mainly includes radiai adjustment mechanism and mobile mechanism；The radiai adjustment mechanism packet
Include radiai adjustment motor, feed screw nut, lead screw, linear bearing, feed rod, main casing, decoupling rod, securing plate and fixed frame；It is described
Feed rod connect with feed screw nut by linear bearing, connect respectively with spiral cabin and main casing by fixed frame；The silk
Thick stick one end is connect by shaft coupling with radiai adjustment motor；Decoupling rod one end is hinged with feed screw nut, and the other end passes through securing plate
It is hinged with deck board；
The mobile mechanism includes driving wheel, driven wheel, pulley shaft, miniature bearing, deck board, crawler belt and worm and gear deceleration electricity
Machine；The Worm reduction motor is fixed on the outside of the deck board of side, and driving wheel is mounted on Worm reduction motor axis；
Driven wheel is mounted on the inside of deck board by pulley shaft and miniature bearing；It is connected between driven wheel and driving wheel by crawler belt；
The helical wheel module includes radiai adjustment mechanism and mobile mechanism；The radiai adjustment mechanism include starframe,
Radiai adjustment motor and decoupling rod；Starframe center and radiai adjustment motor are fixed together, and outer end and decoupling rod are hinged on one
It rises；
The mobile mechanism includes helical wheel, Worm reduction motor, wheel support, spiral cabin, and helical wheel is directly anchored to
Worm reduction motor both ends, wheel support one end are fixed on Worm reduction motor, and the other end is fixed on spiral cabin.
2. a kind of general-using type spiral wheeled pipe robot according to claim 1, it is characterised in that: Athey wheel module
In, radiai adjustment motor drives ball screw turns by shaft coupling, and drives flanged (FLGD) feed screw nut mobile, passes through damping
Bar pushes link motion, to realize the adaptive functions to different tube diameters；In helical wheel module, radiai adjustment motor drives star
Bar rotation drives wheel support movement to adapt to different tube diameters to adjust it by decoupling rod.
3. a kind of general-using type spiral wheeled pipe robot according to claim 1, it is characterised in that: robot is in pipeline
Interior movement, when encountering barrier, the decoupling rod in Athey wheel module and helical wheel module can play certain cushioning effect, and
And pressuring action to tube wall can also be kept while robot being made to surmount obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710412511.8A CN107255205B (en) | 2017-05-25 | 2017-05-25 | A kind of general-using type spiral wheeled pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710412511.8A CN107255205B (en) | 2017-05-25 | 2017-05-25 | A kind of general-using type spiral wheeled pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107255205A CN107255205A (en) | 2017-10-17 |
| CN107255205B true CN107255205B (en) | 2019-08-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710412511.8A Active CN107255205B (en) | 2017-05-25 | 2017-05-25 | A kind of general-using type spiral wheeled pipe robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107255205B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO345947B1 (en) * | 2020-06-03 | 2021-11-08 | Well Innovation As | Pulling tool |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107956953A (en) * | 2017-12-01 | 2018-04-24 | 泉州市西决三维科技有限公司 | A kind of diameter-variable pipe detects robot |
| CN108716584A (en) * | 2018-05-25 | 2018-10-30 | 哈尔滨工程大学 | A kind of reducing seabed tunnel robot for cleaning |
| CN109764109B (en) * | 2019-02-26 | 2024-02-13 | 浙江工业大学 | Be applied to pipeline robot's electronic type triaxial differential system |
| CN113833935B (en) * | 2021-09-02 | 2023-08-11 | 国能寿光发电有限责任公司 | Pipeline robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| US9021900B2 (en) * | 2011-11-02 | 2015-05-05 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| CN105972381A (en) * | 2016-05-05 | 2016-09-28 | 湖北三江航天红阳机电有限公司 | Pipeline interior radiographic inspection robot |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
-
2017
- 2017-05-25 CN CN201710412511.8A patent/CN107255205B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9021900B2 (en) * | 2011-11-02 | 2015-05-05 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| CN105972381A (en) * | 2016-05-05 | 2016-09-28 | 湖北三江航天红阳机电有限公司 | Pipeline interior radiographic inspection robot |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO345947B1 (en) * | 2020-06-03 | 2021-11-08 | Well Innovation As | Pulling tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107255205A (en) | 2017-10-17 |
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