CN201696807U - Traveling device for pipeline robot utilizing self-locking to realize traveling - Google Patents
Traveling device for pipeline robot utilizing self-locking to realize traveling Download PDFInfo
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- CN201696807U CN201696807U CN2010201556337U CN201020155633U CN201696807U CN 201696807 U CN201696807 U CN 201696807U CN 2010201556337 U CN2010201556337 U CN 2010201556337U CN 201020155633 U CN201020155633 U CN 201020155633U CN 201696807 U CN201696807 U CN 201696807U
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Abstract
The utility model aims to a traveling device for a pipeline robot utilizing self-locking to realize traveling, which enables a robot to travel in pipelines in horizontal, vertical, bent and the like states. The utility mode adopts the technical scheme that the traveling device comprises a front supporting mechanism, a middle driving mechanism and a rear supporting mechanism which are connected in sequence, wherein both the front and the rear supporting mechanisms are shaped like umbrella and comprise adjusting screw rods, movable bracket discs movably sleeved on the adjusting screw rods through nuts and springs, and fixed bracket discs fixed on the adjusting screw rods through pairs of nuts; a plurality of short supporting rods are movably connected on the movable bracket discs, main supporting rods corresponding to the quantity of the short supporting rods are movably connected on the fixed bracket discs, and the short supporting rods are movably connected in the middle of the main supporting rods. Compared with the prior art, the utility model has the advantage that the robot traveling in the pipeline can be realized with one motor by utilizing the restraining action of the pipeline on the articles therein as well as the self-locking. In addition, the structure is simplified as a motor is not required to be arranged on the supporting component.
Description
Technical field
The utility model relates to a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance.
Background technique
Formed hidden microhabitat in the pipeline, in order to explore the state of pipe interior, and be implemented in operation in the pipeline, pipeline robot arises at the historic moment.Pipeline robot will carry out operation in pipeline, at first will solve the advance problem of robot in pipeline.Because the constraint of tube wall, make in the pipeline space narrow and small, the inner space is hidden, pipeline robot how vertically, crooked, advancing in the lateral arranged, generally believed it is an insoluble problem of pipeline robot.Prior art has also proposed various settling modes at this difficult point specially.It as the patent No. walking mechanism that the patent of invention of 200710035846.9 by name " crawling type micro pipeline robot " has just proposed a kind of pipeline robot that combines by supporting part and flexible part.Such structure can move in pipeline, but this device need be installed 3 motors, and supporting part need be pressed on the inner-walls of duct by the pressure that motor provides, and fixes by frictional force, add Electric Machine Control aspect demand, the cost of whole system has also improved relatively.In addition, pipeline robot weight of the prior art is big, and complex structure, cost are also higher, makes invested in plant production bring difficulty.
The model utility content
The purpose of this utility model is to provide a kind of moving device that utilizes the pipeline robot that self-locking realizes and advancing, this device only needs a motor, utilize mechanism's locking phenomenon, make robot can be in level, vertically, advance in the pipeline of form such as bending, and make this robot certain adaptability be arranged to the pipeline of different tube diameters, different cross section.
For addressing the above problem, the utility model is to be achieved through the following technical solutions: a kind of walking mechanism of the pipeline robot that utilizes self-locking to finish to advance, comprise by having the preceding supporting mechanism that the bindiny mechanism that connects spring connects successively, intermediate transmission mechanism, back supporting mechanism, supporting mechanism and back supporting mechanism are umbrella-shaped structure before described, comprise the adjusting screw mandrel, and be actively socketed on the travel(l)ing rest dish regulated on the screw mandrel and be fixed on the fixed support dish of regulating on the screw mandrel by 1 pair of nut by nut and spring, the travel(l)ing rest disk activity is connected with some short struts, the fixed support disk activity is connected with the main support rod of corresponding short strut quantity, short strut is movably connected in the main support rod middle part, the main support rod end is connected with branch pole, divide friction ball and upper saw pulley that symmetry is installed in the branch of pole, regulate also to be provided with on the screw mandrel and be used for the bindiny mechanism that is connected with intermediate transmission mechanism.
