CN201407460Y - High-traction helical propelling micro-pipe robot - Google Patents
High-traction helical propelling micro-pipe robot Download PDFInfo
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- CN201407460Y CN201407460Y CN2009200645491U CN200920064549U CN201407460Y CN 201407460 Y CN201407460 Y CN 201407460Y CN 2009200645491 U CN2009200645491 U CN 2009200645491U CN 200920064549 U CN200920064549 U CN 200920064549U CN 201407460 Y CN201407460 Y CN 201407460Y
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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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Abstract
A high-traction helical propelling micro-pipe robot comprises a guiding mechanism, a helical propelling mechanism and a rotary driving device arranged between the guiding mechanism and the helical propelling mechanism. The helical propelling mechanism comprises a first tensioning rod, a helical supporting base and a helical wheel group, wherein the helical supporting base is equipped with a slidechute axially and first guide holes radially and is sleeved outside the first tensioning rod, the first tensioning rod consists of a first conical section, a first thread section and a first slide rodsection, a minor-diameter end of the first conical section is connected with the first thread section while a major-diameter end is connected with the first slide rod section, the first thread section is connected with the rotary driving device, a first tensioning nut is arranged on the first thread section, a first compression spring is arranged between the first tensioning nut and the helical supporting base, the first slide rod section is equipped with a guide pin disposed in the slide chute, and the helical wheel group is connected with helical wheel group supporting rods which penetratethrough the first guide holes to contact with the first conical section. The robot is high in loading capacity, strong in adaptability to caliber changes and high in elbow through capacity.
Description
Technical field
The utility model relates to microtubule robot, relates in particular to large traction screw propulsion micro-pipeline robot.
Background technique
In current society, various microtubules (diameter is less than 20mm) have obtained in fields such as metallurgy, oil, chemical industry, military weaponry, nuclear powers using widely.These microtubule overwhelming majority are applied in the system of working environment very severe, corrosion and fatigue destruction or potential development of defects take place easily become problems such as crackle, thereby cause leakage accident, even cause great personnel and property loss, so in these pipeline using processs, just need detect, to ensure pipe-line system safety, unimpeded and efficient operation it.But the residing environment of microtubule, the people generally can not directly arrive, or does not allow direct intervention, and because internal diameter of the pipeline is less, internal structure is intricate, makes detection difficulty very big.About the detection of microtubule, adopt the very big sampling observation method of engineering work load usually at present, not only labor intensity is big, benefit is low, and because omission often appears in method of random sampling, thereby accuracy rate is low, effect is unsatisfactory.So usually pipeline important and that do not allow to leak is adopted regularly or the way of scrapping in advance, thereby has caused very big man power and material's waste.Therefore, research is applicable to the detection machine people's device under this particular surroundings of microtubule, to alleviate people's labor intensity, enhances productivity, and reduces unnecessary loss, and high learning value and use value are arranged.
Screw-pushing type is present microtubule robot a kind of propulsion mode comparatively commonly used, and it is simple in structure, realizes that easily the wheel efficiency height can move reposefully with certain speed.Microtubule robot is generally used for the testing of complicated pipeline, need carry many coherent detection sensors, power supply and communication device, wired robot also need carry cable weight, this just requires microtubule robot to have bigger load capacity, but in the present like product, because the frictional force of drive machines people motion is difficult for increasing, and causes load capacity limited, the robot driving power is poor; Simultaneously, there are a large amount of bend pipes, U-shaped pipe in the working environment of robot, and owing to there is the caliber situation that becomes in reasons such as corrosion and fatigue destruction, crackle, pipe joint, this just requires the radial dimension of microtubule robot little, and have bend pipe, U-shaped pipe place's passing ability and stronger change caliber adaptive capacity preferably, but at present like product ubiquity physical dimension is difficult for reducing, and adapts to the ability that caliber changes, in defectives such as the passing ability at bend pipe, U-shaped pipe place are bad.
