CN107813320A - A kind of screw pipe robot - Google Patents
A kind of screw pipe robot Download PDFInfo
- Publication number
- CN107813320A CN107813320A CN201711192920.8A CN201711192920A CN107813320A CN 107813320 A CN107813320 A CN 107813320A CN 201711192920 A CN201711192920 A CN 201711192920A CN 107813320 A CN107813320 A CN 107813320A
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- Prior art keywords
- torsion
- moment
- pipe robot
- link block
- end cap
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- 238000009434 installation Methods 0.000 claims description 25
- 230000033228 biological regulation Effects 0.000 claims description 15
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 4
- 230000005526 G1 to G0 transition Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000003466 welding Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 7
- 238000012913 prioritisation Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004347 surface barrier Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
Abstract
The invention discloses a kind of screw pipe robot, and comprising N number of drive module, 1 moment of torsion adjustment module of N and N number of link block, N is the natural number more than or equal to 3；N number of drive module is correspondingly fixed in N number of link block, and N number of link block is sequentially connected by 1 moment of torsion adjustment module of N, wherein：Moment of torsion adjustment module is used to adjust windup-degree between its two neighboring link block so that screw pipe robot is in the shape of a spiral, each drive module is close on the outer wall or inwall of pipeline；Drive module is used to provide power so that screw pipe robot moves on the outer wall or inwall of pipeline.Moment of torsion adjustment module makes robot be close to pipeline, and each drive module coordinated drive robot is threadingly advanced.The present invention adapts to various pipelines, is close to the inside and outside wall of the pipeline of various diameters and cross sectional shape, for fields such as pipeline inspection, maintenance, cleaning, welding.
Description
Technical field
The present invention relates to pipe robot field, more particularly to a kind of screw pipe robot.
Background technology
It is fast with industries such as the fast development of international community's industrialized level, especially nuclear industry and petroleum gases
Speed development, the usage amount of tubing sharply increase, typical use environment, such as remote transfer oil natural gas with pressure, and
Convey the pipeline containing Radio Active Hazard material, the inspection desilting of city heat supply in winter pipeline etc..How the detection of pipeline is carried out
Safeguard, just seem especially necessary.Pipe robot is widely used in pipe as a kind of preferably pipe detection and maintained equipment
The numerous areas such as the cleaning in road, detection, maintenance, welding, to extending pipeline service life, reducing security incident risk has important meaning
Justice.
Pipe robot at this stage has significant limitation for different pipeline environments.Pipeline in different industries makes
Have a very big difference with environment, for example, urban water supply hot duct diameter from more than 2 meters to diameter be only 1 ~ 2 centimetre, when pipeline is long
Between iron rust incrustation scale etc. is easily produced after use；The pipeline of oil and gas industry is commonly pressure pipeline；The pipeline of chemical field
Commonly used to convey poisonous and harmful material of Denging.The pipeline of wherein individual industry using when also have general character, most typical is exactly pipeline cloth
Office is complicated, main pipeline and branch pipeline crossed geometry, and valve and bent angle are numerous etc..But conventional pipe robot all suffers from
One problem, i.e. maneuverability wretched insufficiency, to the pipeline adaptability deficiency of different-diameter, bent angle, intersection, valve can not be passed through
The complex situations such as door, if there is barrier inside pipeline, for example, the supporting construction inside pipeline, the pipeline commonly used in this case
Robot is even more that can not work substantially.
Pipe robot at this stage also ignores the inspection of a very big pipe applications demand, i.e. pipeline external.
Under some occasions, inspection is carried out to pipeline external and safeguards also there is very big demand, such as hanging chemical pipeline is detected a flaw；Ship main shaft
Cleaning and maintenance；Large-scale truss type builds the cleaning of tubular structural member；Electric pole, communication base station tower and wind power generation stepped
Detection safeguards that usual pipeline external has the additives on the prominent surface such as step, handgrip, any for pipe robot not advise
Projection then can be considered as barrier, pipe robot is met that this use demand is also a neck for needing research badly
Domain.
The content of the invention
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, there is provided a kind of spiral fortune
Dynamic pipe robot.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of screw pipe robot, include N number of drive module, N-1 moment of torsion adjustment module and N number of link block, institute
It is the natural number more than or equal to 3 to state N；
N number of drive module is correspondingly fixed in N number of link block, and N number of link block passes through described N-1 torsion
Square adjustment module is sequentially connected, wherein：
The moment of torsion adjustment module is used to adjust the windup-degree between its two neighboring link block so that screw pipeline
Robot is in the shape of a spiral, each drive module is close on the outer wall or inwall of pipeline；
The drive module is used to provide power so that screw pipe robot is transported on the outer wall or inwall of pipeline
It is dynamic.
