CN201093144Y - Self-adaption pipe mobile mechanism - Google Patents

Self-adaption pipe mobile mechanism Download PDF

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Publication number
CN201093144Y
CN201093144Y CNU2007200159386U CN200720015938U CN201093144Y CN 201093144 Y CN201093144 Y CN 201093144Y CN U2007200159386 U CNU2007200159386 U CN U2007200159386U CN 200720015938 U CN200720015938 U CN 200720015938U CN 201093144 Y CN201093144 Y CN 201093144Y
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CN
China
Prior art keywords
driving
drive
self
arm
supporting
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CNU2007200159386U
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Chinese (zh)
Inventor
马书根
李斌
李鹏
叶长龙
龚海里
张国伟
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中国科学院沈阳自动化研究所
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Priority to CNU2007200159386U priority Critical patent/CN201093144Y/en
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Publication of CN201093144Y publication Critical patent/CN201093144Y/en

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Abstract

The utility model relates to a self-adapting pipeline shifting mechanism and belongs to the field of pipeline robot engineering technology. The structure consists of a supporting mechanism, an advancing drive mechanism and a receding mechanism. The advancing drive mechanism is connected with the receding mechanism through a first transmission mechanism and connected with an electric motor inside the supporting mechanism through a second transmission mechanism. The first transmission mechanism is arranged inside the advancing drive mechanism, and a linking mechanism and a locking mechanism are arranged between the advancing drive mechanism and the first transmission mechanism. The utility model can adjust advancing and receding automatically inside the pipeline without any external control. When running up against an obstacle and receding towards the center, one of the advancing drive arm is linked through the linking mechanism and the rest of advancing drive arms also recede towards the center to realize a synchronized motion of the drive arms. Simultaneously, the locking mechanism restricts the rotation of the advancing drive arm, and then the power output transforms the path and then the receding drive arm rotates and generates a backward driving force, which forces the robot to move in the opposite direction. The self-adapting pipeline shifting mechanism has strong adaptability.