The model utility content
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, and a kind of load capacity height is provided, and it is strong that caliber changes adaptive capacity, and bend pipe, large traction screw propulsion micro-pipeline robot that U-shaped pipe passing capacity is strong.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of large traction screw propulsion micro-pipeline robot, comprise guide mechanism, screw propulsion mechanism and rotating driving device, described rotating driving device is located between guide mechanism and the screw propulsion mechanism, described screw propulsion mechanism comprises first nutted rod, be the spiral bearing of sleeve shape and at least three group spiral wheels of circumferentially evenly arranging along the spiral bearing, offer chute vertically on the described spiral bearing, and radially be provided with first pilot hole corresponding with each spiral wheels, the spiral bearing is sheathed on outside first nutted rod, described first nutted rod is by first conical section, first thread section and the first slide bar section constitute, the described first conical section miner diameter end connects first thread section, bigger diameter end connects the first slide bar section, first thread section links to each other with rotating driving device, end near rotating driving device on first thread section is equiped with first tensioning nut, be provided with first pressure spring between first tensioning nut and the spiral bearing, the first slide bar section is provided with the guide finger that places in the chute, described spiral wheels are connected with spiral wheels pole, and described spiral wheels pole is passed first pilot hole and contacted with first conical section.
Described spiral wheels comprise helical wheel rack and two helical wheels, described helical wheel rack middle part is hinged with spiral wheels pole, two helical wheels are articulated in the two ends of helical wheel rack respectively, the spin axis of two helical wheels is parallel to each other, and each helical wheel is with respect to the axis formation lead angle α of spiral bearing.
Described spiral bearing is arranged with outward the flexible first spacing protecting cover of spiral wheels pole.
The cross section of described spiral wheels pole is a polygonal, the polygonal hole of the pilot hole on the spiral bearing for matching with spiral wheels pole.
Described guide mechanism comprises second nutted rod, be the guide type shoe of sleeve shape and at least three groups guiding wheels of circumferentially evenly arranging along guide type shoe, radially be provided with on the described guide type shoe and the second corresponding pilot hole of each guiding wheels, guide type shoe is sheathed on outside second nutted rod, and link to each other with rotating driving device, described second nutted rod is by second conical section, second thread section and the second slide bar section constitute, the second conical section miner diameter end connects second thread section, bigger diameter end connects the second slide bar section, end away from rotating driving device on second thread section is equiped with second tensioning nut, be provided with second pressure spring between second tensioning nut and the guide type shoe, be connected with guiding wheels pole on the guiding wheels, described guiding wheels pole is passed second pilot hole and is contacted with second conical section.
Described guiding wheels comprise guiding wheel carrier and two upper saw pulleys, and described guiding wheel carrier middle part is hinged with guiding wheels pole, and two upper saw pulleys are articulated in the two ends of guiding wheel carrier respectively.
Described guide type shoe is arranged with outward the flexible second spacing protecting cover of guiding wheels pole.
The cross section of described guiding wheels pole is circular, the circular port of second pilot hole on the guide type shoe for matching with spiral wheels pole.
Compared with prior art, advantage of the present utility model is: the first conical section contact matching that makes the spiral wheels pole and first nutted rod, under the elastic force effect of first pressure spring, first conical section can promote spiral wheels pole and stretch vertically, make the spiral wheels obtain the one-movement-freedom-degree of relative spiral bearing, the screw propulsion mechanism of robot is had become the caliber adaptive capacity preferably along spiral wheels pole axial direction; And the contact matching of the spiral wheels pole and first conical section forms wedge structure, when the robot load increases, load force is delivered to first conical section, under the effect of wedge structure, the spiral wheels are increased the positive pressure of tube wall, thereby increase the frictional force between spiral wheels and the tube wall, the frictional force that promptly realizes spiral wheels and pipeline enclosure increases with the increase of load, improve the robot tractive force of advancing, solve the frictional force that is used for drive machines people motion and be difficult for increasing, caused the limited problem of load capacity; The helical wheel rack middle part of spiral wheels is hinged with spiral wheels pole, make