As a kind of further prioritization scheme of screw pipe robot of the present invention, the drive module includes machine
Frame, driving wheel, sleeve, beam barrel, clutch shaft bearing, second bearing, motor, driving gear, first to third planet gear, electricity
Machine mounting bracket, the first end cap and the second end cap, the first to the 3rd fixing axle；
The driving wheel is hollow, is coaxially disposed with the sleeve, beam barrel, is interference fitted between driving wheel and sleeve from outside to inside,
It is interference fitted between sleeve and beam barrel；
The beam barrel both ends are connected by clutch shaft bearing, second bearing with the frame respectively after stretching out sleeve so that the axle
Holding can drive the driving wheel freely to be rotated relative to frame；
The sleeve both ends are bonded with the frame；
The frame is used to fix the clutch shaft bearing and second bearing, and a part for the driving wheel is exposed in its upper end
Outside, link block corresponding to lower end and the drive module is connected；
First end cap, the second end cap are separately positioned on the clutch shaft bearing, the outside of second bearing, consolidate with the frame
Even, for the clutch shaft bearing, second bearing to be sealed in the space that the first end cap, the second end cap, frame are surrounded；
The motor is fixed on second end cap by the motor mounting rack, its output shaft and the driving gear
Axle center be connected；
Described first to the 3rd fixing axle and the diameter parallel of the beam barrel are set, and its one end is and the first end cap stationary phase
Even；
Described first is correspondingly arranged at the other end of the described first to the 3rd fixing axle to Samsung row gear by bearing respectively；
The beam barrel inwall is provided with gear ring, and the driving gear engages with described first to Samsung row gear respectively, institute
First is stated to form with gear ring engagement, driving gear, first to Samsung row gear, gear ring to third planet gear
Fixed shaft gear train planetary reduction gear.
As a kind of further prioritization scheme of screw pipe robot of the present invention, the sleeve both ends and the machine
Double-layer seal rings are equipped between frame.
As a kind of further prioritization scheme of screw pipe robot of the present invention, first end cap, the second end
Diaphragm seal is equipped between lid and the frame.
As a kind of further prioritization scheme of screw pipe robot of the present invention, the moment of torsion adjustment module includes
Moment of torsion regulation steering wheel, base, rotating disk, expansion disk, torsion beam, the first installation sheet and the second installation sheet；
The base is upper end open, the hollow cylinder of lower end closed, and the moment of torsion adjustment module is fixed under the base
On the center of end face, and the axis of the output shaft of the moment of torsion adjustment module and the base is in same straight line；
First installation sheet and the base cylinder outer wall are connected；
The expansion disk is in the form of annular discs, the output shaft fixed connection of its center of circle and moment of torsion regulation steering wheel, and expands disk and the tune
The output shaft for saving steering wheel is vertical；
The torsion beam, rotating disk are the hollow cylinder of upper and lower opening, and torsion beam, rotating disk, the diameter of expansion disk are identical, and
Torsion beam, rotating disk, base are coaxially disposed；
The upper end of the torsion beam and the expansion disk are connected, and lower end and the rotating disk are connected；
The rotating disk is socketed in outside the cylinder of the base, the top oil seal of its inwall and the base cylinder outer wall, and
Rotating disk can be relative to the base rotation；
The base, rotating disk, torsion beam, expansion disk form confined space；
Second installation sheet and the outer wall of the rotating disk are connected；
First installation sheet, the second installation sheet are respectively used to be connected with the link block of the moment of torsion adjustment module both sides.
As a kind of further prioritization scheme of screw pipe robot of the present invention, the link block and connection mould
Rotating shaft is provided between block.
As a kind of further prioritization scheme of screw pipe robot of the present invention, the frame, the first end cap, the
Two end caps use the aluminium alloy of lightweight 7075, serve the effect to slow down and transmission device and motor radiate.
As a kind of further prioritization scheme of screw pipe robot of the present invention, first installation sheet, second
Installation sheet, base, rotating disk, expansion disk, torsion beam are made of aluminium alloy, effectively can adjust steering wheel radiating for moment of torsion.
