CN109442139A - A kind of diameter changing mechanism suitable for pipe robot - Google Patents
A kind of diameter changing mechanism suitable for pipe robot Download PDFInfo
- Publication number
- CN109442139A CN109442139A CN201811586166.0A CN201811586166A CN109442139A CN 109442139 A CN109442139 A CN 109442139A CN 201811586166 A CN201811586166 A CN 201811586166A CN 109442139 A CN109442139 A CN 109442139A
- Authority
- CN
- China
- Prior art keywords
- cam
- driving wheel
- wheel carrier
- cam follower
- pipe robot
- 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
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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
- 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
-
- 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
- F16L2101/12—Cleaning
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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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of diameter changing mechanism suitable for pipe robot, it is characterized in that including main shaft, cam follower, driving wheel carrier shaft coupling and fixing seat, motor, traveling wheel and cam；Cam follower connects cam and driving wheel carrier, traveling wheel are mounted on the end of driving wheel carrier；The rotation of cam drives the stretching, extension and contraction of driving wheel carrier by cam follower.Diameter changing mechanism of the present invention takes up space small, and pipe robot can be made compact in size；Mechanism variable diameter range is big, and adjustment speed is fast；Mechanism is simple to manufacture, and cost is relatively low；Closure is good, reduces the external corrosion to mechanism itself, long service life.
Description
Technical field
The present invention relates to pipe robot fields, and in particular to a kind of diameter changing mechanism suitable for pipe robot.
Background technique
Pipeline is a kind of in oil gas transport, and the fields such as urban water supply and sewerage engineering and Large Central Air Conditioning System ventilation are transported extensively
Material delivery vehicles.However pipeline is easy to be influenced by all kinds of external elements in use, is easy to produce a series of
Pipeline damage and the problems such as pipeline aging, as transported substance adhesion deposition inside piping failure, leakage or pipeline in pipeline
Inner wall makes pipeline inside diameter reduce even blocking etc., if regularly cannot carry out maintenance to pipeline and clear up and may draw
Great security incident is played to cause casualties and property loss.
The appearance of pipe robot provides completely new method with research and development for the maintenance of pipeline, is guaranteeing broad masses of the people
Under the premise of the property of operator and personal safety, maintenance cost is saved and has reduced due to repeatedly overhauling laying repeatedly
Caused by waste of material.
The pipe robot structure of the existing more wheel constructions in space is complex in domestic market, controllability and sealing
Property it is poor, and in terms of adapting to different tube diameters level it is still immature.Major part is adapted to the pipeline machine of different tube diameters
People is to be close to by the idler wheel of robot with tube wall, by the spring compression that connects and is loosened Lai the variation of adaptive caliber.Also
The diameter changing mechanism of section of tubing robot uses the modes such as Worm-gear type, lift type, feed screw nut pair formula, but above-mentioned tradition
Mode is there is also such as mechanism complexity, the problems such as manufacturing cost is high, and variable diameter range is small, and structure closure is poor, has seriously affected pipeline
Use of the robot in engineering project.
Summary of the invention
The technical problem to be solved in the present invention is that being provided a kind of suitable for pipe machine for the defect in the prior art
The novel diameter changing mechanism of device people, the pipeline suitable for different inner diameters, it is ensured that pipe robot stable motion in pipeline.
The present invention is achieved by the following technical solutions.
A kind of diameter changing mechanism suitable for pipe robot of the present invention, including main shaft, cam follower, driving wheel carrier
Shaft coupling and fixing seat, motor, traveling wheel and cam.Cam follower connects cam and driving wheel carrier, traveling wheel are mounted on
Drive the end of wheel carrier.The rotation of cam drives the stretching, extension of driving wheel carrier and contraction to achieve the purpose that variable diameter by cam follower.
The cam is fixed on main shaft, and cam follower is connected between cam and driving wheel carrier, drives wheel carrier end
Wheel is connected, forms one group of variable-diameter structure in this way.It is different according to the structure of pipe robot, should at least arrange six groups described in change
Gauge structure.
The main shaft is connected by shaft coupling with motor is adjusted, and rotatory force is passed to cam by motor, and cam will
The stretching, extension and contraction of driving wheel carrier are driven by cam follower.
