CN114754228B - Creeping differential multi-mode pipeline robot - Google Patents
Creeping differential multi-mode pipeline robot Download PDFInfo
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- CN114754228B CN114754228B CN202210659284.XA CN202210659284A CN114754228B CN 114754228 B CN114754228 B CN 114754228B CN 202210659284 A CN202210659284 A CN 202210659284A CN 114754228 B CN114754228 B CN 114754228B
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- main part
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- half clutch
- pinion
- robot
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/04—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group expansible
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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
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
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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
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
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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
- F16L2101/10—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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a peristaltic differential multi-mode pipeline robot, which comprises three parts: a front body, a middle body, and a back body. The same reducing support module is connected to the side of preceding main part and back main part, and the reducing supports the module and includes support, initiative face gear, driven face gear, pinion, lead screw and strutting arrangement, realizes the switching of robot support mode and wheel mode through half clutch A and half clutch B, through the angle of adjustment strutting arrangement, can make the robot realize the switching of spiral mode. Preceding main part and back main part have the same structure, and inside all contains two racks, and the midbody contains the drive gear that pairs mutually with the rack, realizes the wriggling of robot through rack and pinion. The invention has the advantages of simple structure, multimode driving and rapid operation, can be suitable for more pipelines with complex shapes and different pipe diameters, greatly improves the working efficiency and reduces the manufacturing cost.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a peristaltic differential multi-mode pipeline robot.
Background
The pipeline is widely applied to the fields of petroleum and natural gas industry, urban sewage systems, semiconductor manufacturing plants and the like, and provides low-cost transportation for materials such as petroleum, natural gas, sewage and the like. However, the pipe is susceptible to defects such as breakage, deformation, surface damage, and the like due to long-term use, chemical corrosion, material deterioration, external disturbance, and the like. The leakage of the pipeline can cause the problems of supply fluctuation, resource waste, environmental pollution and the like, even can cause the consequences of explosion and the like, and seriously endangers the personal and property safety. Therefore, from a safety and cost perspective, the pipes need to be inspected, cleaned, and maintained periodically. The structure of the existing pipeline robot is complex, the trafficability characteristic at the turning part of a T-shaped pipe, a cross pipe and other complex pipelines is poor, and the robot can only move under the pipe diameter within a certain range.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a peristaltic differential multi-mode pipeline robot, can realize autonomous steering, has multiple modes, and can move in pipelines with more pipe diameters and stably travel for long distance.
In order to realize the purpose of the invention, the invention adopts the technical scheme that: the utility model provides a many mode pipeline of wriggling differential robot, includes preceding main part, midbody and back main part, the side of preceding main part and back main part is equipped with initiative face gear, pinion, driven face gear, support, lead screw, strutting arrangement, half clutch A, half clutch B and push rod, initiative face gear, pinion and driven face gear are connected through the support, the lead screw links firmly with the pinion, rotates along with the pinion rotation, strutting arrangement suit is on the lead screw surface, pinion, lead screw and strutting arrangement distribute with circumference 60 arithmetic difference respectively on the support.
Furthermore, the rear end of the driving face gear is connected with the front main body and the rear main body through a hollow shaft, the front end of the driven face gear is connected with a solid shaft, the solid shaft of the driven face gear penetrates through the hollow shaft of the driving face gear, the half clutch A is fixedly connected with the tail end of the hollow shaft of the driving face gear and rotates along with the rotation of the driving face gear, the half clutch B is connected with the tail end of the solid shaft of the driven face gear through a spline and rotates along with the rotation of the driven face gear, the push rod is sleeved on the half clutch B, and the pinion and the lead screw can rotate and revolve under the action of the clutch.
Furthermore, the reducing support module is composed of the driving face gear, the pinion, the driven face gear, the support, the screw rod and the support device, the driving face gear rotates to drive the pinion to rotate, the pinion rotates to drive the screw rod to rotate, the screw rod rotates to drive the support device to synchronously move up and down, and the reducing support effect is achieved.