Description

A kind of self-adapting pipe moving mechanism
Technical field
The utility model belongs to pipeline robot engineering art field, particularly relates to the self-adapting pipe moving mechanism of investigation job in a kind of pipeline.
Background technique
Along with development economic and society, pipeline is as main fluid (rock gas, oil, water etc.) means of delivery, because of its convenience and Economy have obtained using widely.But along with the increase of service life, the destruction of external construction inevitably can appear wearing out, corroding or be subjected in pipeline.If untimely processing not only brings enormous economic loss to country in case have an accident, also can cause serious pollution to environment.Therefore regular reconnoitring and safeguard just seems very necessary to pipeline.It is exactly a kind of effective equipment of checking pipeline that pipeline is detected robot.At present, that the walking in pipe motion of mechanism form that is used for the pipeline sniffing robot mainly contains is wheeled, crawler, resilient support formula, leg formula, Inchworm type, spiral etc., mainly realize the adaptation of pipeline environment, the pipeline environment adaptability deficiency of mobile mechanism by automatical control system.At document M.Horodinca, L.Doroftei, E.Mignon, that mentions among the A.Preumont. " A simple architecture for in-pipeinspection robots " is made up of stator, rotor, support arm, driving arm and helical wheel based on movable robot in the pipeline of screw drives principle.Motor is housed on the stator, and motor output shaft links to each other with rotor, the rotation of driven by motor rotor.Epitrochanterian helical wheel can be around the axis rotation of self, and helical wheel also rotates during the rotor rotation, and robot just can travel forward.Though this mechanism can realize seesawing in the pipeline, when foreign matter being arranged in the pipe or obstacle is arranged, robot often can not surmount obstacles.If there is not special protection to be easy to regard to stuck in the middle of pipeline; Because this kind mobile mechanism is self-powered, do not have being connected physically again, when robot is stuck in the middle of the pipeline, brought difficulty to stand-by service with the external world.
The model utility content
In order to solve the technical problem of above-mentioned existence, the utility model provides a kind of self-adapting pipe moving mechanism.It is the direction of advance and the direction of retreat of regulating robot body by mechanical mechanism itself, does not need other electric control operation.
The technical solution adopted in the utility model is: comprise supporting mechanism, forward drive mechanism and retreat driving mechanism three parts, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected by the interior motor of second driving mechanism and supporting mechanism.
Described first driving mechanism places in the forward drive mechanism, between the forward drive mechanism and first driving mechanism linking mechanism and locking mechanism is installed also.
Described forward drive mechanism comprises front wheel frame, along at least three forward drive arms of its circumference uniform distribution, at least 1 driven wheel that install each forward drive arm end, the rolling axis of described driven wheel becomes 0~miter angle degree with pipeline section.Described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft, places 3 uniform planet wheels between front wheel frame interior internal gear, the sun gear that is installed on transmission shaft and sun gear and internal gear circumference.Described linking mechanism comprises slide block, connecting rod that is installed on forward drive mechanism forward drive arm bottom and the rotating disk that is installed on the first driving mechanism transmission shaft end, and slide block is connected with rotating disk by connecting rod.Described locking mechanism comprises sliding plate, slide block and the spring that has groove, sliding plate is fixed on the first driving mechanism transmission shaft, be set with spring between the end rotating disk of transmission shaft and the sliding plate, slide block is installed on forward drive arm bottom, and described second driving mechanism that contacts with sliding plate comprises the gear that cooperatively interacts that is installed on respectively on transmission shaft and the motor coupling.Described retreat driving mechanism comprise the trailing wheel frame, along at least three of its circumference uniform distribution retreat driving arm, each retreats at least 1 driven wheel that install the driving arm end, the rolling axis of described driven wheel becomes 0~miter angle degree with pipeline section, the trailing wheel frame that retreats driving mechanism is connected by the planet wheel shaft of first driving mechanism with forward drive mechanism.Described supporting mechanism comprises at least 2 supporting wheels installing along at least three uniform on its shell support arms, each support arm, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
The utility model has the advantages that adaptability is strong.Since its structure by forward drive mechanism, retreat driving mechanism, supporting mechanism constitutes, when ducted obstacle surpasses the robot obstacle climbing ability, this mobile mechanism can rely on mechanical part to adjust movement direction automatically, stuck in pipeline to prevent by obstacle, this process does not need extraneous control.Because it has linking mechanism, when one of them forward drive arm runs into obstacle and when shrank at the center, by the linking mechanism interlock, the arm of remaining forward drive also will shrink to the center, the realization driving arm is synchronized with the movement.Because it has locking mechanism, when the driving arm that advances runs into obstacle when pipeline center shrinks, locking mechanism has limited the rotation of forward drive arm, power output this moment transduction pathway, retreat driving arm rotation and generation driving force backward, at this moment robot moves round about.
Description of drawings
Fig. 1 is an external structure schematic representation of the present utility model.
Fig. 2 is an internal structure schematic representation of the present utility model.
Fig. 3 is a locking mechanism schematic representation in the utility model.
Fig. 4 is a linking mechanism schematic representation in the utility model.
Fig. 5 is a driving mechanism schematic representation in the utility model.
Fig. 6 is the first driving mechanism schematic representation among Fig. 5.
Embodiment
Below in conjunction with drawings and Examples the utility model is described further:
