CN108799693A - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
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- CN108799693A CN108799693A CN201810775219.7A CN201810775219A CN108799693A CN 108799693 A CN108799693 A CN 108799693A CN 201810775219 A CN201810775219 A CN 201810775219A CN 108799693 A CN108799693 A CN 108799693A
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- Prior art keywords
- pipe robot
- rack
- flexible axle
- driven wheel
- driving
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology field more particularly to a kind of pipe robots, including：Two driving modules, two air bags, air pump assembly and at least two flexible axles.At least two flexible axles are installed between two driving modules, and the both ends of flexible axle are separately positioned in corresponding driving module, and driving module can be moved along the axial direction of flexible axle.Air bag has inflatable and deflatable two states, and when two air bags are in inflated condition simultaneously, pipe robot can be fixed in the duct；When two air bags are in a deflated state simultaneously, pipe robot can in the duct be moved by running assembly；Two air bags replace inflation/deflation, coordinate flexible axle pumping in wire feed component, pipe robot that can wriggle in the duct.Change the state of air bag, the state and motor pattern of pipe robot can be changed, pipe robot can be enable to better adapt to complex environment in pipeline.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of pipe robots.
Background technology
Pipeline is as an essential part in the modern life, since long-term environmental corrosion, outer force effect etc. are inevitable
Understand some damages.Pipeline in use, will produce various pipeline faults, blocking and damage the problems such as, if not
Pipeline is detected in time, repairs and just will produce major accident.Traditional artificial detection, random sampling and periodic replacement etc. are answered
To method there are quantities it is big, of high cost, danger coefficient is high the shortcomings of.In order to ensure the safe to use of pipeline, timing detection with
Repair critically important, but pipeline is embedded in underground mostly, it is difficult to artificial detection.
The maintenance needs of the seventies in last century, pipeline and container under the adverse circumstances such as oil, natural gas, nuclear industry stimulate
The research of pipe robot, the European countries such as the U.S., Japan and France, Germany develop the pipe machine of diversified forms in succession
Device people.Some domestic scientific research institutions and unit start to have carried out a large amount of pipelines and creep the research work of detection robot, at present
Some commercial applications are realized in the big path length straight pipeline such as oil gas, municipal administration.However, existing pipe robot passes through mostly
Wheel moves in the duct, which can not adapt to complex environment in pipeline, and make when pipe robot needs to position
When industry, since wheel and inner wall of the pipe contact area are small, it is susceptible to skidding, the problem that positioning is not allowed.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of pipe robot, it is intended to solve existing pipeline machine
People is moved in the duct by wheel, can not adapt to complex environment in pipeline, and is susceptible to skidding, is positioned inaccurate ask
Topic.
In order to solve the above technical problems, the invention is realized in this way, a kind of pipe robot, which is characterized in that including：
Two driving modules and at least two flexible axles；
At least two flexible axles are installed between two driving modules, the both ends difference of at least two flexible axles
Setting is in the corresponding driving module；
The driving module includes running assembly, wire feed component and fixed seat, the wire feed component and the running assembly
It is installed in the fixed seat, the wire feed component is corresponded with the flexible axle, and the end of each flexible axle passes through accordingly
The wire feed component, the wire feed component that flexible axle described in same root passes through pumped along the axis of this root flexible axle, the traveling
Component for moving in the duct；
The pipe robot further includes air pump assembly and two air bags, and two air bags are respectively sleeved at described in two
In fixed seat, two air bags connect air pump assembly, when the air bag is filled with gas, the air bag external energy and inner wall of the pipe
It offsets.
Further, the wire feed component includes rack, first motor, driving wheel and the first driven wheel；
The first motor is fixed on the rack, the output axis connection of the driving wheel and the first motor, institute
The first driven wheel is stated to be installed in rotation on the rack；
The flexible axle is plugged between the driving wheel and first driven wheel, and the driving wheel rotation is with along described soft
The axial direction of axis pumps the flexible axle.
Further, the wire feed component further includes adjustment seat, the second driven wheel；
The first end of the adjustment seat is installed in rotation on the rack, the second end of the adjustment seat with described
Frame elastic connection, first driven wheel are installed in rotation in the adjustment seat, and second driven wheel is rotationally pacified
On the rack；
The flexible axle is plugged between the driving wheel, first driven wheel and second driven wheel, and described
Driving wheel is located at the same side of the flexible axle with second driven wheel, and first driven wheel is located at the driving wheel and institute
It states between the second driven wheel.
