CN108758166A - Single driving creeping motion type pipe robot - Google Patents
Single driving creeping motion type pipe robot Download PDFInfo
- Publication number
- CN108758166A CN108758166A CN201810785387.4A CN201810785387A CN108758166A CN 108758166 A CN108758166 A CN 108758166A CN 201810785387 A CN201810785387 A CN 201810785387A CN 108758166 A CN108758166 A CN 108758166A
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- China
- Prior art keywords
- sliding slot
- rotating disk
- guide groove
- type pipe
- motion type
- Prior art date
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/10—Treating the inside of pipes
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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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of single driving creeping motion type pipe robots, including：Front support mechanism and rear support mechanism that inner wall of the pipe plays the role of fixed position can be contacted successively；Singly driving creeping motion type pipe robot further includes：Push propulsive mechanism of the front support mechanism relative to rear support mechanism kinematic；Rear support mechanism includes：Flexible foot, rear fixing bracket and rear sliding slot rotating disk after multiple；The foot that stretches afterwards is slidingly attached to rear fixing bracket；Sliding slot rotating disk is rotatably connected to rear fixing bracket afterwards；Sliding slot rotating disk is formed with rear guide groove afterwards；Sufficient one end is stretched afterwards equipped with rear positioning column；Positioning column stretches to rear guide groove and can be slided in rear guide groove with the foot that stretches after adjusting relative to rear support bracket fastened position afterwards.Single driving creeping motion type pipe robot is only stretched by the alternating of a motor realization front support mechanism and rear support mechanism and relative motion, and simple in structure, reliability is high, and self-adapting steering ability is good.
Description
Technical field
The present invention relates to a kind of pipe robots, and in particular to a kind of single driving creeping motion type pipe robot.
Background technology
Pipeline is widely applied as a kind of efficient material transportation facility.It is fixed to be needed during the use of pipeline
Phase is detected and safeguards to pipeline.
Traditional pipe robot structure is excessively complicated, can not carry out self-adapting steering, cost is excessively high, and reliability is low, adopts
Multiple motors are difficult to cooperate.
Invention content
To solve the deficiencies in the prior art, the present invention provides one kind having good self-adapting steering ability, structure letter
It is single, the high single driving creeping motion type pipe robot of reliability.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
A kind of single driving creeping motion type pipe robot, including：Inner wall of the pipe can be contacted successively play the role of fixed position
Front support mechanism and rear support mechanism；Singly driving creeping motion type pipe robot further includes：Push front support mechanism relative to rear
The propulsive mechanism of supporting mechanism movement；Rear support mechanism includes：Flexible foot, rear fixing bracket and rear sliding slot rotating disk after multiple；
The foot that stretches afterwards is slidingly attached to rear fixing bracket；Sliding slot rotating disk is rotatably connected to rear fixing bracket afterwards；Sliding slot rotating disk afterwards
It is formed with rear guide groove；Sufficient one end is stretched afterwards equipped with rear positioning column；Positioning column stretches to rear guide groove and can be in rear guiding afterwards
Sliding is to stretch foot relative to rear support bracket fastened position after adjusting in slot；Sliding slot rotating disk is rotated relative to rear fixing bracket afterwards
Position of the positioning column in rear guide groove after adjusting；Front support mechanism includes：Multiple extension paw withdrawals, front fixing bracket and preceding sliding slot
Rotating disk；Extension paw withdrawal is slidingly attached to front fixing bracket；Preceding sliding slot rotating disk is rotatably connected to front fixing bracket；Preceding sliding slot
Rotating disk is formed with preceding guide groove；The one end for paw withdrawal of protracting is equipped with prelocalization column；Guide groove and can be before prelocalization column stretches to
Sliding is to adjust position of the extension paw withdrawal relative to front fixing bracket in preceding guide groove；Preceding sliding slot rotating disk is relative to preceding fixed branch
Frame rotation adjusts position of the prelocalization column in preceding guide groove；Propulsive mechanism includes：Motor, front propeller shaft, sleeve, universal joint connection
Axis device and inter-axle shaft；Sleeve is socketed in the periphery of front propeller shaft and is rotated synchronously with front propeller shaft；Motor drives front propeller shaft
It rotates and drive sleeve is slided relative to front propeller shaft；Gimbal coupling branch sleeve and inter-axle shaft；Front propeller shaft connects
Sliding slot rotating disk rotation before to the driving of preceding sliding slot rotating disk；Inter-axle shaft is connected to rear sliding slot rotating disk and is rotated with sliding slot after driving
Disk rotates.
