CN110486571A - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
- Publication number
- CN110486571A CN110486571A CN201910828520.4A CN201910828520A CN110486571A CN 110486571 A CN110486571 A CN 110486571A CN 201910828520 A CN201910828520 A CN 201910828520A CN 110486571 A CN110486571 A CN 110486571A
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- CN
- China
- Prior art keywords
- support plate
- robot
- fixedly connected
- sliding block
- pipe robot
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- 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.)
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of pipe robot, is related to robot field.When being moved in pipeline to solve existing pipe robot, it may appear that the even stuck phenomenon of driving wheel failure, the problem of can not being moved inside pipeline so as to cause pipe robot, and the pipeline of different tube diameters can not be applicable in.Robot body is cylindrical shape, and one end of robot body is connect with active cell, and the other end of robot body and one end of driven end connect, and the other end of driven end and the pedestal of camera connect；The construction of active cell is as follows, one end of lead screw passes through sliding block and is fixedly connected with No.1 rack, sliding block circumferentially outer surface and be equipped with n support arm, n is positive integer, each support arm and support plate are hinged, and the side of support plate is equipped with drive wheel assemblies, and the other end of lead screw sequentially passes through No. two racks and axle sleeve, it is fixedly connected with adjustment handwheel, and is embedded with bearing between axle sleeve and No. two racks.The present invention is suitable for pipeline detection field.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of pipe robot.
Background technique
What the pipe robot developed at present mostly used is the preload supporting mechanism of adaptive performance, is broadly divided into and actively adjusts
Section mode and passive regulative mode.
Passive regulative mode usually adjusts the radial distance of support wheel, lesser by spring with the variation of caliber
There is adaptive ability within the scope of caliber change, variation range is small, and can occur as spring sizes change its pretightning force also
Variation.
Active regulative mode generallys use the mechanisms such as worm and gear or feed screw nut and is adjusted, by worm and gear or
Feed screw nut makes driving wheel strut or be retracted, and relative to passive regulative mode, its adjustable range is larger, adapts to biggish adjusting
Range.But since it uses a set of regulative mode that whole driving wheels are adjusted simultaneously, if there are larger defect or circles for pipeline
It is stuck to may cause pipe robot for the case where column degree error is larger, and part driving wheel is by failing when serious.
In conclusion when existing pipe robot moves in pipeline, it may appear that driving wheel failure is even stuck to be showed
As that can not be moved inside pipeline so as to cause pipe robot, and the pipeline of different tube diameters can not be applicable in.
Summary of the invention
When the present invention is that the existing pipe robot of solution moves in pipeline, it may appear that driving wheel failure is even stuck
Phenomenon can not move so as to cause pipe robot inside pipeline, and the problem of can not be applicable in the pipeline of different tube diameters, and
It is proposed a kind of pipe robot.
A kind of pipe robot of the invention, composition include active cell, robot body, driven end and camera；
Robot body is cylindrical shape, and one end of robot body is connect with active cell, and robot body's is another
End is connect with one end of driven end, and the other end of driven end and the pedestal of camera connect；
Further, the active cell includes No.1 rack, support plate, No. two racks, adjustment handwheel, driving wheel group
Part, support arm, lead screw, sliding block, bearing and axle sleeve；
One end of lead screw pass through sliding block be fixedly connected with No.1 rack, sliding block circumferentially outer surface and be equipped with n prop up
Brace, n are positive integer, and each support arm and support plate are hinged, and the side of support plate be equipped with drive wheel assemblies, lead screw it is another
End sequentially passes through No. two racks and axle sleeve, is fixedly connected with adjustment handwheel, and bearing is embedded between axle sleeve and No. two racks；
Further, the drive wheel assemblies include motor, wheel, transmission shaft and two gears, the output end of motor
Be fixedly connected across support plate with a gear, one end of transmission shaft passes through support plate and is fixedly connected with wheel, transmission shaft it is another
One end is fixedly connected with another gear, and the ipsilateral of support plate is arranged in wheel in two gear engagement connections, motor；
Further, the No.1 rack is fixedly connected by keyway with lead screw；
Further, n >=3；
Further, the outer round surface for adjusting handwheel is equipped with the anti-skidding lines of the hand；
Further, the sliding block is connect with threads of lead screw；
Further, adjustment handwheel, axle sleeve are connected with bearing inner ring, only can be carried out rotation and are axially moved without can be carried out；
Screw rod is connected by flat key with No.1 rack, only can be carried out axial movement without can be carried out rotation；Therefore rotation adjustment handwheel, screw rod
It can move along a straight line along axial direction, so that the sliding block for driving screw rod to connect firmly moves along a straight line.