The traveling wheel of the driving wheel carrier end setting, moves pipe robot in pipeline by wheel.
The driving wheel carrier uses link mechanism, has traveling wheel by the amplification of link mechanism biggish
Motion range increases adaptability of the pipe robot in the pipeline of different tube diameters.
The motor is stepper motor.
The shaft coupling is positive coupling.
The cam is with reeded cam.The end of the cam follower can be embedded in the groove of cam,
Prevent cam follower from falling off during the motion.
The beneficial effects of the present invention are: on the basis of traditional diameter changing mechanism, to devise a kind of structure simpler by the present invention
Single, variable diameter range is bigger, the better novel diameter reducing mechanism of mechanism closure.Mechanism, which is based on cam, can accurately realize given movement
The feature of rule matches the function of realizing that pipe robot adapts to different tube diameters using cam with wheel carrier mechanism.Pipeline machine
People's fuselage interior is equipped with several cam mechanisms, and each cam corresponds to the wheel carrier mechanism of external fuselage.When needing to adapt to different pipes
When the pipeline of diameter, mechanism only need to be such that the cam being mounted on an axle is rotated by motor, and wheel carrier mechanism can be realized and stretch
Exhibition or the function of shrinking, to achieve the purpose that adapt to the pipeline of different tube diameters.
The diameter changing mechanism takes up space small, and pipe robot can be made compact in size；Mechanism variable diameter range is big, adjustment speed
Fastly；Mechanism is simple to manufacture, and cost is relatively low；Closure is good, reduces the external corrosion to mechanism itself, long service life.
Detailed description of the invention
Fig. 1 is diameter changing mechanism schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram that diameter changing mechanism of the present invention is used for pipe robot.
Wherein, 1 it is main shaft, 2 be cam follower, 3 be driving wheel carrier, 4 be shaft coupling, 5 be motor, 6 is fixing seat, 7
It is cam for traveling wheel, 8.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is further described.
As depicted in figs. 1 and 2, the present invention provides a kind of novel diameter reducing mechanism suitable for pipe robot.
Illustrate diameter changing mechanism with Fig. 1, in figure the left side be big-diameter pipeline the case where, the right be small-caliber pipeline under feelings
Condition.
The present invention includes main shaft 1, cam follower 2, driving 3 shaft coupling 4 of wheel carrier and fixing seat 6, motor 5,7 and of traveling wheel
Cam 8.Cam follower 2 connects cam 8 and driving wheel carrier 3, traveling wheel 7 are mounted on the end of driving wheel carrier 3.Cam 8 turns
It is dynamic to drive the stretching, extension of driving wheel carrier 3 and contraction to achieve the purpose that variable diameter by cam follower 2.
The cam 8 is fixed on main shaft 1, and cam follower 2 is connected between cam 8 and driving wheel carrier 3, drives wheel carrier
3 ends connect wheel, form one group of diameter changing mechanism in this way.According to the structure of pipe robot, variable diameter knot described in six groups of arrangement
Structure.
The main shaft 1 is connected by shaft coupling 4 with motor 5 is adjusted, and rotatory force is passed to cam 8 by motor 5, convex
Wheel 8 will drive the stretching, extension and contraction of driving wheel carrier 3 by cam follower 2.
The traveling wheel 7 of driving 3 end of the wheel carrier setting, moves pipe robot in pipeline by wheel.
The driving wheel carrier 3 uses link mechanism, has traveling wheel 7 by the amplification of link mechanism larger
Motion range, increase adaptability of the pipe robot in the pipeline of different tube diameters.
The motor 5 is stepper motor.
The shaft coupling 4 is positive coupling.
The cam 8 is with reeded cam.The end of the cam follower 2 can be embedded in the groove of cam 8
In, prevent cam follower 2 from falling off during the motion.
Angle theta by adjusting driving wheel carrier 3 and fuselage axis is suitable for caliber of different sizes.
Concrete operations mode of the present invention are as follows: when pipe robot, which encounters front caliber, to be decreased or increased, pass through control electricity
Motivation 5 drives main shaft 1 to rotate, and the cam being fixed on main shaft 18 is made to turn to suitable position, promotes that wheel carrier 3 is driven to shrink or stretch
It is long, so that traveling wheel 7 is close to inner wall of the pipe, adjust motor 5 at this time and stop operating, that is, completes the operation for adapting to front caliber, reach
To the effect of adaptive different tube diameters.
