CN109882679A - A kind of spiral type pipeline robot - Google Patents
A kind of spiral type pipeline robot Download PDFInfo
- Publication number
- CN109882679A CN109882679A CN201910166529.3A CN201910166529A CN109882679A CN 109882679 A CN109882679 A CN 109882679A CN 201910166529 A CN201910166529 A CN 201910166529A CN 109882679 A CN109882679 A CN 109882679A
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- China
- Prior art keywords
- regulating mechanism
- bevel gear
- corner regulating
- driving device
- spiral type
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Abstract
The present invention relates to pipeline robot technique fields, and in particular to a kind of spiral type pipeline robot.A kind of spiral type pipeline robot, including driving device and holding meanss, holding meanss are rotatably connected on driving device both ends, and driving device is used for robot screw movement, and holding meanss keep Robot axial movement；The driving device includes the first corner regulating mechanism, the second corner regulating mechanism and rotating mechanism；Rotating mechanism drives the first corner regulating mechanism and the mutual rotational action of the second corner regulating mechanism；A kind of above-mentioned spiral type pipeline robot, the adjusting pinch roller assembly being adjusted in synchronism by three, can change the direction of spiral, in real time to change travel speed；Driving device traveling be it is spiral, holding meanss holding translational motion facilitates and installs sensor to detecting in pipeline；Can positive counter-movement, to the test point in pipeline can back and forth repeat detect, improve accuracy.
Description
Technical field
The present invention relates to pipeline robot technique fields, and in particular to a kind of spiral type pipeline robot.
Background technique
Delivery vehicles of the pipeline as fluid, play a great role in human being's production, life.Pipeline is in long-term use
It inevitably will appear rupture, blocking etc. in the process, this requires us regularly pipeline to be reconnoitred and be safeguarded.Traditional
Pipe robot is using four wheeled, there are its walking is unstable, is easy to topple, and the hypodynamic deficiency of driving；Also there is part spiral shell
Rotating pipe robot, but have the disadvantage that 1. hands of spiral are fixed, it is difficult to travel speed is adjusted in real time；2. not
The pipeline of energy flexible adaptation different tube diameters；3. flatness requirement is high inside pair pipeline, limited by flange circle；4. with torsional spring list
It solely controls, the synchronism between each contact roller is bad, easy to wear.
Summary of the invention
It is adjustable that the object of the present invention is to provide a kind of speed, advances steady, the good spiral type pipeline robot of adaptability.
To achieve the goals above, the technical solution used in the present invention is:
A kind of spiral type pipeline robot, including driving device and holding meanss, holding meanss have two groups, are arranged symmetrically, rotation
Driving device both ends are connected to, driving device is used for robot screw movement, and holding meanss keep Robot axial movement；
The driving device includes the first corner regulating mechanism, the second corner regulating mechanism and rotating mechanism；First corner tune
Section mechanism is identical with the second corner regulating mechanism working principle, and the lift angle of spiral, the first corner regulating mechanism and second is adjusted
Corner regulating mechanism rotates with rotating mechanism respectively to be connect, and rotating mechanism drives the first corner regulating mechanism and the second corner tune
Save the mutual rotational action of mechanism；
The holding meanss include fixing axle, end cap cylinder, second spring, sliding seat, connecting rod and pulley；The fixed setting of end cap cylinder
At the both ends of fixing axle, second spring covers in fixing axle, is located at end sleeve inner, and sliding seat is cooperated by sliding sleeve in fixing axle
On, one end of second spring and end cap cylinder bottom connection touch, and the other end is in contact with sliding seat；The connecting rod shares four groups,
It arranges, is hinged between connecting rod, the other end and the sliding seat of connecting rod are hinged, and pulley is connected at 90 degree between each other
On bar；The interlinking lever end is provided with circular hole and with the circular hole for circular arc slot, is provided with two on the side wall of sliding seat
A pillar, one is hinged with circular hole, another pillar cooperates with arc slot phase slot pair.