Furthermore, the half clutch A, the half clutch B and the push rod form a mode switching module, the half clutch B is connected with the half clutch A under the pushing action of the push rod, so that the driven end face gear and the driving end face gear are in consistent steering, the pinion and the lead screw cannot rotate, the supporting device cannot move, and the wheel type rotating effect is achieved.
Further, flexible module is constituteed to preceding main part, midbody and back main part, the structure of preceding main part and back main part is the same completely, and inside all includes two racks, the midbody is equipped with the drive gear that pairs mutually with the rack, the drive gear upper and lower end is equipped with the gliding spout of confession rack, through rack and pinion motion, realizes the peristaltic effect, the midbody both sides all are equipped with the major axis, the major axis both ends link to each other with preceding main part and back main part respectively, realize being connected of midbody and preceding main part and back main part.
Furthermore, the driving face gear, the pinion, the driven face gear, the bracket, the lead screw, the supporting device, the half clutch A, the half clutch B and the push rod form a steering module, and the speed and the direction of the steering module can be controlled to adjust the posture of the robot during turning.
Furthermore, the angle of the supporting device can be manually adjusted, so that the supporting device is spirally distributed, and the spiral motion of the robot can be realized by matching with the mode switching module.
The invention has the beneficial effects that:
1. the supporting device moves through the lead screw, and the lead screw has self-locking property, so that the supporting device can be better contacted with the pipe wall, and the supporting device is ensured not to contract inwards when being supported on the pipe wall.
2. The invention can realize the switching between a support type and a wheel type through the mode switching module, and can also realize a spiral motion mode through adjusting the support device, so that the robot has various driving modes, thereby being suitable for more pipelines with different pipe diameters and types.
3. The invention can be switched into a wheel mode at a turning position through the mode switching module, thereby passing through more complex pipelines, such as L-shaped pipes, T-shaped pipes, cross pipes and the like.
4. The telescopic module is driven by the gear and the rack, and has the advantages of high speed, small occupied space, stable motion and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of a variable diameter support module according to the present invention.
FIG. 3 is a schematic diagram of a mode switching module according to the present invention.
FIG. 4 is a schematic view of a support mode of the present invention.
Fig. 5 is a schematic view of the wheel pattern of the present invention.
FIG. 6 is a schematic diagram of the spiral pattern of the present invention.
Fig. 7 is a schematic view of a telescoping module according to the present invention.
In the figure: the front body 1, the middle body 2, the rear body 3, the driving face gear 4, the pinion 5, the driven face gear 6, the bracket 7, the lead screw 8, the supporting device 9, the half clutch A10, the half clutch B11, the push rod 12, the rack 13, the driving gear 14, the chute 15 and the long shaft 16.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, a peristaltic differential multi-mode pipeline robot includes a front body 1, a middle body 2 and a rear body 3, wherein a driving face gear 4, a pinion 5, a driven face gear 6, a bracket 7, a lead screw 8, a supporting device 9, a half clutch a10, a half clutch B11 and a push rod 12 are disposed on the side edges of the front body 1 and the rear body 3, the driving face gear 4, the pinion 5 and the driven face gear 6 are connected through the bracket 7, the lead screw 8 is fixedly connected with the pinion 5 and rotates with the rotation of the pinion 5, the supporting device 9 is sleeved on the surface of the lead screw 8, and the pinion 5, the lead screw 8 and the supporting device 9 are respectively distributed on the bracket 7 with an equal difference of 60 ° in the circumferential direction.
The rear end of the driving face gear 4 is connected with the front main body 1 and the rear main body 3 through a hollow shaft, the front end of the driven face gear 6 is connected with a solid shaft, the solid shaft of the driven face gear 6 penetrates through the hollow shaft of the driving face gear 4, the half clutch A10 is fixedly connected with the tail end of the hollow shaft of the driving face gear 4 and rotates along with the rotation of the driving face gear 4, the half clutch B11 is connected with the tail end of the solid shaft of the driven face gear 6 through splines and rotates along with the rotation of the driven face gear 6, the push rod 12 is sleeved on the half clutch B11, and the pinion 5 and the lead screw 8 can rotate and revolve under the action of the clutch.