Claims (1)
1. a kind of diameter changing mechanism suitable for pipe robot, it is characterized in that including main shaft, cam follower, driving wheel carrier shaft coupling
And fixing seat, motor, traveling wheel and cam；Cam follower connects cam and driving wheel carrier, traveling wheel are mounted on driving wheel
The end of frame；The rotation of cam drives the stretching, extension and contraction of driving wheel carrier by cam follower；
The cam is fixed on main shaft, and cam follower is connected between cam and driving wheel carrier, the connection of driving wheel carrier end
Wheel forms one group of variable-diameter structure, and no less than six groups；The main shaft is connected by shaft coupling with motor is adjusted, electronic
Rotatory force is passed to cam by machine；The driving wheel carrier uses link mechanism；The motor is stepper motor；Described
Shaft coupling is positive coupling；The cam is with reeded cam；The end insertion cam of the cam follower
In groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586166.0A CN109442139A (en) | 2018-12-25 | 2018-12-25 | A kind of diameter changing mechanism suitable for pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586166.0A CN109442139A (en) | 2018-12-25 | 2018-12-25 | A kind of diameter changing mechanism suitable for pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109442139A true CN109442139A (en) | 2019-03-08 |
Family
ID=65535143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586166.0A Pending CN109442139A (en) | 2018-12-25 | 2018-12-25 | A kind of diameter changing mechanism suitable for pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109442139A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
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| CN2928631Y (en) * | 2006-07-27 | 2007-08-01 | 浙江大学 | Wave foot walking robot |
| CN201056238Y (en) * | 2006-10-17 | 2008-05-07 | 东北林业大学 | Bionic walk grade climbing machine for prompt drop movement training |
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| CN102644830A (en) * | 2012-04-27 | 2012-08-22 | 东北石油大学 | Pipeline internal crawler based on parallel mechanism |
| CN102897243A (en) * | 2012-10-16 | 2013-01-30 | 浙江大学 | Robot device capable of walking stably |
| KR101645998B1 (en) * | 2016-05-23 | 2016-08-12 | (주)지트 | a surveying apparatus of underground facilities and |
| CN106903120A (en) * | 2017-05-11 | 2017-06-30 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
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| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN109027421A (en) * | 2018-09-26 | 2018-12-18 | 湖北三江航天红阳机电有限公司 | Counterpart machine in pipeline |
| CN209557887U (en) * | 2018-12-25 | 2019-10-29 | 南昌大学 | A kind of diameter changing mechanism suitable for pipe robot |
| CN110864872A (en) * | 2019-11-20 | 2020-03-06 | 浙江工业大学 | Wall surface deformation mechanism for resistance test |
| CN112849295A (en) * | 2021-03-08 | 2021-05-28 | 吉林大学 | Multiphase three-dimensional cam type bionic foot type robot |
-
2018
- 2018-12-25 CN CN201811586166.0A patent/CN109442139A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020171385A1 (en) * | 2001-05-19 | 2002-11-21 | Korea Institute Of Science And Technology | Micro robot |
| CN2928631Y (en) * | 2006-07-27 | 2007-08-01 | 浙江大学 | Wave foot walking robot |
| CN201056238Y (en) * | 2006-10-17 | 2008-05-07 | 东北林业大学 | Bionic walk grade climbing machine for prompt drop movement training |
| CN101683679A (en) * | 2008-09-28 | 2010-03-31 | 许友富 | Reinforcing steel bar hoop bending machine |
| CN202166065U (en) * | 2011-07-05 | 2012-03-14 | 北京中电联环保工程有限公司 | Heat accumulating type catalytic oxidation reactor capable of reversing through multi-channel reversing valve group |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102644830A (en) * | 2012-04-27 | 2012-08-22 | 东北石油大学 | Pipeline internal crawler based on parallel mechanism |
| CN102897243A (en) * | 2012-10-16 | 2013-01-30 | 浙江大学 | Robot device capable of walking stably |
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| CN209557887U (en) * | 2018-12-25 | 2019-10-29 | 南昌大学 | A kind of diameter changing mechanism suitable for pipe robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
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