Active cell drives support arm movement there are three drive wheel assemblies, when sliding block is moved along a straight line, make support plate into
Row rotation, realizes the contraction and expansion of robotically-driven wheel assembly；Angle is adjusted by adjusting handwheel, to adapt to different tube diameters
Pipeline.
Compared with the prior art, the invention has the following beneficial effects:
One, the shortcomings that the present invention overcomes the prior arts, using active cell there are three drive wheel assemblies, sliding block carries out straight
Support arm movement is driven when line moves, and is rotated support plate, is realized the contraction and expansion of robotically-driven wheel assembly；Pass through
It adjusts handwheel 1-4 and adjusts angle, realize the pipeline for adapting to different tube diameters.
Two, the shortcomings that the present invention overcomes the prior arts can be shunk or be unfolded using drive wheel assemblies, can prevented
There is the even stuck phenomenon of driving wheel failure in the duct in pipe robot.
Three, operation of the present invention is simple, easy to use.
Detailed description of the invention
Fig. 1 is integrally-built 3 D stereo view of the invention；
Fig. 2 is the 3 D stereo view in active cell of the present invention under driving assembly unfolded state；
Fig. 3 is the cross-sectional view in active cell of the present invention under driving assembly unfolded state；
Fig. 4 is the 3 D stereo view in active cell of the present invention under driving assembly contraction state.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of pipe machine described in present embodiment in conjunction with Fig. 1 to Fig. 4
Device people includes active cell 1, robot body 2, driven end 3 and camera 4；
Robot body 2 is cylindrical shape, and one end of robot body 2 is connect with active cell 1, robot body's 2
The other end is connect with one end of driven end 3, and the other end of driven end 3 is connect with the pedestal of camera 4；
Present embodiment, when in use, adjustment handwheel 1-4, axle sleeve 1-10 are connected with bearing 1-9 inner ring, be only capable of into
Row rotation is axially moved without can be carried out；Screw rod 1-7 is connected by flat key with No.1 rack 1-1, only can be carried out be axially moved and
Rotation is not can be carried out；Therefore rotation adjustment handwheel 1-4, screw rod 1-7 can move along a straight line along axial direction, to drive screw rod 1-7 solid
The sliding block 1-8 of connection moves along a straight line.
There are three drive wheel assemblies 1-5 for active cell 1, and support arm 1-6 movement is driven when sliding block 1-8 is moved along a straight line,
Support plate 1-2 is rotated, realizes the contraction and expansion of robotically-driven wheel assembly 1-5；Angle is adjusted by adjusting handwheel 1-4
Degree, to adapt to the pipeline of different tube diameters.
Specific embodiment 2: illustrating that present embodiment, present embodiment are to specific embodiment in conjunction with Fig. 2 to Fig. 4
The further restriction of robot described in one, a kind of pipe robot described in present embodiment, the active cell 1 are wrapped
Include No.1 rack 1-1, support plate 1-2, No. two rack 1-3, adjustment handwheel 1-4, drive wheel assemblies 1-5, support arm 1-6, lead screw
1-7, sliding block 1-8, bearing 1-9 and axle sleeve 1-10；
One end of lead screw 1-7 pass through sliding block 1-8 be fixedly connected with No.1 rack 1-1, sliding block 1-8 circumferentially outer surface with
Be equipped with n support arm 1-6, n be positive integer, each support arm 1-6 and support plate 1-2 are hinged, and the side of support plate 1-2 is set
There is drive wheel assemblies 1-5, the other end of lead screw 1-7 sequentially passes through No. two rack 1-3 and axle sleeve 1-10, solid with adjustment handwheel 1-4
Fixed connection, and bearing 1-9 is embedded between axle sleeve 1-10 and No. two rack 1-3；
Present embodiment, using active cell, there are three drive wheel assemblies, and branch is driven when sliding block is moved along a straight line
Brace campaign, rotates support plate, realizes the contraction and expansion of robotically-driven wheel assembly；By adjusting handwheel 1-4 tune
Angle is saved, the pipeline for adapting to different tube diameters is realized, can shrink or be unfolded using drive wheel assemblies, pipe machine can be prevented
There is the even stuck phenomenon of driving wheel failure in the duct in device people.