By the use of diaphragm seal and double-layer seal rings, serve for deceleration device, transmission device and motor it is close
The effect of envelope.
Motor, driving gear, planetary gear, gear ring etc. are placed in beam barrel so that drive module volume significantly subtracts
It is small, so that the pipe robot has use environment and worked the characteristics of applied widely.
Closed cavity is formed between base, rotating disk, expansion disk, torsion beam, moment of torsion regulation steering wheel is installed in this cavity,
Serve the effect of insulated enclosure.
The present invention compared with prior art, has following technique effect using above technical scheme：
1. pipe robot involved in the present invention can adapt to the work requirements inside pipeline external and pipeline simultaneously, only need
The yawing moment of moment of torsion adjustment module between each adjacent link block is set, it is easy to use.
2. pipe robot involved in the present invention is suitable for the operating environment requirements of multiple diameter pipeline, it is only necessary to increases
Add the intermediate stand and corresponding moment of torsion adjustment module and drive module of respective numbers.Effectively to adapt to the pipe of different-diameter
Road and the funds for purchasing multiple devices.
3. pipe robot involved in the present invention may span across the barriers such as the projection of tube wall, support.The robot uses
The structure of relative flexibility, the relative deflection between each adjacent intermediate stand when running into pipe surface projection, can make pipe robot across
The barrier such as more raised；Because pipe robot motion path is helical curve, pipe robot airframe structure occupies area and is
The helical curve expands out spiral camber.The spiral camber only accounts for a part for pipe surface, therefore pipe robot may span across portion
Branch's support structure, using flexible are high.
4. pipe robot involved in the present invention can be applied to the non-cylindricals such as rectangular-section pipeline, cone-shaped pipe
Pipeline, using flexible greatly increase.
5. pipe robot involved in the present invention is close to pipe surface motion when working, pole is occupied to pipeline section
It is small, therefore can be used in the case where not influenceing pipeline normal operation.Reduce and lost caused by pipeline inspection is safeguarded.
Brief description of the drawings
Fig. 1（a）, Fig. 1（b）Be respectively inventive pipeline robot inside pipeline, pipeline external work when structure show
It is intended to；
Fig. 2 is the structural representation of drive module in the present invention；
Fig. 3 is motor and the structural representation of each gear assembling in the present invention；
Fig. 4 is the structural representation of moment of torsion adjustment module middle sleeve of the present invention；
Fig. 5 is the structural representation of beam barrel in moment of torsion adjustment module of the present invention；
Fig. 6 is the structural representation of moment of torsion adjustment module biopsy cavity marker devices in the present invention；
Structural representation when Fig. 7 is adjacent link block connection in the present invention.
In figure, 1- frames, 2 driving wheels, 3- beam barrels, 4- diaphragm seals, 5 first end caps, 6- motor mounting racks, the planets of 7- first
Gear, 8- the second star row gears, 9- clutch shaft bearings, the fixing axles of 10- first, 11- driving gears, 12- motors, 13- the 3rd
Star row gear, 14- gear rings, 15- sleeves, bearing corresponding to the fixing axles of 16- first, 17- moments of torsion regulation steering wheel, 18- bases,
19- rotating disks, 20- expansions disk, 21- torsion beams, the installation sheets of 22- first, the installation sheets of 23- second, 24- link blocks, 25- turn
Axle, the end caps of 26- second.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The present invention can be embodied in many different forms, and should not be assumed that to be limited to embodiment described here.Conversely, there is provided
These embodiments will give full expression to the scope of the present invention to make the disclosure thoroughly and complete to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
Such as Fig. 1（a）, Fig. 1（b）Shown, the invention discloses a kind of screw pipe robot, includes N number of driving mould
Block, N-1 moment of torsion adjustment module and N number of link block, the N are the natural number more than or equal to 3；
N number of drive module is correspondingly fixed in N number of link block, and N number of link block passes through described N-1 torsion
Square adjustment module is sequentially connected, wherein：
The moment of torsion adjustment module is used to adjust the windup-degree between its two neighboring link block so that screw pipeline
Robot is in the shape of a spiral, each drive module is close on the outer wall or inwall of pipeline；
The drive module is used to provide power so that screw pipe robot is transported on the outer wall or inwall of pipeline
It is dynamic.