Embodiment 1: as shown in Figure 1 and Figure 2, the utility model structure comprises forward drive mechanism, retreats driving mechanism and supporting mechanism three parts, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected by the interior motor of second driving mechanism and supporting mechanism.Between the forward drive mechanism and first driving mechanism, locking mechanism and linking mechanism are installed also.
As shown in Figure 2, wherein said forward drive mechanism 1 comprises front wheel frame 8, has the rolling axis of 2 driven wheels installing on three uniform forward drive arms 7, each forward drive arm, described driven wheel to become 0~4 5 degree angle with pipeline section along its circumference.Described retreat driving mechanism 2 comprise trailing wheel frame 9, along three of its circumference uniform distribution retreat driving arm 6, each retreats 2 driven wheels that install driving arm 6 ends, the rolling axis of described driven wheel becomes 0~miter angle degree with pipeline section.Described supporting mechanism 3 comprises 4 supporting wheels installing along on three uniform on its shell support arms 5, each support arm 5, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
As shown in Figure 6, described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft 19, places 3 uniform planet wheels between internal gear 21, the sun gear 20 that is installed on transmission shaft 19 and sun gear 20 in the front wheel frame 8 and internal gear 21 circumference.As shown in Figure 5, described second driving mechanism is first spur gear 17 that cooperatively interacts and second spur gear 18 that is installed on respectively on transmission shaft 19 and motor 4 coupling 25.As shown in Figure 4, described linking mechanism comprises slide block 13, connecting rod 14 that is installed on forward drive arm 7 bottoms and the rotating disk 15 that is installed on transmission shaft 19 ends, and each slide block 13 all is connected with rotating disk 15 by a connecting rod 14.As shown in Figure 3, described locking mechanism comprises the sliding plate 11 that has groove, the slide block 13 with inclined plane shape and spring 16, sliding plate 11 is fixed on the first driving mechanism transmission shaft 19, be set with spring 16 between the end rotating disk 15 of transmission shaft 19 and the sliding plate 11, slide block 13 is installed on the bottom of each forward drive arm 7, the inclined-plane of slide block 13 matches with the circular sloped surface of sliding plate 11, under the effect of spring 16 elastic force, makes its tight contact.Guide pillar 12 is supporting sliding plate 11, and sliding plate 11 can slide front and back on transmission shaft 19.Pin 10 is installed, the motion of restriction slide block 13 in the groove of sliding plate 11.
Working procedure of the present utility model: as Fig. 5, shown in Figure 6, drive motor 4 drives first spur gear 17 by coupling 16 and rotates; First spur gear 17 drives second spur gear 18 that is engaged with and rotates.Second spur gear 18 links to each other with transmission shaft 19, drives sun gear 20 rotations during transmission shaft 19 rotations and then drives first planet wheel 22, second planet wheel 23,24 rotations of the third line star-wheel, drives internal gear 21 rotations that are attached thereto when planet wheel rotates.Drive forward drive arm 7 rotation thereupon during front wheel frame 8 rotations, so robot travels forward; If direction of rotation, robot is motion backward then.
As shown in Figure 4, when in robot advances, running into obstacle, the motion of forward drive arm 7 has been subjected to obstruction and speed decline, again because the effect of obstacle, forward drive arm 7 will shrink to pipeline center, and this moment, forward drive arm 7 drove rotating disk 15 rotations by connecting rod 14, because rotating disk 15 is connected with three forward drive arms 7, so when rotating disk 15 rotates, remaining forward drive arm also will shrink to the center.As long as one of them forward drive arm shrinks to the center, other forward drive arm also will shrink like this.As shown in Figure 3, because the inclined-plane of sliding plate 11 and slide block 13 contacts, slide block 13 moves downward and overcomes the elastic force effect and makes sliding plate 11 move backward.When sliding plate 11 retreats into slide block 13 and sliding plate 11 and breaks away from inclined-planes and contact, slide block 13 continues when pipeline center shrinks, sliding plate 11 will be got back to original position under the effect of elastic force, slide block 13 is just fallen in the groove below the sliding plate 11, and the pin 10 in sliding plate 11 grooves has limited the motion of slide block 13, slide block 13 is just pinned by sliding plate 11 like this, so forward drive arm 7 no longer rotates.Power output this moment transduction pathway, be specially drive motor 4 and drive first spur gear 17 and 18 rotations of second spur gear by coupling 16, second spur gear 18 drives sun gear 20 and planet wheel rotation by transmission shaft 19 then, 3 planet wheel rotating shafts all are connected with trailing wheel frame 9, the planet wheel rotation drives 9 rotations of trailing wheel frame, trailing wheel frame 9 drives and retreats driving arm 6 rotations, retreats driving arm 6 rotations and generation driving force backward, and at this moment robot moves round about.As shown in Figure 2.
Embodiment 2: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 4 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 1; Retreat and retreat driving arm 6 in the driving mechanism 2 along 5 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 2.
Embodiment 3: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 6 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 2; Retreat and retreat driving arm 6 in the driving mechanism 2 along 6 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 4.
Embodiment 4: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 8 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the driven wheel on each forward drive arm 7 is 2; Retreat and retreat driving arm 6 in the driving mechanism 2 along 4 of trailing wheel frame circumference uniform distributions, each driven wheel that retreats driving arm 6 is 1; Support arm 5 is along 5 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel of each support arm 5 is 4.
Forward drive arm 7 in the utility model, the quantity that retreats driving arm 8, support arm 5 are at least 3, are uniformly distributed along the circumference, and can increase its number according to pipe diameter; It advances or the driven wheel that retreats on the driving arm is at least 1, and for keeping better balance, 2 driven wheel effects are best; Supporting wheel on each support arm 5 is at least 2, and support effect is best in the time of 4.Wherein the quantity of connecting rod 14 and slide block 13 is all identical with forward drive arm 7 quantity.When forward drive arm 7 quantity increased, the quantity of connecting rod 14 and slide block 13 also was increased to identical numerical value accordingly.