Further, rear support mechanism is formed with guide rod；Propulsive mechanism further includes：Eccentric wheel connecting rod mechanism, sliding block, master
Dynamic connecting rod and thrust ring；Guide rod guide runner moves；Motor drives eccentric wheel connecting rod mechanism band movable slider to be slided along guide rod；
One end of drive connecting rod is connected to sliding block；The other end of drive connecting rod is connected to thrust ring；Thrust ring pushes sleeve relative to preceding
Propeller shaft slip；Thrust ring is socketed in the periphery of sleeve；Sleeve can be rotated relative to thrust ring.
Further, eccentric wheel connecting rod mechanism includes eccentric wheel and follower link；Follower link is connected to eccentric wheel and cunning
Block；Motor drives eccentric wheel rotation.
Further, propulsive mechanism further includes：Drive pulley, driven pulley and belt；Belt connects drive pulley
Wheel and driven pulley；Motor drives driver pulley rotation；Driven pulley band movable eccentric wheel rotates；Drive pulley is installed
It is rotated synchronously to front propeller shaft and front propeller shaft.
Further, propulsive mechanism further includes：Reduction gear box；Motor drives drive pulley rotation by reduction gear box
It is dynamic.
Further, propulsive mechanism further includes：Gear tank tower；Reduction gear box is fixed to gear tank tower；Gear tank tower is solid
Determine to rear fixing bracket.
Further, sleeve sets the locating ring there are two limit thrust ring position；Thrust ring is located between two locating rings；
Thrust ring pushes locating ring movement to be slided relative to front propeller shaft with moving sleeve.
Further, rear flexible foot includes back support rod, rear inner support plate, rear spring and rear external support board；Fixed branch afterwards
Frame is formed with the sliding slot for being oriented to back support rod sliding；Positioning column is set to one end of back support rod afterwards；Inner support plate is fixed to afterwards
The other end of back support rod；Inner support plate and rear external support board after spring connection afterwards.
Further, rear support mechanism further includes directive wheel and guiding wheel carrier；It is oriented to wheel carrier and is fixed to back support rod；It is oriented to
Wheel rotation is connected to guiding wheel carrier；The pivot center of directive wheel is perpendicular to the direction that sleeve is slided relative to front propeller shaft.
Further, rear guide groove joins end to end into closed circular；Guide groove includes turn of sliding slot rotating disk backward afterwards
The convex section of shaft line protrusion；Preceding guide groove is identical as rear guide groove.
The invention has the beneficial effects that the propulsive mechanism of the single driving creeping motion type pipe robot provided drives front support
The front and back alternately movement of mechanism and rear support mechanism, and propulsive mechanism is equipped with gimbal coupling, and list is made to drive creeping motion type pipe machine
Device people has good self-adapting steering ability.
It is provided only with a motor, simple in structure, reliability is high.Avoid the problem of multiple motors are difficult to cooperate.
Extension paw withdrawal and the rear spring for stretching foot ensure that extension paw withdrawal and rear flexible foot can steadily contact tube wall.
Description of the drawings
Fig. 1 is a kind of schematic diagram of single driving creeping motion type pipe robot of the present invention；
Fig. 2 is the schematic diagram of the front support mechanism of single driving creeping motion type pipe robot in Fig. 1；
Fig. 3 is the schematic diagram of the rear support mechanism of single driving creeping motion type pipe robot in Fig. 1；
Fig. 4 is the rear flexible sufficient schematic diagram of single driving creeping motion type pipe robot in Fig. 3；
Fig. 5 is the schematic diagram of the rear sliding slot rotating disk of single driving creeping motion type pipe robot in Fig. 3；
Fig. 6 is the schematic diagram of the propulsive mechanism of single driving creeping motion type pipe robot in Fig. 1；
Fig. 7 is the schematic diagram of the eccentric wheel connecting rod mechanism of single driving creeping motion type pipe robot in Fig. 6.