Further, the wire feed component further includes adjusting nut, T-type axis and spring；
The second end of the adjustment seat offers through hole, and the stub end of the T-type axis is connect with the rack, the T
The spring is set on the T-type axis after the small head end of profile shaft passes through the through hole, and the adjusting nut is mounted on the T
The small head end of profile shaft simultaneously compresses the spring.
Further, the pipe robot further includes at least one mold plate；
The periphery of the mold plate is equipped with the first through slot, and each flexible axle passes through described first to penetrate through correspondingly
Slot.
Further, the pipe robot further includes limit rope；
The center of the mold plate is equipped with the second through slot, and the limit rope passes through the second through slot of the mold plate,
And knot at the second through slot of the corresponding mold plate, and the both ends of the limit rope are connected to corresponding fixation
On seat.
Further, the running assembly includes decelerating motor, running assembly rack, shaft and wheel；
Running assembly rack is arranged in the fixed seat, and the decelerating motor is fixed on the running assembly rack,
The wheel is connected to by the shaft on the output shaft of the decelerating motor.
Further, the running assembly includes decelerating motor, running assembly rack, two hexagonal shafts and two vehicles
Wheel；
The decelerating motor is fixed on the running assembly rack, one end and the deceleration of two hexagonal shafts
Motor connects, and the other end is output end, and two wheels are mounted on the output end of the hexagonal shaft correspondingly.
Further, the driving module further includes tensioner component, and the tensioner component includes supporting rod and tensioner driving
Mechanism, the tensioner driving mechanism are mounted in the fixed seat；The first end of the supporting rod is connect with the running assembly,
The second end of the supporting rod is connect with the tensioner driving mechanism, and the tensioner driving mechanism drives institute by the supporting rod
Running assembly is stated to be connected in inner wall of the pipe.
Further, the tensioner driving mechanism includes the second motor, screw rod and nut, and second motor is fixed on institute
It states in fixed seat, second motor drives the screw rod operating, the nut thread to be connected on the screw rod, the support
The second end of bar is connected on the nut；Alternatively,
The tensioner driving mechanism includes helical spring, guide post and moving member, and the guide post is fixed on the fixation
On seat, which is sheathed on the guide post, and one end of the helical spring is connected and fixed with the fixed seat, the other end
It is connected and fixed with moving member, when the helical spring is stretched by the moving member, the helical spring provides the moving member
Close to the pulling force of the fixed seat, or helical spring provides far from fixed seat moving member when helical spring is compressed by moving member
Thrust.
Compared with prior art, the present invention advantageous effect is：A kind of pipe robot of the present invention, including：Two drives
Dynamic model group, two air bags, air pump assembly and at least two flexible axles.At least two flexible axles are installed between two driving modules, soft
The both ends of axis are separately positioned in corresponding driving module, and driving module can be moved along the axial direction of flexible axle.Air bag, which has, to be filled
Gas and deflation two states, when two air bags are in inflated condition simultaneously, pipe robot can be fixed in the duct；Two air bags
When in a deflated state simultaneously, pipe robot can in the duct be moved by running assembly；Two air bags replace inflation/deflation, match
Flexible axle pumping in wire feed component is closed, pipe robot can wriggle in the duct.Change the state of air bag, pipe machine can be changed
The state and motor pattern of device people, can enable pipe robot better adapt to complex environment in pipeline.
Description of the drawings
Fig. 1 is the structural schematic diagram of the pipe robot of the embodiment of the present invention；
Fig. 2 is the decomposition chart of Fig. 1；
Fig. 3 is the structural schematic diagram of the driving module in Fig. 2；
Fig. 4 is the decomposition chart of Fig. 3；
Fig. 5 is the structural schematic diagram of the wire feed component in Fig. 4；
Fig. 6 is the sectional view that flexible axle is inserted into wire feed component；
Fig. 7 is the decomposition chart of Fig. 5；
Fig. 8 is the decomposition chart of the running assembly in Fig. 4；
Fig. 9 is the structural schematic diagram of the mold plate in Fig. 2；
Figure 10 is the structural schematic diagram of the tensioner component in Fig. 4；
Figure 11 is the structural schematic diagram of the another embodiment of the tensioner component in Fig. 4.