Claims (9)

1. self-adapting pipe moving mechanism, it is characterized in that: comprise supporting mechanism (3), forward drive mechanism (1) and retreat driving mechanism (2) three parts, forward drive mechanism (1) by first driving mechanism with retreat driving mechanism (2) and be connected, and be connected by the interior motor (4) of second driving mechanism and supporting mechanism (3).
2. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described first driving mechanism places in the forward drive mechanism (1), between the forward drive mechanism (1) and first driving mechanism linking mechanism and locking mechanism is installed also.
3. according to the described self-adapting pipe moving mechanism of claim 2, it is characterized in that: described forward drive mechanism comprises front wheel frame (8), along at least three forward drive arms (7) of its circumference uniform distribution, at least 1 driven wheel that install each forward drive arm (7) end, and the rolling axis of described driven wheel becomes 0~miter angle degree with pipeline section.
4. according to the described self-adapting pipe moving mechanism of claim 2, it is characterized in that: described first driving mechanism is the Gear Planet Transmission architecture, comprises transmission shaft (19), places 3 uniform planet wheels between front wheel frame (8) interior internal gear (21), the sun gear (20) that is installed on transmission shaft (19) and sun gear (20) and internal gear (21) circumference.
5. according to the described self-adapting pipe moving mechanism of claim 2, it is characterized in that: described linking mechanism comprises slide block (13), connecting rod (14) that is installed on forward drive mechanism forward drive arm (7) bottom and the rotating disk (15) that is installed on first driving mechanism transmission shaft (19) end, and slide block (13) is connected with rotating disk (15) by connecting rod (14).
6. according to the described self-adapting pipe moving mechanism of claim 2, it is characterized in that: described locking mechanism comprises sliding plate (11), slide block (13) and the spring (16) that has groove, sliding plate (11) is fixed on the first driving mechanism transmission shaft (19), be set with spring (16) between the end rotating disk (15) of transmission shaft (19) and the sliding plate (11), slide block (13) is installed on forward drive arm (7) bottom, and contacts with sliding plate (11).
7. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described second driving mechanism comprises the gear that cooperatively interacts that is installed on respectively on transmission shaft (19) and the motor coupling (25).
8. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described retreat driving mechanism comprise trailing wheel frame (9), along at least three of its circumference uniform distribution retreat driving arm (6), each retreats at least 1 driven wheel that install driving arm (6) end, the rolling axis of described driven wheel becomes 0~4 5 degree angle with pipeline section, the trailing wheel frame (9) that retreats driving mechanism (2) is connected by the planet wheel shaft of first driving mechanism with forward drive mechanism (1).
9. according to the described self-adapting pipe moving mechanism of claim 1, it is characterized in that: described supporting mechanism comprises along three support arms (5) uniform on its shell, each support arm (5) at least goes up at least 2 supporting wheels installing, and the rotating direction of described supporting wheel is parallel with the conduit axis direction.
CNU2007200159386U 2007-11-16 2007-11-16 Self-adaption pipe mobile mechanism CN201093144Y (en)

