CN108223966A - A kind of adaptation small pipeline entire roboticized work device - Google Patents
A kind of adaptation small pipeline entire roboticized work device Download PDFInfo
- Publication number
- CN108223966A CN108223966A CN201711247624.3A CN201711247624A CN108223966A CN 108223966 A CN108223966 A CN 108223966A CN 201711247624 A CN201711247624 A CN 201711247624A CN 108223966 A CN108223966 A CN 108223966A
- Authority
- CN
- China
- Prior art keywords
- gear
- ball spline
- locating module
- module
- rack
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- 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
-
- 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
Abstract
The present invention relates to a kind of adaptation small pipeline entire roboticized work device, including locating module, operational module, cross universal hinge, ball spline, Bowden cable, external motor and guide rod power plant.The ball spline, one end is external, and one end is connected with locating module, embeds a rack thereon.After described 23 series connection of cross universal hinge, one end is connected with locating module, one end connection operational module.The locating module is identical with the mobile leg structure of operational module, and supporting way is all actively supported using umbrella-type, and end insertion ball, when mobile leg stretching, ball is in close contact with tube wall, achievees the purpose that positioning and centering.The operation module can carry different work device, such as abrasive machine, camera, and power needed for apparatus for work is transmitted by the Bowden cable that external motor drives.The present invention have it is compact-sized, it is small, the features such as small pipeline bending part can be passed through, 360 ° of rotary motions can be made.
Description
Technical field
The invention belongs to pipeline robot technique fields, are related to a kind of adaptation small pipeline entire roboticized work device.
Background technology
In engineering, it is required for carrying out nondestructive inspection, internal detection, derusting by sandblasting, grinding wheel inside a large amount of small pipeline
Derusting and chemical derusting etc. science and engineering are made, but processing and construction site in small pipeline, are frequently encountered this feelings
Condition --- since internal diameter of the pipeline all too is small, usually in 100mm hereinafter, the Management of Pipeline Mechanical Equipment device without suitable size can be into
Enter, seriously affect working efficiency.By the research to existing pipeline robot technique, existing inner wall of the pipe robot or spy
Survey the cantilever structure that device is mostly ultra-large type, this structure type is huge and to manufacture cost very high, cannot handle substantially in
The smaller pipeline of diameter.The inner wall of the pipe robot of other movable type using modes such as retractable support mechanisms due to adapting to difference
The pipeline of internal diameter, in small pipeline, when encountering crooked pipeline part, it may appear that can not by the phenomenon that, therefore application range by
Limit.Therefore, in order to improve availability of the pipe robot in small pipeline, development and exploitation can be in miniature tubing systems
The small pipeline robot of different work is freely walked and can complete, as the hot spot in pipe robot development and application field
With difficulties.
Invention content
In view of the defects existing in the prior art, the purpose of the present invention is to propose to a kind of adaptation small pipeline entire roboticized work dresses
It puts, is a kind of operation in small pipeline, adapts to different calibers, can be moved in pipeline, realize clamping and positioning, it is automatic right
The pipeline operations device at center.Have the characteristics that it is compact-sized, small, may be implemented in operation in continuous bend small pipeline.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of adaptation small pipeline entire roboticized work device, including Ka Gai, locating module, cross universal hinge, operational module, rolling
Spline and ball spline power plant；The Ka Gai is connected to pipeline opening, and axis one end of the ball spline passes through Ka Gai
It is connect with locating module, the locating module, cross universal hinge, operational module is sequentially connected in series, the ball spline power dress
It puts that the power provided by ball spline passes sequentially through locating module, cross universal hinge passes to operational module, works as Working mould
Block encounters pipe bend timesharing, and cross universal hinge makes it pass through tube bends, meanwhile, cross universal hinge makes
The torsional moment driving operational module that must be passed over does 360 ° of rotary motion.
The movement of the locating module and operational module is identical with support construction, including mobile leg, based on the mobile leg
Dynamic formula supports, and one end is hingedly fixed, and other end connection ball, ball is contacted with tube wall, is hinged in mobile midleg
One connecting rod, the other end of connecting rod are hinged on sliding block, and sliding block is matched with screw；The mobile leg is along locating module circumferential direction
120 ° are evenly arranged, three be one group, arrange two groups, two groups totally six mobile legs be supported and adjust using same screw
Section.