Preferably, the first corner regulating mechanism includes lower mounting seat, upper cover base, first motor, the first active
Bevel gear and adjusting pinch roller assembly；On the output shaft of first drive bevel gear mounting base first motor, in first motor mounting base
On cage, upper cover base is fixedly connected with lower mounting seat；It adjusts pinch roller assembly to be mounted in lower mounting seat, with the first drive bevel gear
Match；
Preferably, the rotating mechanism includes the second motor, connecting bushing, big bearing, transmission shaft, the second drive bevel gear
With the second driven wheel of differential；Second motor and connecting bushing are fixed on the second corner regulating mechanism, on the outside of connecting bushing
It is rotated and is connect with lower mounting seat by big bearing, rotated and connect with transmission shaft by small bearing inside connecting bushing, it is described
The end of transmission shaft be connected with the second motor output shaft, the other end of transmission shaft is mutually solid with the second drive bevel gear center
Fixed, the second drive bevel gear back side is provided with annular groove, cooperates in lower mounting seat；Second driven wheel of differential and the second master
Dynamic bevel gear is meshed.
Preferably, the adjusting pinch roller assembly shares three groups, it is in 60 degree of arrangements, the adjusting press nips
Part includes the first driven wheel of differential, rotation block set, rotation axis, the first spring and idler wheel；Rotation block set is fixed at lower installation
On seat, the first driven wheel of differential mounting base rotation axis end, the first driven wheel of differential is meshed with the first drive bevel gear, rotation
Axle position is in rotation block set.
Preferably, between each other at 90 degree, being fixed at lower peace there are four second driven wheel of differential is total
Fill seat side.
Using a kind of spiral type pipeline robot of above-mentioned technical proposal, the adjusting press nips being adjusted in synchronism by three
Part can change the direction of spiral in real time, to change travel speed, preferably adapt to obstacle and caliber thickness；Driving device row
Into be it is spiral, holding meanss keep translational motion, facilitate installation sensor to detecting in pipeline；Can positive counter-movement,
Test point in pipeline can be repeated to detect back and forth, avoid omitting, improve accuracy.
Detailed description of the invention
Fig. 1 is the configuration schematic diagram of the embodiment of the present invention.
Fig. 2 is the configuration schematic diagram of driving device.
Fig. 3 is the configuration schematic diagram of the first corner regulating mechanism.
Fig. 4 is the configuration schematic diagram of rotating mechanism.
Fig. 5 is the configuration schematic diagram of holding meanss.
Fig. 6 is the axial view of holding meanss.
Specific embodiment
As shown in Figure 1, a kind of spiral type pipeline robot, including driving device 1 and holding meanss 2, keep dress
Setting 2 has two groups, is arranged symmetrically, and is rotatably connected on 1 both ends of driving device, and driving device 1 is used for robot screw movement, keeps
Device 2 keeps Robot axial movement.
As shown in Fig. 2, the driving device 1 includes the first corner regulating mechanism 11,12 and of the second corner regulating mechanism
Rotating mechanism 13；First corner regulating mechanism 11 is identical with 12 working principle of the second corner regulating mechanism, and the liter of spiral is adjusted
Angle, the first corner regulating mechanism 11 and the second corner regulating mechanism 12 rotate with rotating mechanism 13 connect respectively, rotating mechanism
13 the first corner regulating mechanisms 11 of driving and the mutual rotational action of the second corner regulating mechanism 12.
As shown in Figures 2 and 3, the first corner regulating mechanism 11 includes lower mounting seat 111, upper cover base 112, first
Motor 113, the first drive bevel gear 114 and adjusting pinch roller assembly 115；First drive bevel gear, 114 mounting base first motor 113
Output shaft on, on 113 mounting base upper cover base 112 of first motor, upper cover base 112 is fixedly connected with lower mounting seat 111；Described
Adjust pinch roller assembly 115 share three groups, be in 60 degree of arrangements, be mounted in lower mounting seat 111, benefit be centering effect more
It is good；The adjusting pinch roller assembly 115 includes the first driven wheel of differential 1151, rotation block set 1152, rotation axis 1153, the first bullet
Spring 1154 and idler wheel 1155；Rotation block set 1152 is fixed in lower mounting seat 111,1151 mounting base of the first driven wheel of differential
1153 end of rotation axis, the first driven wheel of differential 1151 are meshed with the first drive bevel gear 114, and rotation axis 1153 is located at rotation
In block set 1152；The rotation axis 1153 is multi-diameter shaft, from inside to outside respectively thin cylindrical section, thick cylindrical section and square bar section,
It is provided with square hole on idler wheel 1155, the square hole and the square bar section of rotation axis 1153 first cooperate, and the first spring 1154 is located at turning set
In seat 1152, idler wheel 1155 is pressed outward；1152 outer end of rotation block set is provided with inside flanging, the idler wheel
It is provided with flange on 1155 axis, which contacts in flanging, and with the first spring 1154.