As shown in Fig. 2 the drive module includes frame, driving wheel, sleeve, beam barrel, clutch shaft bearing, second bearing, drive
Dynamic motor, driving gear, first to third planet gear, motor mounting rack, the first end cap and the second end cap, first to the 3rd are consolidated
Dead axle；
As shown in Figure 4 and Figure 5, the driving wheel is hollow, is coaxially disposed from outside to inside with the sleeve, beam barrel, driving wheel and set
It is interference fitted between cylinder, is interference fitted between sleeve and beam barrel；
The beam barrel both ends are connected by clutch shaft bearing, second bearing with the frame respectively after stretching out sleeve so that the axle
Holding can drive the driving wheel freely to be rotated relative to frame；
The sleeve both ends are bonded with the frame；
The frame is used to fix the clutch shaft bearing and second bearing, and a part for the driving wheel is exposed in its upper end
Outside, link block corresponding to lower end and the drive module is connected；
First end cap, the second end cap are separately positioned on the clutch shaft bearing, the outside of second bearing, consolidate with the frame
Even, for the clutch shaft bearing, second bearing to be sealed in the space that the first end cap, the second end cap, frame are surrounded；
As shown in figure 3, the motor is fixed on second end cap by the motor mounting rack, its output shaft and institute
The axle center for stating driving gear is connected；
Described first to the 3rd fixing axle and the diameter parallel of the beam barrel are set, and its one end is and the first end cap stationary phase
Even；
Described first is correspondingly arranged at the other end of the described first to the 3rd fixing axle to Samsung row gear by bearing respectively；
The beam barrel inwall is provided with gear ring, and the driving gear engages with described first to Samsung row gear respectively, institute
First is stated to form with gear ring engagement, driving gear, first to Samsung row gear, gear ring to third planet gear
Fixed shaft gear train planetary reduction gear.
Double-layer seal rings are equipped between sleeve both ends and the frame.
Diaphragm seal is equipped between first end cap, the second end cap and the frame.
As shown in fig. 6, the moment of torsion adjustment module include moment of torsion regulation steering wheel, base, rotating disk, expand disk, torsion beam,
First installation sheet and the second installation sheet；
The base is upper end open, the hollow cylinder of lower end closed, and the moment of torsion adjustment module is fixed under the base
On the center of end face, and the axis of the output shaft of the moment of torsion adjustment module and the base is in same straight line；
First installation sheet and the base cylinder outer wall are connected；
The expansion disk is in the form of annular discs, the output shaft fixed connection of its center of circle and moment of torsion regulation steering wheel, and expands disk and the tune
The output shaft for saving steering wheel is vertical；
The torsion beam, rotating disk are the hollow cylinder of upper and lower opening, and torsion beam, rotating disk, the diameter of expansion disk are identical, and
Torsion beam, rotating disk, base are coaxially disposed；
The upper end of the torsion beam and the expansion disk are connected, and lower end and the rotating disk are connected；
The rotating disk is socketed in outside the cylinder of the base, the top oil seal of its inwall and the base cylinder outer wall, and
Rotating disk can be relative to the base rotation；
The base, rotating disk, torsion beam, expansion disk form confined space；
Second installation sheet and the outer wall of the rotating disk are connected；
First installation sheet, the second installation sheet are respectively used to be connected with the link block of the moment of torsion adjustment module both sides.
As shown in fig. 7, rotating shaft is provided between the link block and link block.
The frame, the first end cap, the second end cap use the aluminium alloy of lightweight 7075, serve to slow down and being driven dress
Put and motor radiating effect.
First installation sheet, the second installation sheet, base, rotating disk, expansion disk, torsion beam are made of aluminium alloy,
Effectively steering wheel radiating can be adjusted for moment of torsion.
By the use of diaphragm seal and double-layer seal rings, serve for deceleration device, transmission device and motor it is close
The effect of envelope.
Motor, driving gear, planetary gear, gear ring etc. are placed in beam barrel so that drive module volume significantly subtracts
It is small, so that the pipe robot has use environment and worked the characteristics of applied widely.
Closed cavity is formed between base, rotating disk, expansion disk, torsion beam, moment of torsion regulation steering wheel is installed in this cavity,
Serve the effect of insulated enclosure.
The workflow of the present invention is as follows：
(1), drive module, moment of torsion adjustment module, link block are assembled into the pipe robot being adapted to using length；
（2）, the deflection angle each adjacent link block of the pipe robot being assembled into is preconditioned to adapt to pipeline
Size；
（3）, deflection angle between each adjacent link block of regulation so that each driving wheel of pipe robot is close to inner-walls of duct；
（4）, each drive module motor act simultaneously, promote pipe robot to be moved along helical curve；
（5）, deflection angle between each adjacent link block of regulation, pipe robot driving wheel is disengaged with tube wall, then
Take out pipe robot.