In the accompanying drawings, each reference numeral indicates：1, module is driven；11, running assembly；111, decelerating motor；112, it travels
Component rack；113, hexagonal shaft；114, wheel；12, wire feed component；121, rack；122, adjustment seat；123, first motor；
124, driving wheel；125, the first driven wheel；126, the second driven wheel；127, adjusting nut；128, T-type axis；129, spring；13,
Fixed seat；14, tensioner component；141, supporting rod；142, the second motor；143, screw rod；144, nut；145, helical spring；
146, guide post；147, moving member；2, flexible axle；3, mold plate；31, the first through slot；32, the second through slot；4, limit rope；5,
Air bag.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is a kind of preferred embodiment of pipe robot provided by the invention referring to Fig. 1-4, which includes：
Two driving modules 1 and at least two flexible axles 2.Wherein, at least two flexible axles 2 be installed on two driving modules 1 it
Between, the both ends of at least two flexible axles 2 are separately positioned in the corresponding driving module 1.The driving module 1 includes row
Component 11, wire feed component 12 and fixed seat 13 are sailed, the wire feed component 12 and the running assembly 11 are installed in the fixation
On seat 13, the wire feed component is corresponded with the flexible axle, and the end of each flexible axle 2 passes through the corresponding wire feed component
12, the wire feed component 12 that flexible axle 2 described in same root passes through is pumped along the axis of this root flexible axle 2, and the running assembly 11 is used
In moving in the duct.
The pipe robot further includes air pump assembly and two air bags 5, and two air bags 5 are respectively sleeved at two fixed seats 13
On, two air bags 5 connect air pump assembly, and when air bag 5 is filled with gas, 5 external energy of air bag offsets with inner wall of the pipe.Outside air bag 5
Wall uses the strong material of frictional force.
Air bag 5 has inflatable and deflatable two states, when two air bags 5 are in a deflated state simultaneously, two driving modules 1
In the wheel of running assembly 11 contacted with inner wall of the pipe, running assembly 11 drives pipe robot to move in the duct；Two
A air bag 5 is in inflated condition simultaneously, the vehicle of the running assembly 11 when two air bags 5 are filled with gas in two driving modules 1
Wheel is detached with inner wall of the pipe, at this time since there is the outer wall of air bag 5 very strong frictional force, pipe robot can be fixed on pipe
The operations such as detected, detected in road；Two air bags 5 replace inflation/deflation, coordinate flexible axle pumping in wire feed component 12, pipeline
Robot can wriggle in the duct, which mostly uses when pipe robot climbs vertical pipeline.Detailed process is as follows,
The air bag 5 on pipe robot head is inflated, and the air bag 5 of tail portion is deflated, and pipe robot head is fixed in the duct at this time, is passed through
The pumping in wire feed component 12 of flexible axle 2 makes the driving module 1 of tail portion drive the direction of module 1 to move to close to head, works as tail
It after the driving module 1 in portion moves to certain position, is inflated to the air bag 5 of tail portion, the air bag 5 on head is deflated, at this time pipeline machine
People tail portion is fixed in the duct, by the pumping in wire feed component 12 of flexible axle 2, makes the driving module 1 on head to far from tail portion
Drive the direction movement of module 1.So cycle carries out, and so that pipe robot is climbed in vertical pipeline, can make
Pipe robot can better adapt to complex environment in pipeline.
In addition, the pipe robot in the present invention is leaned on when pipe robot, which encounters T-type bend, to be needed to turn to side
Wire feed component in the driving module of nearly bend starts to pump the side flexible axle, make the driving module of close bend along the side flexible axle to
The direction of another driving module moves, and the length of flexible axle is soft less than between the driving of other sides two module between the module of the side two driving at this time
The length of axis makes the head of pipe robot deflect, pipe robot is enable to pass through bend.Due to the pipe machine
The angle of turn of device people is determined by the length of each flexible axle between two driving modules, therefore can as needed be turned pipe robot
Bending angle is adjusted, and to adapt to the bend of various complexity in pipeline, solves existing pipe robot and encounters in the duct
Problem in stays when complicated bend, improves the performance of product.