At work, first motor 113 drives 114 turns of the first drive bevel gear to the first corner regulating mechanism 11
Dynamic, so that three adjusting pinch roller assemblies 115 be driven to rotate synchronously identical angle, the first spring 1154 is outside by idler wheel 1155
Pressure, it is close to the wall of the tube.
It is unadjustable that first corner regulating mechanism 11 solves travel speed, poor synchronization, tire problem easy to wear, leads to
The adjusting pinch roller assembly for crossing three synchronous adjustments, can change the direction of spiral in real time, to change travel speed, preferably adapt to resistance
Block material and caliber thickness.
As shown in figure 4, the rotating mechanism 13 includes the second motor 131, connecting bushing 132, big bearing 133, transmission
Axis 134, the second drive bevel gear 135 and the second driven wheel of differential 136；Second motor 131 and connecting bushing 132 are fixed at
It on second corner regulating mechanism 12, is rotated and is connect with lower mounting seat 111 by big bearing 133 on the outside of connecting bushing 132, connected
It is rotated and is connect with transmission shaft 134 by small bearing 137 inside axle sleeve 132, the end of the transmission shaft 134 and the second motor
131 output shafts are connected, and the other end of transmission shaft 134 is mutually fixed with 135 center of the second drive bevel gear, and described second actively
135 back side of bevel gear is provided with annular groove, cooperates in lower mounting seat 111；Second driven wheel of differential 136 and the second drive bevel gear
135 are meshed, and second driven wheel of differential 136, between each other at 90 degree, is fixed at lower mounting seat there are four being total to
111 sides.
At work, the rotation of the second motor 131 drives four 136 turns of the second driven wheel of differential to the rotating mechanism 13
It is dynamic, since four the second driven wheel of differential 136 are fixedly connected relative to lower mounting seat 111, it is driven so that lower mounting seat 111 is opposite
Axis 134 rotates, and realizes the mutual rotation between the first corner regulating mechanism 11 and the second corner regulating mechanism 12.
Rotating mechanism 13 solves the problems, such as that directly driving idler wheel leads to mechanism redundancy, adjusts machine by two corners of driving
Screw can be realized in the relative rotation of structure, reduces driving and transmission parts, keeps structure more compact.
As shown in Figure 5 and Figure 6, the holding meanss 2 include fixing axle 21, end cap cylinder 22, second spring 23, sliding seat
24, connecting rod 25 and pulley 26；End cap cylinder 22 is fixed at the both ends of fixing axle 21,23 sets of second spring in fixing axle 21,
Inside end cap cylinder 22, sliding seat 24 is cooperated in fixing axle 21 by sliding sleeve 27, one end of second spring 23 and end cap cylinder
The touching of 22 bottom connections, the other end are in contact with sliding seat 24；The connecting rod 25 shares four groups, between each other at 90 degree of cloth
It sets, is hinged between connecting rod 25, the other end and the sliding seat 24 of connecting rod are hinged, and pulley 26 is connected on connecting rod 25；It is described
25 end of connecting rod be provided with circular hole 252 and be provided with two for circular arc slot 251, on the side wall of sliding seat 24 with the circular hole
A pillar, one is hinged with circular hole 252, another pillar cooperates with 251 phase slot pair of arc slot.
At work, second spring 23 is pressurized the holding meanss 2, and two sliding seats 24 are close to each other, makes pulley
26 have the tendency that it is outside, it is close to the wall of the tube.