Single driving creeping motion type pipe robot 100, front support mechanism 10, paw withdrawal 11 of protracting, prelocalization column 111, preceding fixation
Holder 12, preceding sliding slot rotating disk 13, preceding guide groove 131, rear support mechanism 20, rear flexible foot 21, back support rod 211, rear interior branch
Fagging 212, rear spring 213, rear external support board 214, rear positioning column 215, rear fixing bracket 22, sliding slot 221, rear sliding slot rotating disk
23, rear guide groove 231, guide rod 24, directive wheel 25, guiding wheel carrier 26, propulsive mechanism 30, motor 31, inter-axle shaft 32, sleeve
33, locating ring 331, gimbal coupling 34, front propeller shaft 35, eccentric wheel connecting rod mechanism 36, eccentric wheel 361, follower link
362, sliding block 363, drive connecting rod 37, thrust ring 38, drive pulley 39, driven pulley 40, belt 41, reduction gear box
42, gear tank tower 43.
Specific implementation mode
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
As shown in Figures 1 to 7, a kind of single driving creeping motion type pipe robot 100, including：Front support mechanism 10 and rear branch
Support mechanism 20.Front support mechanism 10 and rear support mechanism 20 can contact inner wall of the pipe successively and play the role of fixed position, make list
Driving creeping motion type pipe robot 100 is advanced in pipeline more to be stablized.Single driving creeping motion type pipe robot 100 further includes pushing away
Into mechanism 30.Propulsive mechanism 30 can push front support mechanism 10 to be moved relative to rear support mechanism 20, be propped up after can also driving
Support mechanism 20 is moved relative to front support mechanism 10.Propulsive mechanism 30 can also drive front support mechanism 10 and rear support mechanism 20
Inner wall of the pipe is contacted successively.
Rear support mechanism 20 includes：Flexible foot 21, rear fixing bracket 22 and rear sliding slot rotating disk 23 after multiple.Stretch foot afterwards
21 are slidingly attached to rear fixing bracket 22.Sliding slot rotating disk 23 is rotatably connected to rear fixing bracket 22 afterwards.Sliding slot rotating disk afterwards
23 are formed with rear guide groove 231.One end of flexible foot 21 is equipped with rear positioning column 215 afterwards.Positioning column 215 stretches to rear guide groove afterwards
231 and can in the rear guide groove 231 sliding with position of the foot 21 relative to rear fixing bracket 22 of stretching after adjusting.Sliding slot rotates afterwards
Position of the positioning column 215 in rear guide groove 231 after disk 23 is adjusted relative to the rotation of rear fixing bracket 22.As a kind of specific
Embodiment, rear guide groove 231 join end to end into closed circular.Guide groove 231 includes turn of sliding slot rotating disk 23 backward afterwards
The convex section of shaft line protrusion and the linkage section for connecting two neighboring convex section.
Specifically, rear sliding slot rotating disk 23 is rotated around pivot center relative to rear fixing bracket 22, rear guide groove 231
Simultaneously around pivot axis.When the convex section of rear guide groove 231 turns to rear positioning column 215, convex section positions after driving
Column 215 is moved to the direction close to pivot center.Positioning column 215 drives back support rod 211 to be slided to close to pivot center direction afterwards
It is dynamic, to the foot 21 that stretches after retraction, shorten the support distances of rear support mechanism 20 so that rear flexible foot 21 is detached from duct wall.
When sliding slot rotating disk 23 is rotated further afterwards, when rear positioning column 215 reaches the peak of convex section, convex section, which is rotated further, to be driven
The foot 21 that stretches afterwards moves out, and extends the support distances of rear support mechanism 20 so that rear flexible foot 21 contacts duct wall and completes
21 periodic folding and unfoldings of flexible foot afterwards.
As a preferred embodiment, rear flexible foot 21 includes back support rod 211, rear inner support plate 212, rear spring
213 and rear external support board 214.Fixing bracket 22, which is formed with, afterwards is oriented to the sliding slot 221 that back support rod 211 slides.Positioning column 215 afterwards
It is set to one end of back support rod 211.Inner support plate 212 is fixed to the other end of back support rod 211 afterwards.Spring 213 connects afterwards
Inner support plate 212 and rear external support board 214 afterwards.
As a preferred embodiment, rear support mechanism 20 further includes directive wheel 25 and guiding wheel carrier 26.Directive wheel
Frame 26 is fixed to back support rod 211.The rotation connection of directive wheel 25 is extremely oriented to wheel carrier 26.The pivot center of directive wheel 25 is perpendicular to set
The direction that cylinder 33 is slided relative to front propeller shaft 35.
Specifically, single driving creeping motion type pipe robot 100 is helped to realize by directive wheel 25 along duct wall rolling
Along the turning motion of duct wall.It is rolled and is advanced using directive wheel 25, friction is small.
As a kind of specific embodiment, the number of rear flexible foot 21 is 3.The foot 21 that stretches after 3 can preferably rise
To supporting role, and stable structure is reliable.
