CN109538878A - A kind of screw drives mechanism for pipe robot - Google Patents
A kind of screw drives mechanism for pipe robot Download PDFInfo
- Publication number
- CN109538878A CN109538878A CN201811586121.3A CN201811586121A CN109538878A CN 109538878 A CN109538878 A CN 109538878A CN 201811586121 A CN201811586121 A CN 201811586121A CN 109538878 A CN109538878 A CN 109538878A
- Authority
- CN
- China
- Prior art keywords
- driving
- fuselage
- pipe robot
- wheel carrier
- driving body
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
A kind of screw drives mechanism for pipe robot, including driving body and keeping body；The driving body is made of driving body fuselage, support wheel carrier and driving wheel；The keeping body is made of support wheel carrier, driving wheel, motor and keeping body fuselage；It is connected between keeping body and driving body with shaft coupling.The shortcomings that present invention improves over the supporting surface of screw drives is few and low efficiency, improve pipe robot wheel efficiency and excessively curved ability, simplify mechanism structure, make it is easy to control simply, improve ability to work of the pipe robot under complex environment.
Description
Technical field
The present invention relates to the robots of a kind of pipe detection and maintenance, specifically helical driving type pipe robot, are used for
In industrial production.
Background technique
Currently, detection cleaning problem is increasingly significant inside pipeline with the rapid development of pipeline cause.Transport pipeline inner wall
Easily there is the problems such as aging, crack, crackle, foreign matter adheres to.But pipeline internal environment is complicated, various middle-size and small-size pipelines are also difficult
To allow people to pass through, tradition by artificial detection method not only inefficiency but also difficulty is higher, in this way to the maintenance of pipeline with
Detection has resulted in biggish obstacle.Due to the development in city, in blow-off line, a large amount of life sundries especially in sewage or
Building waste is mixed into, and accelerates the generation of precipitating, siltation phenomenon, it is easy to be caused people's life and property loss, be given people's lives
It makes troubles with social economy.Therefore, a middle-size and small-size pipeline for being able to enter internal environment complexity, has cleaning to inner wall of the pipe
The pipe robot of function is badly in need of generating.
The driving method of domestic and international pipe robot substantially has following several: piston move mode rolls move mode, carries out
Band move mode, Tui foot formula move mode, wriggling move mode and screw propulsion mode etc..
Wherein, piston movable type obstacle climbing ability and cornering power are poor；Idler wheel movable type speed is fast, easily turns, but volume is big,
Structure is complicated；Caterpillar band mobile has biggish adhesive force, tractive force and obstacle climbing ability, but the complicated easily rollover of volume big structure；Foot
Leg-type mobile has biggish adhesive force, tractive force and obstacle climbing ability, but movement speed is slow, control is complicated；Movable type of wriggling adapts to
Small caliber, obstacle climbing ability is strong, but movement speed is slow, control is complicated；Spiral movable can walk in vertical pipe, easy to control,
Less energy consumption, but movement speed is slow.
The scope of application of these pipe robot driving methods has certain limitation.
Summary of the invention
The purpose of the present invention is to provide level or there is the driving machine for capableing of self-adapting pipe in curved tapered pipeline
Structure.
In order to achieve the above objectives, the present invention adopts the following technical solutions.
A kind of screw drives mechanism for pipe robot of the present invention, including driving body and keeping body.
The driving body is made of driving body fuselage, support wheel carrier and driving wheel；Driving body fuselage and the fixed company of shaft coupling
It connects；The support wheel carrier is two groups, every group three, totally six, and the axis of same group of three adjacent support wheel carriers is located at
Same plane, the angle of two two axial lines are 120 degree, are fixed on driving body fuselage, the other end of wheel carrier is supported to be respectively fixed with
Driving wheel.
The keeping body is made of support wheel carrier, driving wheel, motor and keeping body fuselage；Motor and the fixed company of shaft coupling
It connects；Keeping body fuselage is fixedly connected with shaft coupling；The support wheel carrier be two groups, every group three, totally six, and same group with
It is fixed on keeping body fuselage between the vertical same plane of axis and adjacent support wheel carrier at 120 degree, supports the another of wheel carrier
One end is respectively fixed with driving wheel.
It is connected between the keeping body and driving body with shaft coupling.Motor rotation drives the rotation of driving body fuselage, keeping body
On driving wheel it is parallel with fuselage axis, six driving wheels on driving body are per former and later two driving wheels on same helix
Distribution, six constitute three helixes altogether, push dynamic driving body and guarantor by the screw drives that the driving wheel on driving body generates
Hold body advance.
The advance helical angle of the pipe robot is 27.3 degree.
The shaft coupling of the pipe robot is Hooks coupling universal coupling.
The motor of the pipe robot is decelerating motor.