the spiral wheels obtain a rotational freedom around this articulating point, the spiral wheels under the common support of one-movement-freedom-degree and rotational freedom, easier satisfy microtubule robot at bend pipe, U-shaped pipe and the geometry that becomes the caliber place by condition and kinematic constraint condition; The cross section of spiral wheels pole is a polygonal, the polygonal hole of pilot hole on the spiral bearing for matching with spiral wheels pole, can limit the rotational freedom of spiral wheels around spiral wheels pole axis, avoid crossing multi-freedom degree and caused the lead angle of spiral wheels to change easily, guaranteed the proper motion of robot; Make the second conical section contact matching of the guiding wheels pole and second nutted rod, under the elastic force effect of second pressure spring, second conical section wheels pole that can promote to lead is flexible vertically, make the guiding wheels obtain the one-movement-freedom-degree of relative guide type shoe, the guiding driving mechanism of robot is had become the caliber adaptive capacity preferably along guiding wheels pole axial direction; And the contact matching of the guiding wheels pole and second conical section forms wedge structure, when there is the trend that retreats in robot, load force is delivered to second conical section, under the effect of wedge structure, the guiding wheels are increased the positive pressure of tube wall, thereby increase the frictional force between guiding wheels and the tube wall, i.e. the frictional force of realization guiding wheels and pipeline enclosure increases with the increase of load, the obstruction robot retreats, and has solved the problem that robot retreats in movement process easily; The guiding wheel carrier middle part of guiding wheels is hinged with guiding wheels pole, make the guiding wheels obtain a rotational freedom around this articulating point, the cross section of guiding wheels pole is circular, the circular port of second pilot hole on the guide type shoe for matching with spiral wheels pole, make the guiding wheels have rotational freedom around guiding wheels pole axis, the guiding wheels are under the common support of an one-movement-freedom-degree and two rotational freedoms, satisfy microtubule robot easilier at bend pipe, the geometry at U-shaped pipe and change caliber place has improved microtubule robot at bend pipe by condition and kinematic constraint condition, the passing capacity at U-shaped pipe and change caliber place.The prestressing design of the conical section structural design of multi-freedom degree design, first nutted rod and second nutted rod of spiral wheels and guiding wheels and first pressure spring and second pressure spring in the large traction screw propulsion micro-pipeline robot of the present utility model, make guide mechanism and screw propulsion mechanism can initiatively adapt to the caliber situation of change at bend pipe, U-shaped pipe and change caliber place, improved the passing capacity of microtubule robot to complicated pipeline, and the robot radial dimension is reduced, be more suitable in microtubule, working.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a perspective view of the present utility model;
Fig. 3 is the A-A cross section view of Fig. 1;
Fig. 4 is the structure for amplifying schematic representation of screw propulsion mechanism;
Fig. 5 is the B-B cross section view of Fig. 4;
Fig. 6 is the perspective view of screw propulsion mechanism;
Fig. 7 is the structural representation after the spiral wheels are removed by screw propulsion mechanism;
Fig. 8 is the structure for amplifying schematic representation of guide mechanism;
Fig. 9 is the C-C part sectioned view of Fig. 8;
Figure 10 is the perspective view of guide mechanism;
Figure 11 is the structural representation after guide mechanism is removed the guiding wheels.
Each label is represented among the figure:
1, guide mechanism 2, screw propulsion mechanism
3, rotating driving device 4, universal joint
100, second nutted rod 101, second conical section
102, second thread section 103, the second slide bar section
110, guide type shoe 111, second pilot hole
120, guiding wheels 121, guiding wheel carrier
122, upper saw pulley 130, second tensioning nut
140, second pressure spring 150, guiding wheels pole
160, second protecting cover 170, second compression spring
200, first nutted rod 201, first conical section
202, first thread section 203, the first slide bar section
204, guide finger 210, spiral bearing
211, chute 212, first pilot hole
220, spiral wheels 221, helical wheel rack
222, helical wheel 230, first tensioning nut
240, first pressure spring 250, spiral wheels pole
260, first protecting cover 270, first compression spring
300, output shaft 301, pedestal
Embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, a kind of large traction screw propulsion micro-pipeline robot of the present utility model, comprise guide mechanism 1, screw propulsion mechanism 2 and rotating driving device 3, rotating driving device 3 is located between guide mechanism 1 and the screw propulsion mechanism 2, in the present embodiment, guide mechanism 1 is connected with rotating driving device 3 by a universal joint 4 respectively with screw propulsion mechanism 2.