Front support mechanism 10 includes：Multiple extension paw withdrawals 11, front fixing bracket 12 and preceding sliding slot rotating disk 13.Extension paw withdrawal
11 are slidingly attached to front fixing bracket 12.Preceding sliding slot rotating disk 13 is rotatably connected to front fixing bracket 12.Preceding sliding slot rotating disk
13 are formed with preceding guide groove 131.The one end for paw withdrawal 11 of protracting is equipped with prelocalization column 111.Prelocalization column 111 stretches to preceding guide groove
131 and can in the preceding guide groove 131 sliding to adjust position of the extension paw withdrawal 11 relative to front fixing bracket 12.Preceding sliding slot rotation
Disk 13 rotates the position for adjusting prelocalization column 111 in preceding guide groove 131 relative to front fixing bracket 12.
Specifically, preceding guide groove 131 is identical as rear guide groove 231.The work of front support mechanism 10 and rear support mechanism 20
It is identical to make principle, i.e., is coordinated respectively with convex section by prelocalization column 111, realize retraction and extends extension paw withdrawal 11, to make
Extension paw withdrawal 11 can contact duct wall or be detached from duct wall.
Propulsive mechanism 30 includes：Motor 31, front propeller shaft 35, sleeve 33, gimbal coupling 34 and inter-axle shaft 32.Set
Cylinder 33 is socketed in the periphery of front propeller shaft 35 and is rotated synchronously with front propeller shaft 35.Motor 31 drives front propeller shaft 35 to rotate and drives
Moving sleeve 33 is slided relative to front propeller shaft 35.34 branch sleeve 33 of gimbal coupling and inter-axle shaft 32.Front propeller shaft 35
Sliding slot rotating disk 13 and preceding 13 rotation of sliding slot rotating disk of driving before being connected to.Inter-axle shaft 32 is connected to rear sliding slot rotating disk 23 simultaneously
Sliding slot rotating disk 23 rotates after driving.
Specifically, motor 31 drives front propeller shaft 35 and inter-axle shaft 32 to rotate.Front propeller shaft 35 and inter-axle shaft 32
Preceding sliding slot rotating disk 13 and the rotation of rear sliding slot rotating disk 23 are driven respectively, to keep extension paw withdrawal 11 and rear flexible foot 21 real
Existing expanding-contracting action.
As a preferred embodiment, rear support mechanism 20 is formed with guide rod 24.Propulsive mechanism 30 further includes：Partially
Heart wheel link mechanism 36, sliding block 363, drive connecting rod 37, thrust ring 38.24 guide runner 363 of guide rod moves.Motor 31 drives
Eccentric wheel connecting rod mechanism 36 is slided with movable slider 363 along guide rod 24.One end of drive connecting rod 37 is connected to sliding block 363.Actively
The other end of connecting rod 37 is connected to thrust ring 38.Thrust ring 38 pushes sleeve 33 to be slided relative to front propeller shaft 35.Thrust ring 38
It is socketed in the periphery of sleeve 33.Sleeve 33 can be rotated relative to thrust ring 38.
Specifically, specifically, the driving rotation of inter-axle shaft 32 of motor 31, passes through eccentric wheel connecting rod mechanism 36 and drives cunning
Block 363 is slided along guide rod 24.One end connection sliding block 363 of drive connecting rod 37, the other end connect thrust ring 38.363 edge of sliding block
Drive connecting rod 37 is driven to move when guide rod 24 slides up and down, drive connecting rod 37 is by thrust ring 38 with moving sleeve 33 along rear transmission
Axis 32 slides.When drive connecting rod 37 with moving sleeve 33 along inter-axle shaft 32 forward 10 direction of supporting mechanism slide when, sleeve
33 drive front support mechanism 10 to travel forward by gimbal coupling 34.The foot 21 that stretches afterwards at this time is in extension state, contact
Duct wall realizes support fixed position.Extension paw withdrawal 11 be in contraction state, disengaging duct wall, at this time front support mechanism 10 to
Preceding movement.
Sleeve 33 can be rotated relative to thrust ring 38；When sleeve 33 rotates under the drive of inter-axle shaft 32.