After the cross universal hinge is the series connection of several universal couplings, one end is connect with locating module, one end and work
Module connects.
The structure of the ball spline power plant, including：Rack, the first leading screw, motor, first gear frame, rack, the
Two gears lead thick stick, the second leading screw, first gear, third gear, second gear frame, ball spline, Bowden cable, guide rod；It is described
Ka Gai is fixedly connected on pipeline opening, and axis one end of the ball spline is connect by the Ka Gai with the locating module, another
End is driven by the rack being fixedly arranged in the ball spline shaft；The ball spline outer ring is consolidated in the third tooth
Wheel, the splined shaft of the ball spline embed the rack；Under working condition, in the first gear and the first gear frame
The third gear engagement, the rack is engaged with the second gear in the second gear frame, in the rack
The motor drives first leading screw, and the second gear frame is driven to lead thick stick rise and fall along described, described so as to make
The second gear in second gear frame is engaged or is detached from the rack embedded on the splined shaft of the ball spline；The machine
The motor on frame drives second leading screw, and the first gear frame is driven to advance and retreat along the guide rod, so as to
The first gear in the first gear frame is made to engage or be detached from the third gear.
Compared with prior art, the present invention with following obvious prominent substantive distinguishing features and marked improvement：
The power source of the present invention is all external, is driven using Bowden cable, compact-sized, small.Positioning mould of the present invention
Block is connected in series with operation module using cross universal hinge, it is ensured that robot can pass through small pipeline bending part.It is logical
The arrangement guide rod power plant on cutting ferrule is crossed, realizes robot revolute, feeding and exit function.Make pipeline inner machine people part
Without separately adding motor, it is therefore prevented that the phenomenon that robot architecture is too fat to move.
Description of the drawings
Fig. 1 is a kind of adaptation small pipeline entire roboticized work device overall structure figure of the present invention.
Fig. 2 is a kind of structure diagram for the locating module for adapting to small pipeline entire roboticized work device of the present invention, is worked
Module is same.
Fig. 3 is a kind of tightening mechanism of the mobile leg for the locating module for adapting to small pipeline entire roboticized work device of the present invention
Schematic diagram, operational module are same.
Label title in figure：1. Ka Gai, 2. racks, 3. locating modules, 4. movement legs, 5. cross universal hinges, 6. works
Make module, 7. grinding wheels, 8. first leading screws, 9. motors, 10. first gear framves, 11. racks, 12. second gears, 13. lead thick stick,
14. the second leading screw, 15. first gears, 16. third gears, 17. tooth rests, 18. ball splines, 19. Bowden cable, 20. guide rod
21. tube wall 22. moves and 23. sliding block of supporting mechanism, 24. screw.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of adaptation small pipeline entire roboticized work device, including card lid 1, locating module 3, cross universal
Hinge 5, operational module 6, ball spline 18 and ball spline power plant；The card lid 1 is connected to pipeline opening, the ball
Axis one end of spline 18 is connect by card lid 1 with locating module 3, the locating module 3, cross universal hinge 5, operational module 6
It is sequentially connected in series, the ball spline power plant passes sequentially through locating module 3, cross ten thousand by the power that ball spline 18 provides
Operational module 6 is passed to hinge 5, when operational module 6 encounters pipe bend timesharing, cross universal hinge 5 makes it smoothly lead to
Piping bending part, meanwhile, cross universal hinge 5 is so that the torsional moment driving operational module 6 passed over does 360 °
Rotary motion.6 lower section of operational module can install various specific apparatus for work additional, reach different operation needs, this implementation
6 lower section of example operational module is grinding wheel 7.