To shown in Figure 7, screw propulsion mechanism 2 comprises first nutted rod 200, is the spiral bearing 210 of sleeve shape and at least three group spiral wheels of circumferentially evenly arranging along spiral bearing 210 220 as Fig. 4.In the present embodiment, spiral wheels 220 are provided with three groups, offer chute 211 on the spiral bearing 210 vertically, and radially be provided with first pilot hole 212 corresponding with each spiral wheels 220, spiral bearing 210 is sheathed on outside first nutted rod 200, first nutted rod 200 is by first conical section 201, first thread section 202 and the first slide bar section 203 constitute, first conical section, 201 miner diameter ends connect first thread section 202, bigger diameter end connects the first slide bar section 203, first thread section 202 links to each other with the output shaft 300 of rotating driving device 3 by a universal joint 4, end near rotating driving device 3 on first thread section 202 is equiped with first tensioning nut 230 and first compression spring 270, be provided with first pressure spring 240 between first tensioning nut 230 and the spiral bearing 210, first pressure spring, 240 1 ends are by first compression spring, 270 location, the other end is by spiral bearing 210 location, by regulating the position of first tensioning nut 230, can regulate the pre-pressing force size of first pressure spring 240.First conical section 201 and the first slide bar section 203 are positioned at spiral bearing 210, the first slide bar section 203 is provided with fixing with it guide finger 204, the part of guide finger 204 is slidedly arranged in the chute 211 of spiral bearing 210, the first slide bar section 203 is slidingly matched by the chute 211 of guide finger 204 with spiral bearing 210, when the rotating output shaft of rotating driving device 3 rotates by universal joint 4 drives first nutted rod 200, can will rotatablely move by guide finger 204 and pass to whole screw propulsion mechanism 2, make screw propulsion mechanism 2 in the motion of pipeline internal spiral, thereby drive entire machine people motion.Be arranged with spiral wheels pole 250 in first pilot hole 212 on the spiral bearing 210, spiral wheels pole 250 1 ends are continuous with corresponding spiral wheels 220, the other end is the bulb shape, and extend in the spiral bearing 210 and first conical section, 201 contact matching, under the elastic force effect of first pressure spring 240, first conical section 201 can promote spiral wheels pole 250 and stretch vertically, change the external diameter of screw propulsion mechanism 2, screw propulsion mechanism 2 is stretched in the pipeline, simultaneously, spiral wheels 220 can obtain the one-movement-freedom-degree of relative spiral bearing 210 along spiral wheels pole 250 axial directions, the screw propulsion mechanism 2 of robot is had become the caliber adaptive capacity preferably, and the contact matching of the spiral wheels pole 250 and first conical section 201 forms wedge structure, when the robot load increases, load force is delivered to first conical section 201, under the effect of wedge structure, the positive pressure of 220 pairs of tube walls of spiral wheels is increased, thereby increase the frictional force between spiral wheels 220 and the tube wall, the frictional force that promptly realizes spiral wheels 220 and pipeline enclosure increases with the increase of load, improve the robot tractive force of advancing, solve the frictional force that is used for drive machines people motion and be difficult for increasing, caused the limited problem of load capacity.Spiral bearing 210 outer being arranged with the spiral wheels pole 250 flexible first spacing protecting covers 260 can prevent that spiral wheels pole 250 breaks away from spiral bearing 210.Spiral wheels 220 comprise helical wheel rack 221 and two helical wheels 222, helical wheel rack 221 middle parts are hinged by bearing pin and spiral wheels pole 250, helical wheel rack 221 can rotate flexibly around bearing pin, make spiral wheels 220 obtain a rotational freedom around this articulating point, spiral wheels 220 under the common support of one-movement-freedom-degree and rotational freedom, easier satisfy microtubule robot at bend pipe, U-shaped pipe and the geometry that becomes the caliber place by condition and kinematic constraint condition; Two helical wheels 222 are articulated in the two ends of helical wheel rack 221 respectively by bearing pin, the spin axis of two helical wheels 222 is parallel to each other, and each helical wheel 222 forms lead angle α with respect to the axis of spiral bearing 210, the value of lead angle α mainly influences the movement velocity and the load capacity of robot, lead angle α increases, then the robot gait of march increases, load capacity reduces, otherwise lead angle α reduces, then gait of march reduces, and load capacity increases, and lead angle α can be taken as the arbitrary value in 0 °～90 °, in the present embodiment, lead angle α is 7 °.The cross section of spiral wheels pole 250 is a polygonal, the polygonal hole of first pilot hole 212 on the spiral bearing 210 for matching with spiral wheels pole 250, can limit the rotational freedom of spiral wheels 220 around spiral wheels pole 250 axis, avoid crossing multi-freedom degree and caused the lead angle α of spiral wheels 220 to change easily, guaranteed the proper motion of robot.