The reducing support module is formed by the driving face gear 4, the pinion 5, the driven face gear 6, the support 7, the lead screw 8 and the support device 9, the driving face gear 4 rotates to drive the pinion 5 to rotate, the pinion 5 rotates to drive the lead screw 8 to rotate, the lead screw 8 rotates to drive the support device 9 to synchronously move up and down, and the reducing support effect is achieved.
The half clutch A10, the half clutch B11 and the push rod 12 form a mode switching module, the half clutch B11 is engaged with the half clutch A10 under the pushing action of the push rod 12, so that the driven face gear 6 and the driving face gear 4 are in consistent steering, the pinion 5 and the lead screw 8 cannot rotate, the supporting device 9 cannot move, and the effect of wheel type rotation is achieved.
Preceding main part 1, midbody 2 and back main part 3 constitute flexible module, preceding main part 1 is the same with the structure of back main part 3 completely, and inside all includes two racks 13, midbody 2 is equipped with the drive gear 14 who pairs mutually with rack 13, drive gear 14 is last lower extreme and is equipped with the gliding spout 15 of confession rack 13, through rack and pinion motion, realizes the peristaltic effect, 2 both sides of midbody all are equipped with major axis 16, major axis 16 both ends link to each other with preceding main part 1 and back main part 3 respectively, realize midbody 2 and preceding main part 1 and back main part 3 be connected.
The driving face gear 4, the pinion 5, the driven face gear 6, the bracket 7, the lead screw 8, the supporting device 9, the half clutch A10, the half clutch B11 and the push rod 12 form a steering module, and the speed and the direction of a steering mode can be controlled during turning to adjust the posture of the robot.
The supporting device 9 can be manually adjusted in angle, so that the supporting device 9 is spirally distributed, and the spiral motion of the robot can be realized by matching with the mode switching module.
When the robot is used, the robot is placed in a pipeline, the driving face gears 4 on the front main body 1 and the rear main body 3 rotate, the pinion 5 and the lead screw 8 rotate, the lead screw 8 rotates to drive the supporting device 9 to extend outwards, the supporting device 9 is fixed on a pipe wall, then the driving face gear 4 of the front main body 1 rotates reversely to retract the supporting device 9, then the driving gear 14 in the intermediate body 2 rotates, the driving gear 14 drives the rack 13 of the front main body 1 to move, the front main body 1 moves forwards, the driving gear 14 can also move on the rack 13 of the rear main body 3 to move the intermediate body 2 forwards, when the driving face gear 4 of the front main body 1 moves to a certain distance, the supporting device 9 is fixed on the pipe wall, then the driving face gear 4 of the rear main body 3 rotates reversely to retract the supporting device 9, then the driving gear 14 in the intermediate body 2 rotates reversely, the driving gear 14 drives the rack 13 of the rear main body 3 to move, so that the rear main body 3 moves forwards, the driving gear 14 can move on the rack 13 of the front main body 1 at the same time, so that the intermediate body 2 moves forwards, when the intermediate body moves to a certain distance, the driving end face gear 4 of the rear main body 3 rotates, the supporting device 9 is fixed on the pipe wall, and the movement is repeated, so that the robot moves in the pipeline.
When the robot moves to a turning position, the variable-diameter support module and the telescopic module of the robot are restored to the initial state, the half clutch B11 on the front main body 1 and the rear main body 3 is engaged with the half clutch A10 under the pushing action of the push rod 12, the robot is switched to a wheel mode, then the speed and the direction of the front wheel and the rear wheel are controlled, the posture of the robot can be changed, and the robot can smoothly pass through the turning position.
In use, when encountering vertical and horizontal pipes, the support device 9 is manually adjusted to a certain angle and the half-clutch B11 is engaged with the half-clutch a10, and the robot can advance in a spiral within the pipe and can move from the horizontal pipe to the vertical pipe.