As shown in Figures 2 and 3, the movement of the locating module 3 and operational module 6 and support construction 22 are identical, including moving
Dynamic leg 4, the mobile leg 4 are active support, and one end is hingedly fixed, other end connection ball, ball and tube wall 10
Contact is hinged a connecting rod at the middle part of mobile leg 4, and the other end of connecting rod is hinged on sliding block 23, sliding block 23 and 24 phase of screw
Cooperation；The mobile leg 4 is evenly arranged for circumferential 120 ° along locating module 3, and three are one group, arrange two groups, two groups totally six
Mobile leg 4 is supported and is adjusted using same screw 24.
After the cross universal hinge 5 is the series connection of several universal couplings, one end is connect with locating module 3, one end and work
Make module 6 to connect.
The structure of the ball spline power plant, including：Rack 2, the first leading screw 8, motor 9, first gear frame 10, machine
Frame 11, second gear 12 lead thick stick 13, the second leading screw 14, first gear 15, third gear 16, second gear frame 17, ball spline
18, Bowden cable 19, guide rod 20；The card lid 1 is fixedly connected on pipeline opening, and axis one end of the ball spline 18 passes through described
Card lid 1 is connect with the locating module 3, and the other end is driven by the rack 2 being fixedly arranged in 18 axis of ball spline；
18 outer ring of ball spline is consolidated in the third gear 16, and the splined shaft of the ball spline 18 embeds the rack 2；Work
Make under state, the first gear 15 is engaged with the third gear 16 in the first gear frame 10, the rack 2 and institute
The second gear 12 stated in second gear frame 17 engages, and the motor 9 in the rack 11 drives first leading screw
8, the second gear frame 17 is driven to lead 13 rise and fall of thick stick along described, described in making in the second gear frame 17
Second gear 12 is engaged or is detached from the rack 2 embedded on the splined shaft of the ball spline 18；It is described in the rack 11
Motor 9 drives second leading screw 14, the first gear frame 10 is driven to advance and retreat along the guide rod 20, so as to make
The first gear 15 stated in first gear frame 10 is engaged or is detached from the third gear 16.
The course of work of apparatus of the present invention is as follows：
After apparatus for work enters pipeline, cutting ferrule 1 is fixedly connected on pipeline opening, plays the fixed work with positioning and guiding bar power plant
With.At this point, by the first leading screw 8 in rack 11, second gear frame 17 is driven to decline along thick stick 13 is led, so as to make second gear
Second gear 12 in frame 17 is engaged with the rack 2 embedded on the splined shaft of ball spline 18.Motor 9 in second gear frame 17
The second gear 12 in second gear frame 17 is driven to rotate, the rack engaged 2 is made to advance and retreat, so as to drive positioning mould
Block 3 advances and retreats, and then completes the function that operational module 6 advances and retreats.Second is driven by the motor 9 in rack 11
Thick stick 14 drives first gear frame 10 to advance along guide rod 20, so as to make the first gear 15 and and ball in first gear frame 10
The third gear 16 of 18 outer ring of spline consolidation engages.Motor 9 in first gear frame 10 drives first in first gear frame 10
Gear 15 rotates, and rotates the third engaged gear 16, so as to which locating module 3 be driven to make 360 ° rotation movement, and then band
The dynamic cross universal hinge 5 being connect with locating module 3 makees 360 ° rotation movement, operational module 6 is made to complete 360 ° of works so as to reach
The purpose of industry.
Claims (4)
1. a kind of adaptation small pipeline entire roboticized work device, which is characterized in that including Ka Gai（1）, locating module（3）, cross
Universal coupling（5）, operational module（6）, ball spline（18）And ball spline power plant；The Ka Gai（1）It is connected to pipe
Road junction, the ball spline（18）Axis one end pass through Ka Gai（1）With locating module（3）Connection, the locating module（3）, ten
Word universal coupling（5）, operational module（6）It is sequentially connected in series, the ball spline power plant passes through ball spline（18）It provides
Power passes sequentially through locating module（3）, cross universal hinge（5）Pass to operational module（6）, work as operational module（6）Encounter pipe
During road bending part, cross universal hinge（5）It is made to pass through tube bends, meanwhile, cross universal hinge（5）So that
The torsional moment driving operational module passed over（6）Do 360 ° of rotary motion.