As shown in Figs. 8 to 11, guide mechanism 1 comprises second nutted rod 100, is the guide type shoe 110 of sleeve shape and at least three groups guiding wheels of circumferentially evenly arranging along guide type shoe 110 120.In the present embodiment, guiding wheels 120 are provided with three groups, guide type shoe 110 links to each other with the pedestal 301 of rotating driving device 3 by a universal joint 4, radially be provided with on the guide type shoe 110 and the second corresponding pilot hole 111 of each guiding wheels 120, guide type shoe 110 is sheathed on outside second nutted rod 100, and link to each other with rotating driving device 3, second nutted rod 100 is by second conical section 101, second thread section 102 and the second slide bar section 103 constitute, second conical section, 101 miner diameter ends connect second thread section 102, bigger diameter end connects the second slide bar section 103, end away from rotating driving device 3 on second thread section 102 is equiped with second tensioning nut 130 and second compression spring 170, second pressure spring, 140 1 ends are by second compression spring, 170 location, the other end is by guide type shoe 110 location, by regulating the position of second tensioning nut 130, can regulate the pre-pressing force size of second pressure spring 140.Second conical section 101 and the second slide bar section 103 are positioned at guide type shoe 110, be arranged with guiding wheels pole 150 in second pilot hole 111 on the guide type shoe 110, guiding wheels pole 150 1 ends are continuous with corresponding guiding wheels 120, the other end is the bulb shape, and extend in the guide type shoe 110 and contact with second conical section 101, under the elastic force effect of second pressure spring 140, the second conical section 101 wheels pole 150 that can promote to lead is flexible vertically, change the external diameter of guide mechanism 1, guide mechanism 1 is stretched in the pipeline, simultaneously, guiding wheels 120 can obtain the one-movement-freedom-degree of relative guide type shoe 110 along guiding wheels pole 150 axial directions, the guide mechanism 1 of robot is had become the caliber adaptive capacity preferably, and the contact matching of the guiding wheels pole 150 and second conical section 101 forms wedge structure, when the robot load increases, load force is delivered to second conical section 101, under the effect of wedge structure, the positive pressure of 120 pairs of tube walls of guiding wheels is increased, thereby increase the frictional force between guiding wheels 120 and the tube wall, the frictional force of i.e. realization guiding wheels 120 and pipeline enclosure increases with the increase of load, the obstruction robot retreats, and has solved the problem that robot retreats in movement process easily.Guide type shoe 110 outer being arranged with the guiding wheels pole 150 flexible second spacing protecting covers 160, the wheels pole 150 that can prevent to lead breaks away from guide type shoe 110.Guiding wheels 120 comprise guiding wheel carrier 121 and two upper saw pulleys 122, guiding wheel carrier 121 middle parts are hinged with guiding wheels pole 150 by bearing pin, guiding wheel carrier 121 can rotate flexibly around bearing pin, make guiding wheels 120 obtain a rotational freedom around this articulating point, simultaneously, the cross section of guiding wheels pole 150 is circular, the circular port of second pilot hole 111 on the guide type shoe 110 for matching with spiral wheels pole 150, make guiding wheels 120 have rotational freedom around guiding wheels pole 150 axis, guiding wheels 120 are under the common support of an one-movement-freedom-degree and two rotational freedoms, satisfy microtubule robot easilier at bend pipe, the geometry at U-shaped pipe and change caliber place has improved microtubule robot at bend pipe by condition and kinematic constraint condition, the passing capacity at U-shaped pipe and change caliber place.
After large traction screw propulsion micro-pipeline robot of the present utility model starts, by rotating driving device 3 output running torques, drive 2 rotations of screw propulsion mechanism, advance along the spiral of tube wall by spiral wheels 220 and to drive robot integral body and travel forward, guide mechanism 1 play supporting role at the robot the other end, the multi-freedom degree design of spiral wheels 220 and guiding wheels 120, the prestressing design of the conical section structural design of first nutted rod 200 and second nutted rod 100 and first pressure spring 240 and second pressure spring 140, make guide mechanism 1 and screw propulsion mechanism 2 can initiatively adapt to bend pipe, the caliber situation of change at U-shaped pipe and change caliber place, improved the passing capacity of microtubule robot to complicated pipeline, and the robot radial dimension is reduced, be more suitable in microtubule, working.