Link block hinge axes and its side are in a certain angle（It is 60 ° of explanation specific implementation cases that this, which sentences angle,）；
When requiring robot in pipeline internal work, it is desirable to which each driving wheel is in pipe robot after the adjacent link block deflection of robot
Outside, now pipe robot outline diameter be slightly less than inner-walls of duct diameter；When requiring that robot works in pipeline external,
Moment of torsion regulation steering wheel reversely rotates so that each driving wheel is inside pipe robot, and now pipe robot Internal periphery diameter omits
More than pipeline outer wall diameter.Now pipe robot is positioned on pipeline.
Torque parameter is mainly by pipeline material, pipe friction performance, the weight of carrying equipment, conduit slope, drive module
Quantity etc. determines.
When running into pipe surface barrier, torque measurement sensor detects change in torque, and the parameter measured is passed
Control system is defeated by, each moment of torsion adjustment module is made accordingly under control of the control system, hinders pipe robot independent technological leapfrogging
Hinder thing.
This sentences pipe robot and is specifically described exemplified by representative cylindrical pipeline internal operation：
In drive module, the first step be motor drive driving gear rotation, second step be driving gear drive first to
Third planet gear rotates, and the 3rd step is that planetary gear drives gear ring rotation（Driving gear, first to third planet gear,
Gear ring three forms fixed shaft gear train planetary reduction gear), the 4th step is that gear ring drives beam barrel rotation, and the 5th step is that beam barrel drives
Sleeve rotating, the 6th step are that sleeve drives driving wheel rotation to realize motor function.
In moment of torsion adjustment module, moment of torsion regulation steering wheel housing parts successively pass through base and the first mounting bracket and a machine
Frame is connected, and moment of torsion regulation steering wheel output shaft is connected by expanding disk with torsion beam one end, and drives torsion beam one end to rotate, and is turned round
The power beam other end is successively connected by rotating disk and the second mounting bracket with another frame, and steering wheel is adjusted by control mode
The accurate control of deflection angle between two adjacent racks is realized in deflection.
With internal diameter 770mm, exemplified by wall thickness 2.5mm cylindrical pipe, pipe level is placed, select 13 link blocks with
And the joint rotating shaft of respective numbers forms coupling part, and the drive module and moment of torsion of respective numbers are then installed in link block
Adjustment module.
Moment of torsion regulation steering wheel action in moment of torsion adjustment module between each adjacent link block is controlled, is made between each adjacent link block
Relative deflection angle be+35 °, each driving wheel is located at outside pipe robot after the completion of deflection, and pipe robot outline is straight
Footpath is 740mm, and now pipe robot outline diameter is slightly less than internal diameter of the pipeline.Then the pipe robot is put into pipeline
Portion.
Control the moment of torsion between each adjacent link block to adjust steering wheel deflection angle and reduce 10 °（Now multistage deflection angle is
25°）, now flexible deformation occurs torsion beam, and it is+29 ° finally to make the relative deflection angle between each adjacent rack, makes each driving
Wheel is adjacent to inner-walls of duct.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (8)
1. a kind of screw pipe robot, it is characterised in that include N number of drive module, N-1 moment of torsion adjustment module and N
Individual link block, the N are the natural number more than or equal to 3；
N number of drive module is correspondingly fixed in N number of link block, and N number of link block passes through described N-1 torsion
Square adjustment module is sequentially connected, wherein：
The moment of torsion adjustment module is used to adjust the windup-degree between its two neighboring link block so that screw pipeline
Robot is in the shape of a spiral, each drive module is close on the outer wall or inwall of pipeline；
The drive module is used to provide power so that screw pipe robot is transported on the outer wall or inwall of pipeline
It is dynamic.