Front propeller shaft 35, sleeve 33, gimbal coupling 34 and inter-axle shaft 32 rotate synchronously there are one simultaneously common definitions
It is driven axis.Angle position of the convex section of the convex section of preceding guide groove 131 and rear guide groove 231 in the circumferential direction of transmission axis
Difference is flexible to realize the alternating of front support mechanism 10 and rear support mechanism 20 under the drive of motor 31.Only need a motor
31 can drive preceding sliding slot rotating disk 13 and the poor bit synchronization rotation of rear sliding slot rotating disk 23.Gimbal coupling 34 connects driving front
Axis 35 and inter-axle shaft 32 make single driving creeping motion type pipe robot 100 be realized under the premise of disclosure satisfy that transmission torque and turn
Curved function.
As a kind of specific embodiment, sleeve 33 sets the locating ring 331 there are two 38 position of limit thrust ring.Thrust
Ring 38 is located between two locating rings 331.Thrust ring 38 pushes the movement of locating ring 331 thus with moving sleeve 33 relative to driving front
Axis 35 slides.
As a kind of specific embodiment, propulsive mechanism 30 further includes：Drive pulley 39, driven pulley 40 and skin
Band 41.Belt 41 connects drive pulley 39 and driven pulley 40.Motor 31 drives drive pulley 39 to rotate.Follower belt
40 band movable eccentric wheel 361 of wheel rotates.The installation of drive pulley 39 to front propeller shaft 35 and front propeller shaft 35 rotates synchronously.Eccentric wheel
Link mechanism 36 includes eccentric wheel 361 and follower link 362.Follower link 362 is connected to eccentric wheel 361 and sliding block 363.Motor
31 driving eccentric wheels 361 rotate.
Specifically, motor 31 drives front propeller shaft 35 to drive drive pulley 39 to rotate.Drive pulley 39 is logical
Crossing belt 41 drives driven pulley 40 to rotate.Driven pulley 40 passes through axis connection, 40 band of driven pulley with eccentric wheel 361
Movable eccentric wheel 361 rotates.Eccentric wheel 361 is slided with movable slider 363 along guide rod 24 by follower link 362.
As a kind of specific embodiment, rear fixing bracket 22 includes carrier base and bracket cover.Carrier base is formed with peace
Tankage.Drive pulley 39 is installed in mounting groove.
As a preferred embodiment, propulsive mechanism 30 further includes：Reduction gear box 42.Motor 31 passes through reducing gear
Roller box 42 drives drive pulley 39 to rotate.
As a preferred embodiment, propulsive mechanism 30 further includes：Gear tank tower 43.Reduction gear box 42 is fixed to
Gear tank tower 43.Gear tank tower 43 is fixed to rear fixing bracket 22.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way above-described embodiment, all to be obtained by the way of equivalent substitution or equivalent transformation
Technical solution is all fallen in protection scope of the present invention.
Claims (10)
1. a kind of single driving creeping motion type pipe robot, which is characterized in that including：Inner wall of the pipe can be contacted successively play fixation
The front support mechanism and rear support mechanism of position effect；Single driving creeping motion type pipe robot further includes：Push it is described before
Propulsive mechanism of the supporting mechanism relative to the rear support mechanism kinematic；The rear support mechanism includes：Flexible foot after multiple, after
Fixing bracket and rear sliding slot rotating disk；Flexible foot is slidingly attached to the rear fixing bracket after described；Sliding slot rotating disk after described
It is rotatably connected to the rear fixing bracket；Sliding slot rotating disk is formed with rear guide groove after described；One end of flexible foot after described
Equipped with rear positioning column；After described positioning column stretch to it is described after guide groove and can sliding is described to adjust in guide groove in the rear
Foot is stretched afterwards relative to the rear support bracket fastened position；Sliding slot rotating disk is adjusted relative to the rear fixing bracket rotation after described
Save it is described after the positioning column position in guide groove in the rear；The front support mechanism includes：Multiple extension paw withdrawals, preceding fixed branch
Frame and preceding sliding slot rotating disk；The extension paw withdrawal is slidingly attached to the front fixing bracket；The preceding sliding slot rotating disk is rotatable
It is connected to the front fixing bracket；The preceding sliding slot rotating disk is formed with preceding guide groove；Before one end of the extension paw withdrawal is equipped with
Positioning column；The prelocalization column stretches to the preceding guide groove and can be slided in the preceding guide groove to adjust the front stretching
Position of the foot relative to the front fixing bracket；The preceding sliding slot rotating disk is relative to described in front fixing bracket rotation adjusting
Position of the prelocalization column in the preceding guide groove；The propulsive mechanism includes：Motor, front propeller shaft, sleeve, universal joint shaft coupling
Device and inter-axle shaft；The sleeve is socketed in the periphery of the front propeller shaft and is rotated synchronously with the front propeller shaft；The electricity
Machine drives the front propeller shaft to rotate and the sleeve is driven to be slided relative to the front propeller shaft；The gimbal coupling connects
Connect the sleeve and the inter-axle shaft；The front propeller shaft is connected to the preceding sliding slot rotating disk to drive the preceding sliding slot to revolve
Turntable rotates；The inter-axle shaft is connected to the rear sliding slot rotating disk to drive the rear sliding slot rotating disk rotation.
