CN108413176A - A kind of miniature rope-climbed robot of pipeline inspection - Google Patents
A kind of miniature rope-climbed robot of pipeline inspection Download PDFInfo
- Publication number
- CN108413176A CN108413176A CN201810137127.6A CN201810137127A CN108413176A CN 108413176 A CN108413176 A CN 108413176A CN 201810137127 A CN201810137127 A CN 201810137127A CN 108413176 A CN108413176 A CN 108413176A
- Authority
- CN
- China
- Prior art keywords
- idler wheel
- rope
- driving mechanism
- pinch wheels
- gear reduction
- 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.)
- Pending
Links
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
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The miniature crusing robot that can be creeped along rope in pipeline the invention discloses a kind of, movement do not change with caliber change and pipe coefficient of internal friction, and robot is not easy stuck.Consisting of：Motor, gear reduction, turbine worm reducer, idler wheel, pinch wheels are joined together to form driving mechanism, and by gear reduction, turbine worm reducer is exported motor output power to idler wheel, driving idler wheel rotation.It carries platform and microcam is installed together and is fixedly arranged in driving mechanism.Rope is arranged between idler wheel and pinch wheels by pinch wheels, when idler wheel rotates, rope climbing crusing robot can be realized moves along rope.
Description
Technical field
The present invention relates to microrobot field, specifically a kind of miniature rope-climbed robot of pipeline inspection.
Background technology
Currently, in terms of well known robot research is concentrated mainly on monitoring and rescue, in some slender pipelines, usually use
Built-in tube climber device people.The disadvantage is that under strong Neutron Radiation Field, caliber and pipe coefficient of internal friction are easy to happen variation, machine
People is easy stuck.
Invention content purpose of the present invention is to one kind for problem and the deficiencies in the prior art described above, is provided can be
The miniature crusing robot creeped along rope in pipeline, movement do not change with caliber change and pipe coefficient of internal friction, robot
It is not easy stuck.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of miniature rope-climbed robot of pipeline inspection, it is characterised in that：Including being subtracted by motor, gear reduction, worm and gear
The driving mechanism that fast machine, idler wheel and pinch wheels are constituted, motor provides power and the input with gear reduction in driving mechanism
End is sequentially connected, and gear reduction output end is connect with turbine worm reducer input terminal, worm-gear speed reducer and idler wheel
It is sequentially connected, pinch wheels are symmetrical arranged with idler wheel, further include carrying platform and microcam, carry platform and microcam installation
It is integrated and is fixedly arranged in driving mechanism.
A kind of miniature rope-climbed robot of pipeline inspection of the present invention disclosure satisfy that inspection requirement, move not with caliber change
Change with pipe coefficient of internal friction, robot is not easy stuck.
Description of the drawings
Fig. 1 is structure of the invention side view.
Fig. 2 is structure of the invention vertical view.
Fig. 3 is structure of the invention front view.
Specific implementation mode
Further explanation is done to the present invention below in conjunction with the accompanying drawings.
As shown in Figure 1-Figure 3, a kind of miniature rope-climbed robot of pipeline inspection, including by motor 1, gear reduction 2, snail
The driving mechanism that worm and gear speed reducer 3, idler wheel 7 and pinch wheels 6 are constituted, motor 1 provides power and subtracts with gear in driving mechanism
The input terminal of fast mechanism 2 is sequentially connected, and 2 output end of gear reduction is connect with 3 input terminal of turbine worm reducer, worm gear snail
Bar speed reducer 3 is sequentially connected with idler wheel 7, and pinch wheels 6 are symmetrical arranged with idler wheel 7, further includes carrying platform 4 and microcam 5, takes
Microscope carrier 4 and the installation of microcam 5 are integrated and are fixedly arranged in driving mechanism.