Claims (9)
1, a kind of large traction screw propulsion micro-pipeline robot, comprise guide mechanism (1), screw propulsion mechanism (2) and rotating driving device (3), described rotating driving device (3) is located between guide mechanism (1) and the screw propulsion mechanism (2), it is characterized in that: described screw propulsion mechanism (2) comprises first nutted rod (200), be the spiral bearing (210) of sleeve shape and at least three group spiral wheels of circumferentially evenly arranging along spiral bearing (210) (220), offer chute (211) on the described spiral bearing (210) vertically, and radially be provided with first pilot hole (212) corresponding with each spiral wheels (220), spiral bearing (210) is sheathed on outside first nutted rod (200), described first nutted rod (200) is by first conical section (201), first thread section (202) and the first slide bar section (203) constitute, described first conical section (201) miner diameter end connects first thread section (202), bigger diameter end connects the first slide bar section (203), first thread section (202) links to each other with rotating driving device (3), the end that first thread section (202) is gone up near rotating driving device (3) is equiped with first tensioning nut (230), be provided with first pressure spring (240) between first tensioning nut (230) and the spiral bearing (210), the first slide bar section (203) is provided with the guide finger (204) that places in the chute (211), described spiral wheels (220) are connected with spiral wheels pole (250), and described spiral wheels pole (250) is passed first pilot hole (212) and contacted with first conical section (201).
2, large traction screw propulsion micro-pipeline robot according to claim 1, it is characterized in that: described spiral wheels (220) comprise helical wheel rack (221) and two helical wheels (222), described helical wheel rack (221) middle part is hinged with spiral wheels pole (250), two helical wheels (222) are articulated in the two ends of helical wheel rack (221) respectively, the spin axis of two helical wheels (222) is parallel to each other, and each helical wheel (222) is with respect to the axis formation lead angle (α) of spiral bearing (210).
3, large traction screw propulsion micro-pipeline robot according to claim 2 is characterized in that: described spiral bearing (210) is outer to be arranged with flexible spacing first protecting cover (260) of spiral wheels pole (250).
4, according to each described large traction screw propulsion micro-pipeline robot in the claim 1 to 3, it is characterized in that: the cross section of described spiral wheels pole (250) is a polygonal, the polygonal hole of first pilot hole (212) on the spiral bearing (210) for matching with spiral wheels pole (250).
5, according to each described large traction screw propulsion micro-pipeline robot in the claim 1 to 3, it is characterized in that: described guide mechanism (1) comprises second nutted rod (100), be the guide type shoe (110) of sleeve shape and at least three groups guiding wheels of circumferentially evenly arranging along guide type shoe (110) (120), radially be provided with on the described guide type shoe (110) and corresponding second pilot hole (111) of each guiding wheels (120), guide type shoe (110) is sheathed on outside second nutted rod (100), and link to each other with rotating driving device (3), described second nutted rod (100) is by second conical section (101), second thread section (102) and the second slide bar section (103) constitute, second conical section (101) miner diameter end connects second thread section (102), bigger diameter end connects the second slide bar section (103), the end that second thread section (102) is gone up away from rotating driving device (3) is equiped with second tensioning nut (130), be provided with second pressure spring (140) between second tensioning nut (130) and the guide type shoe (110), be connected with guiding wheels poles (150) on the guiding wheels (120), described guiding wheels pole (150) is passed second pilot hole (111) and is contacted with second conical section (101).
6, large traction screw propulsion micro-pipeline robot according to claim 4, it is characterized in that: described guide mechanism (1) comprises second nutted rod (100), be the guide type shoe (110) of sleeve shape and at least three groups guiding wheels of circumferentially evenly arranging along guide type shoe (110) (120), radially be provided with on the described guide type shoe (110) and corresponding second pilot hole (111) of each guiding wheels (120), guide type shoe (110) is sheathed on outside second nutted rod (100), and link to each other with rotating driving device (3), described second nutted rod (100) is by second conical section (101), second thread section (102) and the second slide bar section (103) constitute, second conical section (101) miner diameter end connects second thread section (102), bigger diameter end connects the second slide bar section (103), the end that second thread section (102) is gone up away from rotating driving device (3) is equiped with second tensioning nut (130), be provided with second pressure spring (140) between second tensioning nut (130) and the guide type shoe (110), be connected with guiding wheels poles (150) on the guiding wheels (120), described guiding wheels pole (150) is passed second pilot hole (111) and is contacted with second conical section (101).
7, large traction screw propulsion micro-pipeline robot according to claim 6, it is characterized in that: described guiding wheels (120) comprise guiding wheel carrier (121) and two upper saw pulleys (122), described guiding wheel carrier (121) middle part is hinged with guiding wheels poles (150), and two upper saw pulleys (122) are articulated in the two ends of guiding wheel carrier (121) respectively.
