CN110270990A - A kind of pipeline snake-shaped robot - Google Patents
A kind of pipeline snake-shaped robot Download PDFInfo
- Publication number
- CN110270990A CN110270990A CN201910468550.9A CN201910468550A CN110270990A CN 110270990 A CN110270990 A CN 110270990A CN 201910468550 A CN201910468550 A CN 201910468550A CN 110270990 A CN110270990 A CN 110270990A
- Authority
- CN
- China
- Prior art keywords
- linear motor
- cylindrical linear
- snake
- pipeline
- support construction
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- 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
Abstract
The present invention provides a kind of pipeline snake-shaped robot, including driving unit, detection device and the support construction for so that robot is moved along a straight line, the driving unit is cylindrical linear motor, the cylindrical linear motor at least there are two, be flexibly connected between the cylindrical linear motor；The detection device and support construction are arranged on cylindrical linear motor, the support construction circumference uniform distribution on cylindrical linear motor, the supporting mechanism at least there are two, the end of the support construction is equipped with one-way turning mechanism.A kind of pipeline snake-shaped robot provided by the invention, the driving force source using cylindrical linear motor as snake-shaped robot can not use any transformational structure Direct Drive Robot to advance.The configuration of the present invention is simple, it is small in size, manufacturing cost is saved, removes conversion, the transmitting of energy from, saves the energy.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of pipeline snake-shaped robot.
Background technique
Pipeline is widely used in petroleum, chemical industry, the energy, food processing, city water supply and sewage, agricultural irrigation, nuclear industry
Equal fields.But the natural calamity and self-defect due to the chemically burn into force majeure by pumped (conveying) medium are influenced, pole
It is likely to occur caused by conveying object leakage, such as environmental pollution, combustibles explosion, energy waste major accident.So needing
Periodically maintenance is checked, safeguarded and cleaned to pipeline inside.Conventional pipelines detection is implemented by related personnel, workload
Greatly, inefficiency.And some pipeline locations personnel can not reach implementation monitoring, such as conveying toxic chemical or internal structure
Complicated narrow pipeline, pipe robot comes into being as a result,.For snake-shaped robot due to its flexible structure, customization is strong, can root
Increase and decrease amount of articulation according to actual conditions, more pipeline configuration is especially bent especially suitable for pipe detection.
Existing pipeline snake-shaped robot is all made of rotating electric machine as driving motor, to realize that linear motion needs to use
To gear, the switching mechanisms such as lead screw increase the complexity of structure, are unfavorable for volume miniaturization and save the cost, also will affect
Energy conversion efficiency, waste of energy.
Summary of the invention
To solve the above problems, the present invention provides a kind of pipeline snake-shaped robot, using cylindrical linear motor as snakelike
The driving force source of robot can not use any transformational structure Direct Drive Robot to advance.
The present invention adopts the following technical scheme:
A kind of pipeline snake-shaped robot, it is described including driving unit, detection device and the support construction for so that robot is moved along a straight line
Driving unit is cylindrical linear motor, the cylindrical linear motor at least there are two, between the cylindrical linear motor activity even
It connects；The detection device and support construction are arranged on cylindrical linear motor, and the support construction circumference uniform distribution is in cylindrical linear
On motor, the supporting mechanism at least there are two, the end of the support construction is equipped with one-way turning mechanism.
It is connected in series between the cylindrical linear motor by universal joint.
Support construction is equipped on the secondary of the cylindrical linear motor and primary shell.
There are three support constructions on the secondary of the cylindrical linear motor and primary shell.
The support construction is elastic extension structure.
The elastic telescopic mechanism includes pedestal, telescopic rod and spring, and the pedestal is fixedly connected on cylindrical linear motor
On, the spring pocket is on telescopic rod, and described telescopic rod one end is connect with pedestal, and the other end is connect with one-way turning mechanism.
The telescopic rod and spring can do adaptability replacement.
The one-way turning mechanism is unilateral bearing.
A kind of pipeline snake-shaped robot provided by the invention, the driving force using cylindrical linear motor as snake-shaped robot
Source can not use any transformational structure Direct Drive Robot to advance.The configuration of the present invention is simple, it is small in size, save manufacture
Cost removes conversion, the transmitting of energy from, saves the energy.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention.
It is marked in figure as follows:
1, cylindrical linear motor；2, support construction；3, one-way turning mechanism；4, universal joint；11, electric motor primary；12, motor
Grade；21, pedestal, 22, telescopic rod；23, spring.
Specific embodiment
With reference to the accompanying drawing and its present invention is discussed in detail in specific embodiment.