Specific embodiment 3: embodiment is described with reference to Fig. 2, present embodiment is to described in specific embodiment two
Robot further restriction, a kind of pipe robot described in present embodiment, the drive wheel assemblies 1-5 includes
Motor 5, wheel, transmission shaft 7 and two gears 6, the output end of motor 5 pass through support plate 1-2 and are fixedly connected with a gear 6,
One end of transmission shaft 7 passes through support plate 1-2 and is fixedly connected with wheel, the other end of transmission shaft 7 and the fixed company of another gear 6
It connects, and the ipsilateral of support plate 1-2 is arranged in wheel in two engagement connections of gear 6, motor 5.
Specific embodiment 4: embodiment is described with reference to Fig. 3, present embodiment is to described in specific embodiment two
Robot further restriction, a kind of pipe robot described in present embodiment, the No.1 rack 1-1 passes through key
Slot is fixedly connected with lead screw 1-7.
Specific embodiment 5: embodiment is described with reference to Fig. 2, present embodiment is to described in specific embodiment two
Robot further restriction, a kind of pipe robot described in present embodiment, n >=3；
Present embodiment carries out operation using three drive wheel assemblies 1-5 in the duct, more stable and right
Pipe robot also functions to certain supporting role.
Specific embodiment 6: embodiment is described with reference to Fig. 2, present embodiment is to described in specific embodiment two
Robot further restriction, a kind of pipe robot described in present embodiment, the outer circle of the adjustment handwheel 1-4
Surface is equipped with the anti-skidding lines of the hand；
Present embodiment is equipped with the anti-skidding lines of the hand using the outer round surface of adjustment handwheel 1-4, prevents operator from revolving
The phenomenon that whole handwheel 1-4 of modulation has skidded.
Embodiment is described with reference to Fig. 2 for specific embodiment seven, and present embodiment is to described in specific embodiment two
Robot further restriction, a kind of pipe robot described in present embodiment, the sliding block 1-8 and silk
Thick stick 1-7 is threadedly coupled.
Working principle
When in use, adjustment handwheel 1-4, axle sleeve 1-10 are connected with bearing 1-9 inner ring, only can be carried out rotation without can be carried out
It is axially moved；Screw rod 1-7 is connected by flat key with No.1 rack 1-1, only can be carried out axial movement without can be carried out rotation；Therefore turn
Dynamic adjustment handwheel 1-4, screw rod 1-7 can move along a straight line along axial direction, so that the sliding block 1-8 for driving screw rod 1-7 to connect firmly is carried out directly
Line movement.
There are three drive wheel assemblies 1-5 for active cell 1, and support arm 1-6 movement is driven when sliding block 1-8 is moved along a straight line,
Support plate 1-2 is rotated, realizes the contraction and expansion of robotically-driven wheel assembly 1-5；Angle is adjusted by adjusting handwheel 1-4
Degree, to adapt to the pipeline of different tube diameters.