8, large traction screw propulsion micro-pipeline robot according to claim 7 is characterized in that: described guide type shoe (110) is outer to be arranged with flexible spacing second protecting cover (160) of guiding wheels poles (150).
9, large traction screw propulsion micro-pipeline robot according to claim 8, it is characterized in that: the cross section of described guiding wheels pole (150) is for circular, and second pilot hole (111) on the guide type shoe (110) is the circular port that matches with spiral wheels pole (150).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200645491U CN201407460Y (en) | 2009-05-22 | 2009-05-22 | High-traction helical propelling micro-pipe robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200645491U CN201407460Y (en) | 2009-05-22 | 2009-05-22 | High-traction helical propelling micro-pipe robot |
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| CN201407460Y true CN201407460Y (en) | 2010-02-17 |
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| CN2009200645491U Expired - Lifetime CN201407460Y (en) | 2009-05-22 | 2009-05-22 | High-traction helical propelling micro-pipe robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559594A (en) * | 2009-05-22 | 2009-10-21 | 中国人民解放军国防科学技术大学 | Large traction screw propulsion micro-pipeline robot |
| CN102853207A (en) * | 2012-07-25 | 2013-01-02 | 浙江工业大学 | Uphill safety security trolley arranged in self-walking pipeline |
| CN103047511A (en) * | 2013-01-07 | 2013-04-17 | 梁亚 | Traveling device in pipeline |
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
| GB2531706A (en) * | 2014-10-19 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
| CN106870872A (en) * | 2017-03-30 | 2017-06-20 | 西安长庆科技工程有限责任公司 | A kind of pipe endoscopic detects robot |
| CN108278439A (en) * | 2018-02-21 | 2018-07-13 | 南京管科智能科技有限公司 | A kind of pipe robot |
| CN109374030A (en) * | 2018-10-25 | 2019-02-22 | 南京工程学院 | A kind of automatic traction device for the detection of multi-step deep hole |
| CN110173606A (en) * | 2019-05-22 | 2019-08-27 | 西安理工大学 | A kind of driving device of pipe robot |
| CN110778791A (en) * | 2019-11-05 | 2020-02-11 | 成秀东 | Underground pipeline laying device |
| CN114110301A (en) * | 2021-12-24 | 2022-03-01 | 中国原子能科学研究院 | Pipeline exploration robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559594A (en) * | 2009-05-22 | 2009-10-21 | 中国人民解放军国防科学技术大学 | Large traction screw propulsion micro-pipeline robot |
| CN102853207A (en) * | 2012-07-25 | 2013-01-02 | 浙江工业大学 | Uphill safety security trolley arranged in self-walking pipeline |
| CN102853207B (en) * | 2012-07-25 | 2014-10-29 | 浙江工业大学 | Uphill safety security trolley arranged in self-walking pipeline |
| CN103047511A (en) * | 2013-01-07 | 2013-04-17 | 梁亚 | Traveling device in pipeline |
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
| CN103672294B (en) * | 2013-12-17 | 2015-11-18 | 江南大学 | Spiral type pipeline robot |
| GB2531706A (en) * | 2014-10-19 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
| CN106870872A (en) * | 2017-03-30 | 2017-06-20 | 西安长庆科技工程有限责任公司 | A kind of pipe endoscopic detects robot |
| CN108278439A (en) * | 2018-02-21 | 2018-07-13 | 南京管科智能科技有限公司 | A kind of pipe robot |
| CN108278439B (en) * | 2018-02-21 | 2023-07-28 | 南京管科智能科技有限公司 | Pipeline robot |
| CN109374030A (en) * | 2018-10-25 | 2019-02-22 | 南京工程学院 | A kind of automatic traction device for the detection of multi-step deep hole |
| CN109374030B (en) * | 2018-10-25 | 2024-05-24 | 南京工程学院 | Automatic traction device for multi-step deep hole detection |
| CN110173606A (en) * | 2019-05-22 | 2019-08-27 | 西安理工大学 | A kind of driving device of pipe robot |
| CN110778791A (en) * | 2019-11-05 | 2020-02-11 | 成秀东 | Underground pipeline laying device |
| CN114110301A (en) * | 2021-12-24 | 2022-03-01 | 中国原子能科学研究院 | Pipeline exploration robot |
| CN114110301B (en) * | 2021-12-24 | 2022-10-28 | 中国原子能科学研究院 | Pipeline exploration robot |
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Granted publication date: 20100217 Effective date of abandoning: 20090522 |