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101435521B (en) * 2007-11-16 2010-06-23 中国科学院沈阳自动化研究所 Self-adapting pipe moving mechanism
CN101749520B (en) * 2008-12-19 2011-08-03 中国科学院沈阳自动化研究所 Screw type pipeline travel mechanism
CN102182895A (en) * 2011-03-14 2011-09-14 中国石油大学(华东) Rotating propulsion system for gas pipeline online internal detector
CN101776418B (en) * 2010-01-15 2013-08-14 南京理工大学 Robot for cleaning inner wall of barrel
CN103322374A (en) * 2012-03-23 2013-09-25 中国石油大学(北京) Cable-free type pipeline countercurrent crawl device
CN103322300A (en) * 2013-06-14 2013-09-25 上海大学 Diameter-variable support mechanism for pipe section
CN103867848A (en) * 2012-12-14 2014-06-18 许雪梅 Spiral driving pipeline robot
WO2015089938A1 (en) * 2013-12-17 2015-06-25 西南石油大学 Soft-bodied continuous track-type pipeline robot
CN105402553A (en) * 2015-12-21 2016-03-16 北京航天特种设备检测研究发展有限公司 Self-adaptive pipeline crawler
CN105546277A (en) * 2016-02-02 2016-05-04 浙江海洋学院 High-temperature pipeline dredging robot
CN105864570A (en) * 2016-06-06 2016-08-17 西安石油大学 Steerable multifunctional petroleum pipeline robot capable of automatically adapting to pipe diameters
CN106066165A (en) * 2016-07-25 2016-11-02 南京信息职业技术学院 Self-centering inside diameter measurement machine people
CN108591830A (en) * 2018-04-13 2018-09-28 林锋 Reducing crude oil viscosity sets mounting and positioning device in reserve well

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101435521B (en) * 2007-11-16 2010-06-23 中国科学院沈阳自动化研究所 Self-adapting pipe moving mechanism
CN101749520B (en) * 2008-12-19 2011-08-03 中国科学院沈阳自动化研究所 Screw type pipeline travel mechanism
CN101776418B (en) * 2010-01-15 2013-08-14 南京理工大学 Robot for cleaning inner wall of barrel
CN102182895B (en) * 2011-03-14 2013-11-20 中国石油大学(华东) Rotating propulsion system for gas pipeline online internal detector
CN102182895A (en) * 2011-03-14 2011-09-14 中国石油大学(华东) Rotating propulsion system for gas pipeline online internal detector
CN103322374A (en) * 2012-03-23 2013-09-25 中国石油大学(北京) Cable-free type pipeline countercurrent crawl device
CN103867848A (en) * 2012-12-14 2014-06-18 许雪梅 Spiral driving pipeline robot
CN103867848B (en) * 2012-12-14 2016-03-23 张瀚文 A kind of helical driving type pipeline robot
CN103322300A (en) * 2013-06-14 2013-09-25 上海大学 Diameter-variable support mechanism for pipe section
CN103322300B (en) * 2013-06-14 2016-08-10 上海大学 A kind of Diameter-variable support mechanism for pipe section
WO2015089938A1 (en) * 2013-12-17 2015-06-25 西南石油大学 Soft-bodied continuous track-type pipeline robot
CN105402553A (en) * 2015-12-21 2016-03-16 北京航天特种设备检测研究发展有限公司 Self-adaptive pipeline crawler
CN105546277A (en) * 2016-02-02 2016-05-04 浙江海洋学院 High-temperature pipeline dredging robot
CN105864570A (en) * 2016-06-06 2016-08-17 西安石油大学 Steerable multifunctional petroleum pipeline robot capable of automatically adapting to pipe diameters
CN106066165A (en) * 2016-07-25 2016-11-02 南京信息职业技术学院 Self-centering inside diameter measurement machine people
CN106066165B (en) * 2016-07-25 2019-01-04 南京信息职业技术学院 Self-centering inside diameter measurement machine people
CN108591830A (en) * 2018-04-13 2018-09-28 林锋 Reducing crude oil viscosity sets mounting and positioning device in reserve well
CN108591830B (en) * 2018-04-13 2019-09-06 河北君业科技股份有限公司 Reducing crude oil viscosity sets mounting and positioning device in reserve well

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Granted publication date: 20080730

Termination date: 20101116