The holding meanss 2 do not rotate, and keep translation, facilitate installation other sensors, holding meanss 2 press pulley 26
On tube wall, the pipeline of different tube diameters is better conformed to, and can prevent from skidding.
A kind of spiral type pipeline robot at work, the first corner regulating mechanism 11 first and the second corner tune
The angle that mechanism 12 adjusts spiral is saved, the speed of traveling is controlled, then rotating mechanism 13 rotates, so that the first corner regulating mechanism
11 and second corner regulating mechanism 12 done spiral movement along tube wall；Holding meanss 2 are close to tube wall, advance along tube wall, control
13 rotation direction of rotating mechanism is, it can be achieved that way moving.
Claims (6)
1. a kind of spiral type pipeline robot, which is characterized in that including driving device (1) and holding meanss (2), holding meanss
(2) there are two groups, be arranged symmetrically, be rotatably connected on driving device (1) both ends, driving device (1) is used for robot screw movement,
Holding meanss (2) keep Robot axial movement；
The driving device (1) includes the first corner regulating mechanism (11), the second corner regulating mechanism (12) and rotating mechanism
(13)；First corner regulating mechanism (11) is identical with the second corner regulating mechanism (12) working principle, and the lift angle of spiral is adjusted,
First corner regulating mechanism (11) and the second corner regulating mechanism (12) rotate with rotating mechanism (13) connect respectively, rotating machine
Structure (13) drives the first corner regulating mechanism (11) and the mutual rotational action of the second corner regulating mechanism (12)；
The holding meanss (2) include fixing axle (21), end cap cylinder (22), second spring (23), sliding seat (24), connecting rod
(25) and pulley (26)；End cap cylinder (22) is fixed at the both ends of fixing axle (21), and second spring (23) is covered in fixing axle
(21) on, it is located at end cap cylinder (22) inside, sliding seat (24) cooperates the second spring on fixing axle (21) by sliding sleeve (27)
(23) one end and end cap cylinder (22) bottom connection is touched, and the other end is in contact with sliding seat (24)；The connecting rod (25) is shared
It four groups, is arranged between each other at 90 degree, connecting rod is hinged between (25), and the other end and the sliding seat (24) of connecting rod are mutually cut with scissors
It connects, pulley (26) is connected on connecting rod (25)；Described connecting rod (25) end is provided with circular hole (252) and with the circular hole for circle
Arc slot (251), there are two pillars for setting on the side wall of sliding seat (24), and one is hinged with circular hole (252), another is convex
Column cooperates with arc slot (251) phase slot pair.
2. a kind of spiral type pipeline robot according to claim 1, which is characterized in that first corner adjusts machine
Structure (11) includes lower mounting seat (111), upper cover base (112), first motor (113), the first drive bevel gear (114) and adjusts pressure
Wheel assembly (115)；On the output shaft of first drive bevel gear (114) mounting base first motor (113), first motor (113) peace
It fills on seat upper cover base (112), upper cover base (112) is fixedly connected with lower mounting seat (111)；Pinch roller assembly (115) are adjusted to be mounted on
In lower mounting seat (111), match with the first drive bevel gear (114)；
A kind of spiral type pipeline robot according to claim 1, which is characterized in that the rotating mechanism (13) includes
Second motor (131), connecting bushing (132), big bearing (133), transmission shaft (134), the second drive bevel gear (135) and second
Driven wheel of differential (136)；Second motor (131) and connecting bushing (132) are fixed on the second corner regulating mechanism (12),
It is rotated and is connect with lower mounting seat (111) by big bearing (133) on the outside of connecting bushing (132), it is logical inside connecting bushing (132)
Too small bearing (137) rotates with transmission shaft (134) to be connect, and the end of the transmission shaft (134) and the second motor (131) are defeated
Shaft is connected, and the other end and the second drive bevel gear (135) center of transmission shaft (134) are mutually fixed, and described second actively
Bevel gear (135) back side is provided with annular groove, cooperates on lower mounting seat (111)；Second driven wheel of differential (136) and the second active
Bevel gear (135) is meshed.