2. screw pipe robot according to claim 1, it is characterised in that the drive module include frame,
Driving wheel, sleeve, beam barrel, clutch shaft bearing, second bearing, motor, driving gear, first to third planet gear, motor
Mounting bracket, the first end cap and the second end cap, the first to the 3rd fixing axle；
The driving wheel is hollow, is coaxially disposed with the sleeve, beam barrel, is interference fitted between driving wheel and sleeve from outside to inside,
It is interference fitted between sleeve and beam barrel；
The beam barrel both ends are connected by clutch shaft bearing, second bearing with the frame respectively after stretching out sleeve so that the axle
Holding can drive the driving wheel freely to be rotated relative to frame；
The sleeve both ends are bonded with the frame；
The frame is used to fix the clutch shaft bearing and second bearing, and a part for the driving wheel is exposed in its upper end
Outside, link block corresponding to lower end and the drive module is connected；
First end cap, the second end cap are separately positioned on the clutch shaft bearing, the outside of second bearing, consolidate with the frame
Even, for the clutch shaft bearing, second bearing to be sealed in the space that the first end cap, the second end cap, frame are surrounded；
The motor is fixed on second end cap by the motor mounting rack, its output shaft and the driving gear
Axle center be connected；
Described first to the 3rd fixing axle and the diameter parallel of the beam barrel are set, and its one end is and the first end cap stationary phase
Even；
Described first is correspondingly arranged at the other end of the described first to the 3rd fixing axle to Samsung row gear by bearing respectively；
The beam barrel inwall is provided with gear ring, and the driving gear engages with described first to Samsung row gear respectively, institute
First is stated to form with gear ring engagement, driving gear, first to Samsung row gear, gear ring to third planet gear
Fixed shaft gear train planetary reduction gear.
3. screw pipe robot according to claim 2, it is characterised in that the sleeve both ends and the frame
Between be equipped with double-layer seal rings.
4. screw pipe robot according to claim 3, it is characterised in that first end cap, the second end cap
Diaphragm seal is equipped between the frame.
5. screw pipe robot according to claim 1, it is characterised in that the moment of torsion adjustment module, which includes, to be turned round
Square regulation steering wheel, base, rotating disk, expansion disk, torsion beam, the first installation sheet and the second installation sheet；
The base is upper end open, the hollow cylinder of lower end closed, and the moment of torsion adjustment module is fixed under the base
On the center of end face, and the axis of the output shaft of the moment of torsion adjustment module and the base is in same straight line；
First installation sheet and the base cylinder outer wall are connected；
The expansion disk is in the form of annular discs, the output shaft fixed connection of its center of circle and moment of torsion regulation steering wheel, and expands disk and the tune
The output shaft for saving steering wheel is vertical；
The torsion beam, rotating disk are the hollow cylinder of upper and lower opening, and torsion beam, rotating disk, the diameter of expansion disk are identical, and
Torsion beam, rotating disk, base are coaxially disposed；
The upper end of the torsion beam and the expansion disk are connected, and lower end and the rotating disk are connected；
The rotating disk is socketed in outside the cylinder of the base, the top oil seal of its inwall and the base cylinder outer wall, and
Rotating disk can be relative to the base rotation；
The base, rotating disk, torsion beam, expansion disk form confined space；
Second installation sheet and the outer wall of the rotating disk are connected；
First installation sheet, the second installation sheet are respectively used to be connected with the link block of the moment of torsion adjustment module both sides.
6. screw pipe robot according to claim 1, it is characterised in that the link block and link block
Between be provided with rotating shaft.
7. screw pipe robot according to claim 2, it is characterised in that the frame, the first end cap, second
End cap uses the aluminium alloy of lightweight 7075.
8. screw pipe robot according to claim 5, it is characterised in that first installation sheet, the second peace
Load, base, rotating disk, expansion disk, torsion beam are made of aluminium alloy.
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| CN201711192920.8A CN107813320A (en) | 2017-11-24 | 2017-11-24 | A kind of screw pipe robot |
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| CN201711192920.8A CN107813320A (en) | 2017-11-24 | 2017-11-24 | A kind of screw pipe robot |
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Family
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| CN201711192920.8A Pending CN107813320A (en) | 2017-11-24 | 2017-11-24 | A kind of screw pipe robot |
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| CN109578747A (en) * | 2019-01-28 | 2019-04-05 | 西南大学 | A kind of screw machines people mobile in intracavitary curved surface |
| CN112829847A (en) * | 2021-03-17 | 2021-05-25 | 湖北工业大学 | Flexible spiral type external pipe crawling device |
| CN113247220A (en) * | 2021-06-28 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Method for automatically scanning and detecting tunnel by underwater robot and electronic equipment |
| CN114413107A (en) * | 2022-03-30 | 2022-04-29 | 季华实验室 | Pipeline robot and excitation method |
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