2. adaptation small pipeline entire roboticized work device according to claim 1, which is characterized in that the locating module
（3）And operational module（6）Movement and support construction（22）It is identical, including mobile leg（4）, the mobile leg（4）It is active
Support, one end are hingedly fixed, other end connection ball, ball and tube wall（10）Contact, in mobile leg（4）Middle part hinge
A connecting rod is connect, the other end of connecting rod is hinged on sliding block（23）On, sliding block（23）With screw（24）It matches；The mobile leg
（4）Along locating module（3）Circumferential 120 ° are evenly arranged, and three are one group, arrange two groups, two groups of totally six mobile legs（4）It adopts
With same screw（24）It is supported and adjusts.
3. adaptation small pipeline entire roboticized work device according to claim 1, which is characterized in that the cross universal hinge
Chain（5）After connecting for several universal couplings, one end and locating module（3）Connection, one end and operational module（6）Connection.
4. adaptation small pipeline entire roboticized work device according to claim 1, which is characterized in that the ball spline moves
The structure of power apparatus, including：Rack（2）, the first leading screw（8）, motor（9）, first gear frame（10）, rack（11）, the second tooth
Wheel（12）, lead thick stick（13）, the second leading screw（14）, first gear（15）, third gear（16）, second gear frame（17）, ball flower
Key（18）, Bowden cable（19）, guide rod（20）；The Ka Gai（1）It is fixedly connected on pipeline opening, the ball spline（18）Axis
One end passes through the Ka Gai（1）With the locating module（3）Connection, the other end is by being fixedly arranged at the ball spline（18）In axis
The rack（2）It is driven；The ball spline（18）Outer ring is consolidated in the third gear（16）, the ball spline
（18）Splined shaft embed the rack（2）；Under working condition, the first gear（15）With the first gear frame（10）In
The third gear（16）Engagement, the rack（2）With the second gear frame（17）In the second gear（12）It nibbles
It closes, the rack（11）On the motor（9）Drive first leading screw（8）, drive the second gear frame（17）Along
It is described to lead thick stick（13）Rise and fall, so as to make the second gear frame（17）In the second gear（12）With the ball
Spline（18）Splined shaft on embed rack（2）Engagement is detached from；The rack（11）On the motor（9）Described in driving
Second leading screw（14）, drive the first gear frame（10）Along the guide rod（20）Advance and retreat, so as to make described first
Tooth rest（10）In the first gear（15）With the third gear（16）Engagement is detached from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247624.3A CN108223966B (en) | 2017-12-01 | 2017-12-01 | Full-automatic operation device suitable for small-sized pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247624.3A CN108223966B (en) | 2017-12-01 | 2017-12-01 | Full-automatic operation device suitable for small-sized pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108223966A true CN108223966A (en) | 2018-06-29 |
| CN108223966B CN108223966B (en) | 2021-01-12 |
Family
ID=62653764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711247624.3A Active CN108223966B (en) | 2017-12-01 | 2017-12-01 | Full-automatic operation device suitable for small-sized pipeline |
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| Country | Link |
|---|---|
| CN (1) | CN108223966B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07186937A (en) * | 1993-12-27 | 1995-07-25 | Tokimec Inc | Mechanism mobile inside piping |
| CN101319747A (en) * | 2008-06-03 | 2008-12-10 | 东南大学 | Self-adapting pipe robot |
| CN201513672U (en) * | 2009-06-05 | 2010-06-23 | 浙江工业大学 | Robot in modularized pipeline |
| CN103982750A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-branched chain parallel wheel pipeline robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
-
2017
- 2017-12-01 CN CN201711247624.3A patent/CN108223966B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07186937A (en) * | 1993-12-27 | 1995-07-25 | Tokimec Inc | Mechanism mobile inside piping |
| CN101319747A (en) * | 2008-06-03 | 2008-12-10 | 东南大学 | Self-adapting pipe robot |
| CN201513672U (en) * | 2009-06-05 | 2010-06-23 | 浙江工业大学 | Robot in modularized pipeline |
| CN103982750A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-branched chain parallel wheel pipeline robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
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| Publication number | Publication date |
|---|---|
| CN108223966B (en) | 2021-01-12 |
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