Claims (3)
1. The utility model provides a many mode pipeline of wriggling differential robot which characterized in that: comprises a front main body (1), an intermediate body (2) and a rear main body (3), wherein the front ends of the front main body (1) and the rear main body (3) are provided with reducing mechanisms, the reducing mechanism comprises a driving face gear (4), a pinion (5), a driven face gear (6), a bracket (7), a lead screw (8), a supporting device (9), a half clutch A (10), a half clutch B (11) and a push rod (12), the driving face gear (4), the pinion (5), the driven face gear (6) and the screw rod (8) are connected through a bracket (7), the screw rod (8) is fixedly connected with the pinion (5) and rotates along with the rotation of the pinion (5), the supporting device (9) is sleeved on the outer surface of the screw rod (8), and the pinion (5), the screw rod (8) and the supporting device (9) are respectively distributed on the bracket (7) in a circumferential 60-degree equal difference mode;
the tail end of the driving face gear (4) is fixedly connected with the front end of the hollow shaft, the tail end of the half clutch A (10) is fixedly connected with the tail end of the hollow shaft, the driving face gear (4) is connected with the front main body (1) and the rear main body (3) through the hollow shaft, the front end of the driven face gear (6) is fixedly connected with the front end of the solid shaft, the tail end of the solid shaft is provided with a spline, the center of the half clutch B (11) is provided with a spline groove, the front end of the half clutch B (11) is connected with the tail end of the solid shaft through the spline, the solid shaft penetrates through the center of the hollow shaft, the tail end of the half clutch B (11) is provided with a groove, the push rod (12) is sleeved on the groove of the half clutch B (11) through a circular ring at the front end, the push rod (12) can push the half clutch B (11) to be connected with the half clutch A (10), the lead screw (8) and the pinion (5) rotate along with the driving face gear (4) in a clutch connection state, the clutch rotates along with the rotation of the driving face gear (4) under the clutch separation state and simultaneously rotates;
preceding main part (1) and the inside both ends of controlling of back main part (3) all contain two racks (13), rack (13) link firmly in the front inside of main part (1) and back main part (3), both ends are equipped with drive gear (14) of mating with rack (13) about midbody (2) is inside, the upper and lower end of drive gear (14) is equipped with supplies the gliding spout (15) of rack, through rack and pinion motion, realizes the peristaltic effect, both ends all are equipped with four major axes (16) around midbody (2), major axis (16) link to each other with preceding main part (1) and back main part (3) respectively, realize midbody (2) and the connection of preceding main part (1) and back main part (3).
2. The peristaltic differential multi-mode pipeline robot of claim 1, wherein: reducing mechanism takes place to stretch out and draw back when half clutch B (11) and half clutch A (10) separation, reaches the effect of reducing, reducing mechanism is the wheel form under initial condition, wholly takes place the revolution when half clutch B (11) and half clutch A (10) joint, reaches wheel pivoted effect, and main part (1) and back main part (3) reducing mechanism's speed and direction before turning through the control utilize the differential to make the robot accomplish to turn to.
3. The peristaltic differential multi-mode pipeline robot of claim 1, wherein: the angle of the supporting device (9) on the reducing mechanism can be manually adjusted, so that the supporting device (9) is spirally distributed, and the robot can realize spiral advancing in a clutch joint state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210659284.XA CN114754228B (en) | 2022-06-13 | 2022-06-13 | Creeping differential multi-mode pipeline robot |
| LU502961A LU502961B1 (en) | 2022-06-13 | 2022-10-26 | Squirming differential multi-mode pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210659284.XA CN114754228B (en) | 2022-06-13 | 2022-06-13 | Creeping differential multi-mode pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114754228A CN114754228A (en) | 2022-07-15 |
| CN114754228B true CN114754228B (en) | 2022-08-23 |
Family
ID=82336945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210659284.XA Active CN114754228B (en) | 2022-06-13 | 2022-06-13 | Creeping differential multi-mode pipeline robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114754228B (en) |
| LU (1) | LU502961B1 (en) |
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2022
- 2022-06-13 CN CN202210659284.XA patent/CN114754228B/en active Active
- 2022-10-26 LU LU502961A patent/LU502961B1/en active IP Right Grant
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| LU502961B1 (en) | 2023-04-28 |
| CN114754228A (en) | 2022-07-15 |
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