Referring to Fig. 5-7, specifically, wire feed component 12 includes rack 121, adjustment seat 122, first motor 123, driving wheel
124, the first driven wheel 125, the second driven wheel 126, adjusting nut 127, T-type axis 128 and spring 129.
The first motor 123 is fixed on the rack 121, and the driving wheel 124 is defeated with the first motor 123
Going out axis connection, the first end of the adjustment seat 122 is installed in rotation on the rack 121, and the second of the adjustment seat 122
End and 121 elastic connection of the rack.The second end of the adjustment seat 122 offers through hole, the major part of the T-type axis 128
End connect with the rack 121, described in the small head end of the T-type axis 128 is set in across the spring 129 after the through hole
On T-type axis 128, the adjusting nut 127 is mounted on the small head end of the T-type axis 128 and compresses the spring 129.Described
One driven wheel is installed in rotation in the adjustment seat 122, and second driven wheel 126 is installed in rotation on the rack
On 121.The flexible axle 2 be plugged on the driving wheel 124, first driven wheel 125 and second driven wheel 126 it
Between, and the driving wheel is located at the same side of the flexible axle with second driven wheel, and first driven wheel is positioned at described
Between driving wheel and second driven wheel.The driving wheel 124 rotates so that wire feed component 12 is along the axial direction side of the flexible axle 2
To pumping the flexible axle.
Referring to Fig. 1,2,9, further, pipe robot further includes at least one mold plate 3.The week of the mold plate 3
Edge is equipped with the first through slot 31, and each flexible axle 2 passes through first through slot 31 correspondingly.Due to the rigidity of flexible axle 2
Deficiency makes pipe robot be easily deformed during the motion, so that pipe robot is deviateed predetermined direction, uses 3 energy of mold plate
Enough pipe robot is made to be unlikely to deform during the motion, prevents pipe robot from deviateing predetermined direction.
Referring to Fig. 1,2,9, further, pipe robot further includes limit rope 4.The center of the mold plate 3 is equipped with the
Two through slots 32, the limit rope 4 pass through the second through slot 32 of the mold plate 3, and the of the corresponding mold plate 3
It knots at two through slots 32, and the both ends of the limit rope 4 are connected in corresponding fixed seat 13.Limit rope 4 is to sizing
Plate 3 plays position-limiting action, and after avoiding pipe robot multiple mold plates 3 stacking during the motion, it is right to reduce mold plate 3
The fixed effect of flexible axle.
Referring to Fig. 8, specifically, the running assembly 11 includes 112, two decelerating motor 111, running assembly rack hexagonals
Shaft 113 and two wheels 114.The decelerating motor 111 is fixed on the running assembly rack 112, two described six
One end of angle shaft 113 is connect with the decelerating motor 111, and the other end is output end, and two wheels 114 are correspondingly
On the output end of the hexagonal shaft 113.
Further, the driving module 1 further includes tensioner component 14, and the tensioner component 14 includes 141 He of supporting rod
Tensioner driving mechanism, the tensioner driving mechanism are mounted in the fixed seat 13；The first end of the supporting rod 141 with it is described
Running assembly 11 connects, and the second end of the supporting rod 141 is connect with the tensioner driving mechanism, and the tensioner driving mechanism is logical
Crossing the supporting rod 141 drives the running assembly 11 to be connected in inner wall of the pipe.
Referring to Figure 10, specifically, the tensioner driving mechanism includes the second motor 142, screw rod 143 and nut 144, it is described
Second motor 142 is fixed in the fixed seat 13, and second motor 142 drives the screw rod 143 to operate, the nut
144 are threadedly connected on the screw rod 143, and the second end of the supporting rod 141 is connected on the nut 144.