Claims (6)
1. a kind of pipe robot, it is characterised in that: the robot include active cell (1), robot body (2), from
Moved end (3) and camera (4)；
Robot body (2) is cylindrical shape, and one end of robot body (2) is connect with active cell (1), robot body
(2) the other end is connect with the one end of driven end (3), and the other end of driven end (3) is connect with the pedestal of camera (4)；
The active cell (1) includes No.1 rack (1-1), support plate (1-2), No. two racks (1-3), adjustment handwheel (1-
4), drive wheel assemblies (1-5), support arm (1-6), lead screw (1-7), sliding block (1-8), bearing (1-9) and axle sleeve (1-10)；
One end of lead screw (1-7) passes through sliding block (1-8) and is fixedly connected with No.1 rack (1-1), sliding block (1-8) circumferentially outer surface
And be equipped with n support arm (1-6), n is positive integer, each support arm (1-6) and support plate (1-2) hingedly, and support plate
The side of (1-2) is equipped with drive wheel assemblies (1-5), and the other end of lead screw (1-7) sequentially passes through No. two racks (1-3) and axle sleeve
(1-10) is fixedly connected with adjustment handwheel (1-4), and is embedded with bearing (1-9) between axle sleeve (1-10) and No. two racks (1-3).
2. a kind of pipe robot according to claim 1, it is characterised in that: the drive wheel assemblies (1-5) include
The output end of motor (5), wheel, transmission shaft (7) and two gears (6), motor (5) passes through support plate (1-2) and a gear
(6) be fixedly connected, one end of transmission shaft (7) passes through support plate (1-2) and is fixedly connected with wheel, the other end of transmission shaft (7) and
Another gear (6) is fixedly connected, and two gear (6) engagement connections, and motor (5) and wheel are arranged in support plate (1-2)
It is ipsilateral.
3. a kind of pipe robot according to claim 1, it is characterised in that: the No.1 rack (1-1) passes through key
Slot is fixedly connected with lead screw (1-7).
4. a kind of pipe robot according to claim 1, it is characterised in that: n >=3.
5. a kind of pipe robot according to claim 2, it is characterised in that: the outer circle of the adjustment handwheel (1-4)
Surface is equipped with the anti-skidding lines of the hand.
6. a kind of pipe robot according to claim 2, it is characterised in that: the sliding block (1-8) and silk
Thick stick (1-7) is threadedly coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828520.4A CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828520.4A CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110486571A true CN110486571A (en) | 2019-11-22 |
| CN110486571B CN110486571B (en) | 2021-03-02 |
Family
ID=68556270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910828520.4A Active CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110486571B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020190682A1 (en) * | 2001-03-07 | 2002-12-19 | Hagen Schempf | Gas main robotic inspection system |
| CN201714930U (en) * | 2010-02-10 | 2011-01-19 | 华中科技大学 | Multi-connecting-rod pressure transmission mechanism and press machine or injection molding machine comprising same |
| CN202004581U (en) * | 2011-04-20 | 2011-10-05 | 汪保卫 | Linear actuator |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104814599A (en) * | 2015-03-25 | 2015-08-05 | 沈阳化工大学 | Multifunctional cleaning brush capable of changing diameter |
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN205479977U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Pipe detecting robot |
| CN206770538U (en) * | 2017-05-25 | 2017-12-19 | 温州江南精机有限公司 | High-precision screw rod transmission structure |
| CN108331998A (en) * | 2018-04-03 | 2018-07-27 | 华北理工大学 | A kind of caliber regulating mechanism |
-
2019
- 2019-09-03 CN CN201910828520.4A patent/CN110486571B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020190682A1 (en) * | 2001-03-07 | 2002-12-19 | Hagen Schempf | Gas main robotic inspection system |
| CN201714930U (en) * | 2010-02-10 | 2011-01-19 | 华中科技大学 | Multi-connecting-rod pressure transmission mechanism and press machine or injection molding machine comprising same |
| CN202004581U (en) * | 2011-04-20 | 2011-10-05 | 汪保卫 | Linear actuator |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN104814599A (en) * | 2015-03-25 | 2015-08-05 | 沈阳化工大学 | Multifunctional cleaning brush capable of changing diameter |
| CN205479977U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Pipe detecting robot |
| CN206770538U (en) * | 2017-05-25 | 2017-12-19 | 温州江南精机有限公司 | High-precision screw rod transmission structure |
| CN108331998A (en) * | 2018-04-03 | 2018-07-27 | 华北理工大学 | A kind of caliber regulating mechanism |
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| CN110486571B (en) | 2021-03-02 |
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