3. a kind of spiral type pipeline robot according to claim 3, which is characterized in that the adjusting pinch roller assembly
(115) three groups are shared, 60 degree of arrangements are in, the adjusting pinch roller assembly (115) includes the first driven wheel of differential
(1151), block set (1152), rotation axis (1153), the first spring (1154) and idler wheel (1155) are rotated；It rotates block set (1152)
It is fixed on lower mounting seat (111), the first driven wheel of differential (1151) mounting base rotation axis (1153) end, first is driven
Bevel gear (1151) is meshed with the first drive bevel gear (114), and rotation axis (1153) is located in rotation block set (1152).
4. a kind of spiral type pipeline robot according to claim 3, which is characterized in that second driven wheel of differential
(136) there are four altogether, between each other at 90 degree, it is fixed at lower mounting seat (111) side.
5. a kind of spiral type pipeline robot according to claim 4, which is characterized in that the rotation axis (1153) is
Multi-diameter shaft, respectively thin cylindrical section, thick cylindrical section and square bar section, idler wheel are provided with square hole on (1155) from inside to outside, the square hole
First cooperate with the square bar section of rotation axis (1153), the first spring (1154) is located in rotation block set (1152), by idler wheel (1155)
It presses outward.
6. a kind of spiral type pipeline robot according to claim 4, which is characterized in that the rotation block set (1152)
Outer end is provided with inside flanging, is provided with flange on the idler wheel (1155) axis, and the flange bayonet is in flanging, and with
One spring (1154) contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910166529.3A CN109882679A (en) | 2019-03-06 | 2019-03-06 | A kind of spiral type pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910166529.3A CN109882679A (en) | 2019-03-06 | 2019-03-06 | A kind of spiral type pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109882679A true CN109882679A (en) | 2019-06-14 |
Family
ID=66930854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910166529.3A Pending CN109882679A (en) | 2019-03-06 | 2019-03-06 | A kind of spiral type pipeline robot |
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| Country | Link |
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| CN (1) | CN109882679A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110397820A (en) * | 2019-08-05 | 2019-11-01 | 南京师范大学中北学院 | A kind of multi-section type spiral double drive diameter-variable pipe detection robot |
| CN112414210A (en) * | 2020-11-19 | 2021-02-26 | 齐鲁工业大学 | Gun barrel bore line detection robot and detection method |
| CN113431987A (en) * | 2021-07-02 | 2021-09-24 | 南京中智腾飞航空科技研究院有限公司 | Built-in pipeline nondestructive test device suitable for different pipe diameters |
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| CN108662352A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline detection robot |
| CN108869950A (en) * | 2018-09-21 | 2018-11-23 | 燕山大学 | Pipeline flexible climbing robot |
| CN109357104A (en) * | 2018-12-11 | 2019-02-19 | 吕梁学院 | A kind of detecting robot of pipe |
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| CN108430742A (en) * | 2014-07-29 | 2018-08-21 | Cc3D有限公司 | The method and apparatus of increasing material mechanical increase in the urban population for tubular structure |
| US20160136823A1 (en) * | 2014-11-13 | 2016-05-19 | Research & Business Foundation Sungkyunkwan University | Active joint module and robot for inspection of pipeline with this module |
| CN206869568U (en) * | 2016-09-12 | 2018-01-12 | 吉林大学 | A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110397820A (en) * | 2019-08-05 | 2019-11-01 | 南京师范大学中北学院 | A kind of multi-section type spiral double drive diameter-variable pipe detection robot |
| CN112414210A (en) * | 2020-11-19 | 2021-02-26 | 齐鲁工业大学 | Gun barrel bore line detection robot and detection method |
| CN112414210B (en) * | 2020-11-19 | 2022-08-16 | 齐鲁工业大学 | Gun barrel bore line detection robot and detection method |
| CN113431987A (en) * | 2021-07-02 | 2021-09-24 | 南京中智腾飞航空科技研究院有限公司 | Built-in pipeline nondestructive test device suitable for different pipe diameters |
| CN113431987B (en) * | 2021-07-02 | 2024-03-19 | 南京中智腾飞航空科技研究院有限公司 | Built-in pipeline nondestructive testing device suitable for different pipe diameters |
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Application publication date: 20190614 |