As shown in Figure 1, a kind of pipeline snake-shaped robot, including driving unit, the detection device for so that robot is moved along a straight line
(being not drawn into detection device figure) and support construction 2, driving unit are cylindrical linear motor 1, cylindrical linear motor 1 at least two
A, 1 is flexibly connected between cylindrical linear motor, and 1 can mutually rotate and be independent of each other between adjacent cylindrical linear motor；Inspection
Measurement equipment and support construction 2 are arranged on cylindrical linear motor 1, and 2 circumference uniform distribution of support construction is on cylindrical linear motor 1, branch
Support mechanism 2 at least there are two, the end of support construction 2 is equipped with one-way turning mechanism 3.Using cylindrical linear motor 1 as snakelike
The driving force source of robot, reduces power conversion mechanism, is conducive to the miniaturization of robot, lightweight and raising driving effect
Rate.One-way turning mechanism 3 can guarantee that robot walks along assigned direction.
The secondary of primary (stator core) the hereinafter referred to as electric motor primary 11 of cylindrical linear motor, cylindrical linear motor is (dynamic
Son) hereinafter referred to as motor secondary 12.
It is connected in series by universal joint 4, it can be achieved that being flexibly bent before joint, to adapt to not between cylindrical linear motor 1
Pipeline rout with angle changes.
Support construction 2 is equipped on the shell of motor secondary 12 and primary 11.
There are three support constructions on the shell of each motor secondary 12 and primary 11, and support construction 2 is along circle motor secondary
12 and primary 11 circumference uniform distributions.
Support construction 2 is elastic extension structure.
Elastic telescopic mechanism includes pedestal 21, telescopic rod 22 and spring 23, and pedestal 21 is fixedly connected on cylindrical linear motor 1
On, 23 sets of spring on telescopic rod 22,22 one end of telescopic rod is connect with pedestal 21, and the other end is connect with one-way turning mechanism 2, bullet
23 one end of spring offsets with pedestal 21, and the other end offsets with one-way turning mechanism 3.Elastic telescopic mechanism makes robot be adapted to one
Determine the caliber change of range.
Telescopic rod 22 and spring 23 can do adaptability replacement.The telescopic rod 22 of replacement different length can make machine
People uses the pipeline of different tube diameters；Replacement spring can change the pressure that structure is made to duct wall, prevent from destroying pipeline.
One-way turning mechanism 3 is unilateral bearing.
The modular constructions such as spring, telescopic rod, unilateral bearing, universal joint and principle are simple, are conducive to fabricate.
Carrying out practically process are as follows: after cylindrical linear motor 1 is powered, done between electric motor primary 11 and secondary 12 along axial direction past
Multiple movement, if a certain moment electric motor primary 11 and secondary 12 are mutually exclusive, due to the effect of unidirectional pulley, at this point, at the beginning of motor
11 relative duct sizes of grade are static, while generating thrust to motor secondary 12, keep 12 forward direction of motor secondary mobile；Subsequent time,
Electric motor primary 11 and secondary 12 attract each other, and 12 relative duct size of motor secondary is static at this time, while generating drawing to electric motor primary 11
Power keeps 11 forward direction of electric motor primary mobile；It repeats the above steps, it can be achieved that robot constantly walks；Multiple joints are connected, can
The superposition of power is generated, onward impulse is increased.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without depart from that overall concept of the invention, several changes and improvements can also be made, these also should be considered as of the invention
Protection scope.
Claims (8)
1. a kind of pipeline snake-shaped robot, driving unit, detection device and support construction including making robot linear motion,
Be characterized in that: the driving unit is cylindrical linear motor, the cylindrical linear motor at least there are two, cylindrical linear electricity
It is flexibly connected between machine；The detection device and support construction are arranged on cylindrical linear motor, and the support construction circumference is equal
Cloth on cylindrical linear motor, the supporting mechanism at least there are two, the end of the support construction is equipped with one-way turning mechanism.
2. pipeline snake-shaped robot as described in claim 1, it is characterised in that: by universal between the cylindrical linear motor
Section is connected in series.
3. pipeline snake-shaped robot as claimed in claim 2, it is characterised in that: the secondary and primary of the cylindrical linear motor
Shell on be equipped with support construction.
4. pipeline snake-shaped robot as claimed in claim 3, it is characterised in that: the secondary and primary of the cylindrical linear motor
Shell on there are three support construction.
5. pipeline snake-shaped robot as described in claim 1, it is characterised in that: the support construction is elastic extension structure.
6. pipeline snake-shaped robot as claimed in claim 5, it is characterised in that: the elastic telescopic mechanism includes pedestal, stretches
Contracting bar and spring, the pedestal are fixedly connected on cylindrical linear motor, and the spring pocket is on telescopic rod, the telescopic rod one
End is connect with pedestal, and the other end is connect with one-way turning mechanism.