The shortcomings that present invention improves over the supporting surface of screw drives is few and low efficiency, the walking for improving pipe robot is imitated
Rate and excessively curved ability, simplify mechanism structure, make easy to control simple, improve work of the pipe robot under complex environment
Ability.
Detailed description of the invention
Fig. 1 is apparatus structure schematic diagram of the present invention.
Fig. 2 is screw drives schematic diagram of the present invention.
In figure: 1 being driving body fuselage, 2 be support wheel carrier, 3 be driving wheel, 4 be shaft coupling, 5 be motor, 6 be keeping body
Fuselage.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in the picture, the present invention provides a kind of screw drives mechanisms of pipe robot, including driving body and holding
Body.Driving body is made of driving body fuselage 1, support wheel carrier 2 and driving wheel 3: pipe robot driving body fuselage 1 and shaft coupling 4
It is fixedly connected；Six driving wheels 3 are respectively fixedly connected with six support wheel carriers 2, and the support wheel carrier 2 that same plane is adjacent
Between angle be 120 degree.Keeping body is made of support wheel carrier 2, driving wheel 3, motor 5 and keeping body fuselage 1: motor 5 and connection
Axis device 4 is fixedly connected；Pipe robot driving body fuselage 1 is fixedly connected with shaft coupling 4；Six driving wheels 3 and six branch
Support wheel carrier 2 be respectively fixedly connected with, and same plane it is adjacent support wheel carrier 2 between angle be 120 degree.Keeping body and driving body
Between with shaft coupling 4 connect.
As shown in the picture, a kind of screw drives mechanism suitable for pipe robot, is that spiral trajectory is straight
It connects the driving wheel 3 portrayed on 1 surface of driving body fuselage, positioned at different cross section and is successively arranged in driving body fuselage according to fixed rule
On the helix on 1 surface.When motor 5 rotates, the screw drives for driving the rotation of driving body fuselage 1 to generate driving wheel 3 are pushed dynamic
Robot advances inside pipeline.Such design ensure that robotically-driven body fuselage possesses multiple supporting sections to improve
Its reliability and stability inside pipeline.
When robot advances in the environment for having mud and dirt, improved driving method is cut due to being located at first
The driving wheel in face opens a spiral trajectory on tube wall, and the driving wheel in another section only need to be according to existing track
It is sequentially advanced.Improved driving method has the characteristics that more laborsaving and more efficient.
Claims (1)
1. a kind of screw drives mechanism for pipe robot, it is characterized in that including driving body and keeping body；
The driving body is made of driving body fuselage, support wheel carrier and driving wheel；Driving body fuselage is fixedly connected with shaft coupling；Institute
Stating support wheel carrier is two groups, every group three, totally six, and the axis of the adjacent support wheel carriers of three of same group be located at it is same flat
Face, the angle of two two axial lines are 120 degree, are fixed on driving body fuselage, the other end of wheel carrier is supported to be respectively fixed with driving wheel；
The keeping body is made of support wheel carrier, driving wheel, motor and keeping body fuselage；Motor is fixedly connected with shaft coupling；It protects
Body fuselage is held to be fixedly connected with shaft coupling；The support wheel carrier be two groups, every group three, totally six, and same group with axis
It is fixed on keeping body fuselage between vertical same plane and adjacent support wheel carrier at 120 degree, supports the other end of wheel carrier
It is respectively fixed with driving wheel；
It is connected between the keeping body and driving body with shaft coupling；Motor rotation drives driving body fuselage to rotate, in keeping body
Driving wheel is parallel with fuselage axis, and six on driving body driving wheel divides on same helix per former and later two driving wheels
Cloth, six constitute three helixes altogether, push dynamic driving body and holding by the screw drives that the driving wheel on driving body generates
Body advances；
The advance helical angle of the pipe robot is 27.3 degree；The shaft coupling of the pipe robot is Hooks coupling universal coupling；Institute
The motor for stating pipe robot is decelerating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586121.3A CN109538878A (en) | 2018-12-25 | 2018-12-25 | A kind of screw drives mechanism for pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586121.3A CN109538878A (en) | 2018-12-25 | 2018-12-25 | A kind of screw drives mechanism for pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109538878A true CN109538878A (en) | 2019-03-29 |