2. single driving creeping motion type pipe robot according to claim 1, which is characterized in that
The rear support mechanism is formed with guide rod；The propulsive mechanism further includes：Eccentric wheel connecting rod mechanism, actively connects sliding block
Bar and thrust ring；The guide rod is oriented to the slide block movement；The motor drives described in the eccentric wheel connecting rod mechanism drive
Sliding block is slided along the guide rod；One end of the drive connecting rod is connected to the sliding block；The other end of the drive connecting rod connects
It is connected to the thrust ring；The thrust ring pushes the sleeve to be slided relative to the front propeller shaft；The thrust ring is socketed in
The periphery of the sleeve；The sleeve can be rotated relative to the thrust ring.
3. single driving creeping motion type pipe robot according to claim 2, which is characterized in that
The eccentric wheel connecting rod mechanism includes eccentric wheel and follower link；The follower link is connected to the eccentric wheel and described
Sliding block；The motor drives the eccentric wheel rotation.
4. single driving creeping motion type pipe robot according to claim 3, which is characterized in that
The propulsive mechanism further includes：Drive pulley, driven pulley and belt；The belt connects the drive pulley
With the driven pulley；The motor drives the driver pulley rotation；The driven pulley drives the eccentric wheel
Rotation；The drive pulley is installed to the front propeller shaft and the front propeller shaft and is rotated synchronously.
5. single driving creeping motion type pipe robot according to claim 4, which is characterized in that
The propulsive mechanism further includes：Reduction gear box；The motor drives the drive pulley by the reduction gear box
Wheel rotation.
6. single driving creeping motion type pipe robot according to claim 5, which is characterized in that
The propulsive mechanism further includes：Gear tank tower；The reduction gear box is fixed to the gear tank tower；The gear tank tower
It is fixed to the rear fixing bracket.
7. single driving creeping motion type pipe robot according to claim 2, which is characterized in that
The sleeve sets that there are two the locating rings for limiting the thrust ring position；The thrust ring be located at two locating rings it
Between；The thrust ring pushes the locating ring movement to drive the sleeve to be slided relative to the front propeller shaft.
8. single driving creeping motion type pipe robot according to claim 1, which is characterized in that
Flexible foot includes after described：Back support rod, rear inner support plate, rear spring and rear external support board；Fixing bracket shape after described
At the sliding slot for having the guiding back support rod sliding；Positioning column is set to one end of the back support rod after described；In after described
Support plate is fixed to the other end of the back support rod；Inner support plate and the rear outer support after spring connection is described after described
Plate.
9. single driving creeping motion type pipe robot according to claim 8, which is characterized in that
The rear support mechanism further includes directive wheel and guiding wheel carrier；The guiding wheel carrier is fixed to the back support rod；It is described
Directive wheel is rotatablely connected to the guiding wheel carrier；The pivot center of the directive wheel is perpendicular to the sleeve relative to the forward pass
The direction of moving axis sliding.
10. single driving creeping motion type pipe robot according to claim 1, which is characterized in that
Guide groove joins end to end into closed circular after described；Guide groove includes the rotation to the rear sliding slot rotating disk after described
The convex section of axis protrusion；The preceding guide groove is identical as the rear guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785387.4A CN108758166B (en) | 2018-07-17 | 2018-07-17 | Single driving creeping motion type pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785387.4A CN108758166B (en) | 2018-07-17 | 2018-07-17 | Single driving creeping motion type pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108758166A true CN108758166A (en) | 2018-11-06 |
| CN108758166B CN108758166B (en) | 2019-11-29 |
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ID=63970256
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810785387.4A Active CN108758166B (en) | 2018-07-17 | 2018-07-17 | Single driving creeping motion type pipe robot |
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| CN (1) | CN108758166B (en) |
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| CN114719122B (en) * | 2022-05-16 | 2024-04-12 | 河北科技大学 | Telescopic crawling robot in pipeline |
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