7. pipeline snake-shaped robot as claimed in claim 6, it is characterised in that: the telescopic rod and spring can do suitable
Answering property is replaced.
8. pipeline snake-shaped robot as described in claim 1, it is characterised in that: the one-way turning mechanism is unilateral bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468550.9A CN110270990A (en) | 2019-05-31 | 2019-05-31 | A kind of pipeline snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468550.9A CN110270990A (en) | 2019-05-31 | 2019-05-31 | A kind of pipeline snake-shaped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110270990A true CN110270990A (en) | 2019-09-24 |
Family
ID=67961172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910468550.9A Pending CN110270990A (en) | 2019-05-31 | 2019-05-31 | A kind of pipeline snake-shaped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110270990A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111853425A (en) * | 2020-07-25 | 2020-10-30 | 浙江诚基环境工程有限公司 | Pipe inner repairing device sinks |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08164373A (en) * | 1994-12-12 | 1996-06-25 | Giken Kogyo Kk | Automatic moving device in pipe |
| CN201529644U (en) * | 2009-11-20 | 2010-07-21 | 高铭阳 | Pipeline inner wall walking cleaner |
| CN102261540A (en) * | 2011-04-21 | 2011-11-30 | 哈尔滨工程大学 | Self-expanding cankerworm robot |
| CN108413175A (en) * | 2018-03-07 | 2018-08-17 | 上海工程技术大学 | Hydraulic-driven reversible creepage robot based on ratchet and walking, forward method |
| CN109404660A (en) * | 2018-12-14 | 2019-03-01 | 航天科工智能机器人有限责任公司 | Creeping motion type pipe robot with unidirectional wheel construction |
-
2019
- 2019-05-31 CN CN201910468550.9A patent/CN110270990A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08164373A (en) * | 1994-12-12 | 1996-06-25 | Giken Kogyo Kk | Automatic moving device in pipe |
| CN201529644U (en) * | 2009-11-20 | 2010-07-21 | 高铭阳 | Pipeline inner wall walking cleaner |
| CN102261540A (en) * | 2011-04-21 | 2011-11-30 | 哈尔滨工程大学 | Self-expanding cankerworm robot |
| CN108413175A (en) * | 2018-03-07 | 2018-08-17 | 上海工程技术大学 | Hydraulic-driven reversible creepage robot based on ratchet and walking, forward method |
| CN109404660A (en) * | 2018-12-14 | 2019-03-01 | 航天科工智能机器人有限责任公司 | Creeping motion type pipe robot with unidirectional wheel construction |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111853425A (en) * | 2020-07-25 | 2020-10-30 | 浙江诚基环境工程有限公司 | Pipe inner repairing device sinks |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109570158B (en) | Convenient positioning type pipeline cleaning robot | |
| CN107191739A (en) | A kind of reducing type pipeline detection robot that generates electricity of optimization | |
| CN102032417B (en) | Pipeline robot driving mechanism | |
| CN111911745A (en) | Peristaltic pipeline robot | |
| CN108554955A (en) | A kind of diameter changeable pipeline cleaning robot | |
| CN103316872B (en) | Round pipeline cleaning robot | |
| CN110270990A (en) | A kind of pipeline snake-shaped robot | |
| CN208793905U (en) | A kind of new pipeline robot | |
| CN203380158U (en) | Round pipeline cleaning robot | |
| CN210566984U (en) | Self-adaptive self-steering wheel type pipeline robot | |
| CN210141424U (en) | Dismantle convenient heat preservation protective pipe way | |
| CN205888331U (en) | Open air chamber type pipeline welding argon filling device | |
| CN216143475U (en) | Low-power consumption pipe network pressure monitoring device | |
| CN205909735U (en) | Heat exchange tube inner wall cleaning device | |
| CN108729878A (en) | A kind of cleaning device for petroleum rod inner wall | |
| CN220820259U (en) | Pipeline blockage detection equipment | |
| CN217950619U (en) | Vacuumizing device for pump room of water works | |
| CN113374988B (en) | Detection robot in industrial pipeline of self-adaptation pipe diameter | |
| CN109990165B (en) | Pipeline robot support arm synchronous driving device with self-adaptive function | |
| CN219503377U (en) | Municipal administration water pipe inner wall cleaning device | |
| CN205968613U (en) | Quick -witted leak protection water installation of pneumatic watermill | |
| CN214551909U (en) | Elastic soft connection structure for conveying deashing gas in blowback deashing system | |
| CN216950658U (en) | Intelligent water affair energy-saving control device | |
| CN117053398B (en) | Built-in water-electricity separation electric heating boiler | |
| CN218066224U (en) | Pipeline internal coating thickness measuring machine |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190924 |