Family
ID=65857208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586121.3A Pending CN109538878A (en) | 2018-12-25 | 2018-12-25 | A kind of screw drives mechanism for pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109538878A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426800A (en) * | 2019-07-09 | 2019-11-08 | 天津精仪精测科技有限公司 | A kind of nodular flexible apparatus |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2846973Y (en) * | 2005-07-05 | 2006-12-13 | 任睦钧 | Heat insulation sleeve |
| KR20070041175A (en) * | 2005-10-14 | 2007-04-18 | 주식회사 두배시스템 | Robot for internal inspection of pipe |
| CN201074720Y (en) * | 2007-09-19 | 2008-06-18 | 西南交通大学 | Screw type drive mechanism of round pipe robot |
| CN201295716Y (en) * | 2008-11-11 | 2009-08-26 | 河北华信锅炉集团有限公司 | Self-rotary thread smoke tube |
| CN101531217A (en) * | 2009-04-15 | 2009-09-16 | 江苏工业学院 | Spirally driven walking robot in pipe |
| CN202038385U (en) * | 2011-04-21 | 2011-11-16 | 哈尔滨工程大学 | Force multiplication pipeline robot |
| CN106641572A (en) * | 2017-01-13 | 2017-05-10 | 温州职业技术学院 | Intelligent remote control self-adaption pipe robot |
| CN206487989U (en) * | 2016-09-08 | 2017-09-12 | 中国石油大学(华东) | A kind of spiral type pipeline robot of speed self-regulation |
| CN209977571U (en) * | 2018-12-25 | 2020-01-21 | 南昌大学 | Spiral driving mechanism for pipeline robot |
-
2018
- 2018-12-25 CN CN201811586121.3A patent/CN109538878A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2846973Y (en) * | 2005-07-05 | 2006-12-13 | 任睦钧 | Heat insulation sleeve |
| KR20070041175A (en) * | 2005-10-14 | 2007-04-18 | 주식회사 두배시스템 | Robot for internal inspection of pipe |
| CN201074720Y (en) * | 2007-09-19 | 2008-06-18 | 西南交通大学 | Screw type drive mechanism of round pipe robot |
| CN201295716Y (en) * | 2008-11-11 | 2009-08-26 | 河北华信锅炉集团有限公司 | Self-rotary thread smoke tube |
| CN101531217A (en) * | 2009-04-15 | 2009-09-16 | 江苏工业学院 | Spirally driven walking robot in pipe |
| CN202038385U (en) * | 2011-04-21 | 2011-11-16 | 哈尔滨工程大学 | Force multiplication pipeline robot |
| CN206487989U (en) * | 2016-09-08 | 2017-09-12 | 中国石油大学(华东) | A kind of spiral type pipeline robot of speed self-regulation |
| CN106641572A (en) * | 2017-01-13 | 2017-05-10 | 温州职业技术学院 | Intelligent remote control self-adaption pipe robot |
| CN209977571U (en) * | 2018-12-25 | 2020-01-21 | 南昌大学 | Spiral driving mechanism for pipeline robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426800A (en) * | 2019-07-09 | 2019-11-08 | 天津精仪精测科技有限公司 | A kind of nodular flexible apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103697285B (en) | A kind of wheel carries out compound radial adjustable pipeline robot | |
| CN110508572A (en) | A kind of more support wheel type wriggle pipeline cleanings robot | |
| CN109108006A (en) | A kind of pipeline cleaning machine people | |
| CN106015831A (en) | Wheel type pipeline robot with steering of driving wheels being controllable | |
| CN102979988A (en) | Initiative-driving spiral pipeline robot | |
| CN104896257A (en) | Circulating variable-pitch propeller pipeline robot | |
| CN104791579B (en) | A kind of pipe robot | |
| CN106402577B (en) | A kind of wheeled pipe robot draw-gear | |
| CN110274125A (en) | A kind of wireless control robot suitable for narrow tapered pipeline | |
| CN107676570B (en) | Self-adaptive pipeline robot under complex working condition | |
| CN106499912A (en) | Portable big reducing drives formula pipe robot entirely | |
| CN201074720Y (en) | Screw type drive mechanism of round pipe robot | |
| CN109807120A (en) | A kind of self-adapting pipe method for cleaning | |
| CN203656480U (en) | Wheel and track composited radial adjustable type pipeline robot | |
| CN109538878A (en) | A kind of screw drives mechanism for pipe robot | |
| CN206861147U (en) | A kind of differential speed type self-adapting pipe robot | |
| CN206221897U (en) | A kind of four axle differential speed type pipe robot draw-gears | |
| CN209977571U (en) | Spiral driving mechanism for pipeline robot | |
| CN108716584A (en) | A kind of reducing seabed tunnel robot for cleaning | |
| CN111687848A (en) | Oil tank cleaning robot | |
| CN109731864A (en) | A kind of self-adapting pipe cleaning robot | |
| CN208997559U (en) | A kind of cable-free type pipeline robot suitable for different tube diameters | |
| CN209715956U (en) | A kind of self-adapting pipe cleaning robot | |
| CN207674024U (en) | Self-adapting pipe robot under complex working condition | |
| CN203728602U (en) | Simple and efficient sediment scraper |
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 |