The both ends of supporting rod 141 are hinged with running assembly 11 and nut 144 respectively, when nut 144 is past solid on screw rod 143
When 13 direction of reservation is moved, running assembly 11 is with the hinged one end of supporting rod 141 toward far from tensioner centered on tensioner component 14
14 direction of component is moved, i.e.,：Running assembly 11 and the hinged one end of supporting rod 141 are close toward inner wall of the pipe, in turn, are set to traveling
Wheel 114 on component 11 is close toward inner wall of the pipe；When nut 144 is in the past movement far from 13 direction of fixed seat of screw rod 143, row
It sails component 11 to move toward close to 14 direction of tensioner component centered on tensioner component 14 with the hinged one end of supporting rod 141, that is, row
Component 11 is sailed with the hinged one end of supporting rod 141 far from inner wall of the pipe, in turn, is set to the wheel 114 of running assembly 11 far from pipe
Road inner wall, above, the diameter for realizing the 114 place circumference of wheel of at least two running assemblies 11 is adjusted, and then is realized
Robot is adjusted according to the pipeline of different inner diameters, to adapt to walk in the pipeline of different inner diameters.
In the present embodiment, it is united to decelerating motor 111, first motor 123, second motor 142 etc. by controller
One control.During robot walks in pipeline, decelerating motor 111 is controlled by controller to control walking speed
Degree；When being turned, corresponding first motor 123 in wire feed component 12 is controlled by controller thus to corresponding soft
Axis 2 is pumped, to realize turning function；When needing robot stabilized some position stopped in the duct, at this point, logical
Controller control decelerating motor 111, the stopping output power of first motor 123 are crossed, and defeated by controller the second motor 142 of control
Going out power makes tensioner component 14 be strutted to stretching in the duct relative to tube wall.
Referring to Figure 11, in addition to above-described embodiment, the tensioner driving mechanism may also include helical spring 145, guide post 146
With moving member 147, the guide post 146 is fixed in the fixed seat 13, which is sheathed on the guide post
146, one end of the helical spring 145 is connected and fixed with the fixed seat 13, and the other end is connected and fixed with moving member 147, when
The helical spring 145 when being stretched by the moving member 147 helical spring 145 moving member 147 is provided close to institute
The pulling force of fixed seat 13 is stated, or helical spring 145 provides far moving member 147 when helical spring 145 is compressed by moving member 147
Thrust from fixed seat 13.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of pipe robot, which is characterized in that including：Two driving modules (1) and at least two flexible axles (2)；
At least two flexible axles (2) are installed between two driving modules (1), and the two of at least two flexible axles (2)
End is separately positioned in the corresponding driving module (1)；
The driving module (1) includes running assembly (11), wire feed component (12) and fixed seat (13), the wire feed component (12)
And the running assembly (11) is installed in the fixed seat (13), the wire feed component is corresponded with the flexible axle, respectively
The end of the flexible axle (2) passes through the corresponding wire feed component (12), the wire feed component that flexible axle (2) passes through described in same root
(12) axis along this root flexible axle (2) is pumped, and the running assembly (11) for moving in the duct；
The pipe robot further includes air pump assembly and two air bags (5), and two air bags (5) are respectively sleeved at two institutes
It states in fixed seat (13), two air bags (5) connect air pump assembly, when the air bag (5) is filled with gas, the air bag (5)
External energy offsets with inner wall of the pipe.
2. pipe robot as described in claim 1, which is characterized in that the wire feed component (12) includes rack (121),
One motor (123), driving wheel (124) and the first driven wheel (125)；
The first motor (123) is fixed on the rack (121), the driving wheel (124) and the first motor (123)
Output axis connection, first driven wheel (125) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged between the driving wheel (124) and first driven wheel (125), the driving wheel (124)
Rotation pumps the flexible axle (2) with the axial direction along the flexible axle (2).
3. pipe robot as claimed in claim 2, which is characterized in that the wire feed component (12) further includes adjustment seat
(122), the second driven wheel (126)；
The first end of the adjustment seat (122) is installed in rotation on the rack (121), and the of the adjustment seat (122)
Two ends and the rack (121) elastic connection, first driven wheel (125) are installed in rotation on the adjustment seat (122)
On, second driven wheel (126) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged on the driving wheel (124), first driven wheel (125) and second driven wheel
(126) between, and the driving wheel (124) and second driven wheel (126) are located at the same side of the flexible axle, and described the
One driven wheel (125) is between the driving wheel (124) and second driven wheel (126).
4. pipe robot as claimed in claim 3, which is characterized in that the wire feed component (12) further includes adjusting nut
(127), T-type axis (128) and spring (129)；
The second end of the adjustment seat (122) offers through hole, stub end and the rack (121) of the T-type axis (128)
The small head end of connection, the T-type axis (128) is set in the T-type axis (128) across the spring (129) after the through hole
On, the adjusting nut (127) is mounted on the small head end of the T-type axis (128) and compresses the spring (129).