The present invention includes motor 1, gear reduction 2, turbine worm reducer 3, idler wheel 7, pinch wheels 6, carries platform 4
With microcam 5；Motor 1, gear reduction 2, turbine worm reducer 3, idler wheel 7, pinch wheels 6 link together shape
At driving mechanism.Motor 1 exports power by gear reduction 2, and the output of turbine worm reducer 3 drives idler wheel to idler wheel 7
7 rotations.It carries platform 4 and microcam 5 is installed together and is fixedly arranged in driving mechanism.Before inspection in advance in pipeline
A rope is worn, rope is arranged between idler wheel 7 and pinch wheels 6 by pinch wheels 6, the rope climbing inspection machine when idler wheel 7 rotates
People can be realized to be moved along rope, passes through video camera inspection.
Claims (1)
1. a kind of miniature rope-climbed robot of pipeline inspection, it is characterised in that：Including by motor, gear reduction, worm and gear
The driving mechanism that speed reducer, idler wheel and pinch wheels are constituted, motor provides power and defeated with gear reduction in driving mechanism
Enter end to be sequentially connected, gear reduction output end is connect with turbine worm reducer input terminal, worm-gear speed reducer and rolling
Wheel is sequentially connected, and pinch wheels are symmetrical arranged with idler wheel, further includes carrying platform and microcam, carries platform and microcam peace
Dress is integrated and is fixedly arranged in driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137127.6A CN108413176A (en) | 2018-02-10 | 2018-02-10 | A kind of miniature rope-climbed robot of pipeline inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137127.6A CN108413176A (en) | 2018-02-10 | 2018-02-10 | A kind of miniature rope-climbed robot of pipeline inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108413176A true CN108413176A (en) | 2018-08-17 |
Family
ID=63127182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810137127.6A Pending CN108413176A (en) | 2018-02-10 | 2018-02-10 | A kind of miniature rope-climbed robot of pipeline inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108413176A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1362580A (en) * | 1970-10-12 | 1974-08-07 | Automation Ind Inc | Pipeline crawler |
| US20070181200A1 (en) * | 2006-02-06 | 2007-08-09 | Stoesz Carl W | Automatic control line insertion tools and system |
| CN103968187A (en) * | 2014-04-04 | 2014-08-06 | 中国石油大学(华东) | Minitype pipeline robot |
| CN105035200A (en) * | 2015-07-02 | 2015-11-11 | 中国矿业大学 | Vertical rope climbing inspection robot for steel wire rope cage guide of ultra-deep vertical shaft |
| CN105465548A (en) * | 2015-12-30 | 2016-04-06 | 北京隆科兴非开挖工程股份有限公司 | Wheel type pipe detection robot |
| CN205669652U (en) * | 2016-06-06 | 2016-11-02 | 于锡汉 | Culvert, tunnel, detecting robot of pipe under water |
| CN206918537U (en) * | 2017-05-31 | 2018-01-23 | 清远初曲智能科技有限公司 | A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot |
-
2018
- 2018-02-10 CN CN201810137127.6A patent/CN108413176A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1362580A (en) * | 1970-10-12 | 1974-08-07 | Automation Ind Inc | Pipeline crawler |
| US20070181200A1 (en) * | 2006-02-06 | 2007-08-09 | Stoesz Carl W | Automatic control line insertion tools and system |
| CN103968187A (en) * | 2014-04-04 | 2014-08-06 | 中国石油大学(华东) | Minitype pipeline robot |
| CN105035200A (en) * | 2015-07-02 | 2015-11-11 | 中国矿业大学 | Vertical rope climbing inspection robot for steel wire rope cage guide of ultra-deep vertical shaft |
| CN105465548A (en) * | 2015-12-30 | 2016-04-06 | 北京隆科兴非开挖工程股份有限公司 | Wheel type pipe detection robot |
| CN205669652U (en) * | 2016-06-06 | 2016-11-02 | 于锡汉 | Culvert, tunnel, detecting robot of pipe under water |
| CN206918537U (en) * | 2017-05-31 | 2018-01-23 | 清远初曲智能科技有限公司 | A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180817 |
|
| RJ01 | Rejection of invention patent application after publication |