5. pipe robot according to any one of claims 1 to 4, which is characterized in that the pipe robot further includes
At least one mold plate (3)；
The periphery of the mold plate (3) is equipped with the first through slot (31), and each flexible axle (2) passes through described first correspondingly
Through slot (31).
6. pipe robot as claimed in claim 5, which is characterized in that the pipe robot further includes limit rope (4)；
The center of the mold plate (3) is equipped with the second through slot (32), and the limit rope (4) passes through the of the mold plate (3)
Two through slots (32), and knot at the second through slot (32) of the corresponding mold plate (3), and the limit rope (4)
Both ends are connected in corresponding fixed seat (13).
7. pipe robot as described in claim 1, which is characterized in that the running assembly (11) includes decelerating motor
(111), running assembly rack (112), shaft and wheel (114)；
Running assembly rack (112) is arranged in the fixed seat (13), and the decelerating motor (111) is fixed on the traveling group
On part rack (112), the wheel (114) is connected to by the shaft on the output shaft of the decelerating motor (111).
8. pipe robot as described in claim 1, which is characterized in that the running assembly (11) includes decelerating motor
(111), running assembly rack (112), two hexagonal shafts (113) and two wheels (114)；
The decelerating motor (111) is fixed on the running assembly rack (112), and the one of two hexagonal shafts (113)
End is connect with the decelerating motor (111), and the other end is output end, and two wheels (114) are mounted on institute correspondingly
On the output end for stating hexagonal shaft (113).
9. pipe robot as claimed in claim 7 or 8, which is characterized in that the driving module (1) further includes tensioner component
(14), the tensioner component (14) includes supporting rod (141) and tensioner driving mechanism, and the tensioner driving mechanism is mounted on described
In fixed seat (13)；The first end of the supporting rod (141) is connect with the running assembly (11), the supporting rod (141)
Second end is connect with the tensioner driving mechanism, and the tensioner driving mechanism drives the traveling by the supporting rod (141)
Component (11) is connected in inner wall of the pipe.
10. pipe robot as claimed in claim 9, which is characterized in that the tensioner driving mechanism includes the second motor
(142), screw rod (143) and nut (144), second motor (142) are fixed in the fixed seat (13), second electricity
Machine (142) drives screw rod (143) operating, the nut (144) to be threadedly connected on the screw rod (143), the support
The second end of bar (141) is connected on the nut (144)；Alternatively,
The tensioner driving mechanism includes helical spring (145), guide post (146) and moving member (147), the guide post
(146) it is fixed in the fixed seat (13), which is sheathed on the guide post (146), the helical spring
(145) one end is connected and fixed with the fixed seat (13), and the other end is connected and fixed with moving member (147), when the spiral bullet
Spring (145) when being stretched by the moving member (147) helical spring (145) moving member (147) is provided close to described
The pulling force of fixed seat (13), or when helical spring (145) is compressed by moving member (147) helical spring (145) to moving member
(147) thrust far from fixed seat (13) is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775219.7A CN108799693B (en) | 2018-07-16 | 2018-07-16 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775219.7A CN108799693B (en) | 2018-07-16 | 2018-07-16 | Pipeline robot |
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| Publication Number | Publication Date |
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| CN108799693A true CN108799693A (en) | 2018-11-13 |
| CN108799693B CN108799693B (en) | 2023-09-01 |
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| CN201810775219.7A Active CN108799693B (en) | 2018-07-16 | 2018-07-16 | Pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109483568A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of pipeline outer wall automatic flaw detection, carbon plane and welding robot |
| CN110646299A (en) * | 2019-08-28 | 2020-01-03 | 长安大学 | Shearing instrument for in-situ detection of loess holes |
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN113738997A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN115788343A (en) * | 2023-02-07 | 2023-03-14 | 胜利油田万和石油工程技术有限责任公司 | Drill bit fishing device |
| CN115889360A (en) * | 2023-02-27 | 2023-04-04 | 中国电建集团山东电力建设第一工程有限公司 | Industrial-field pipeline cleaning robot and method |
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