Preferably, with respect to direct of travel, the upper saw pulley of being installed on the pole in described minute is preceding, friction ball after.Such structure can make friction ball play the reverse slip of prevention overall structure with respect to direct of travel, especially plays anti-skidding effect in the process of vertically climbing, and has guaranteed the stable of system.
Preferably, flexibly connect mutually by Assembly of pin between described travel(l)ing rest dish, short strut, fixed support dish, the main support rod.Assembly of pin is simple in structure, uses reliably, is applicable to this.
Preferably, described short strut and main support rod quantity are 4.Short strut under the quantity and the main support rod pipeline that is useful in multiple sectional shape like this.
Preferably, the bindiny mechanism of described preceding supporting mechanism is the T-shaped slide block.Owing to adopted the T-shaped slide block, at the pipeline turning, preceding supporting mechanism can be an angle with intermediate transmission mechanism advances, and makes things convenient for whole system to turn over curved less than 90 °.
Preferably, the bindiny mechanism of described back supporting mechanism is a fixed base.
Preferably, described intermediate transmission mechanism is by being movably connected in the shrinking structure that connecting rod one, connecting rod two, connecting rod three that parallelogram links together are formed that is crossed as that drives on the screw mandrel, and the motor that is fixed on the motor bearing is formed, connecting rod one is connected in the bindiny mechanism of preceding supporting mechanism, connecting rod three is connected in the bindiny mechanism of back supporting mechanism, and motor connects the driving screw mandrel.Such bar linkage structure can drive the shrinking structure of screw mandrel drive link one, connecting rod two, connecting rod three compositions by driven by motor, and shrinking structure drives supporting mechanism and advances.
Preferably, the length of described connecting rod one is longer than the length of connecting rod three.She Ji advantage is to make the distance maximization of at every turn advancing like this, and shortens the length of screw mandrel, has improved mechanical efficiency.
Compared with prior art, the utility model is a kind of to utilize self-locking to realize that the advantage of the moving device of the pipeline robot of advancing is: the utility model only needs a motor, utilize the effect of contraction of pipeline, utilize self-locking to finish robot advancing in pipeline internal objects.Preceding supporting mechanism and back supporting mechanism all have the automatic regulatory function under manual tune and the spring action, make robot to the pipeline of different-diameter certain adaptability be arranged.Robot can advance in level, bending, vertical pipeline, also can adapt to square, circular, rectangular cross-section pipeline, and can guarantee can not skid in traveling process.Utilize the automatic regulatory function of robot and, can make robot can adapt to the variation within the specific limits of pipeline section size the manual tune of robot.Do not need to be provided with motor on the supporting part simultaneously, simplify the structure, reduced the overall weight of robot, reduced cost yet.
Description of drawings
The utility model is described in further detail below in conjunction with accompanying drawing:
Fig. 1 utilizes self-locking to realize the structural representation of the walking mechanism of the pipeline robot advance for the utility model is a kind of;
Fig. 2 utilizes self-locking to realize the walking mechanism motion schematic representation of the pipeline robot advance for the utility model is a kind of;
Fig. 3 for a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance before supporting structure self-lock mechanism figure when moving upward.
Fig. 4 for a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance before supporting structure self-lock mechanism figure fixedly the time.
Fig. 5 utilizes self-locking to realize the walking mechanism overall structure schematic representation of the pipeline robot advance for the utility model is a kind of;
Fig. 6 is a kind of adaptability schematic representation that utilizes the walking mechanism of the pipeline robot that self-locking realizes and to advance to the different cross section pipeline.
Embodiment
Relating to a kind of walking mechanism of the pipeline robot that self-locking realizes and to advance that utilizes as Fig. 1, the utility model shown in Figure 5 is made up of three parts, comprise by having preceding supporting mechanism 14, intermediate transmission mechanism 4, the back supporting mechanism 15 that the bindiny mechanism that connects spring 11 connects successively, because connecting spring 11 can be crooked, so whole walking mechanism can be bent to less than 90 °, make the robot can be by less than 90 ° crooked pipeline.
Supporting mechanism 14 and back supporting mechanism 15 are umbrella-shaped structure before described, comprise and regulate screw mandrel 1, and be actively socketed on the travel(l)ing rest dish 41 regulated on the screw mandrel 1 and be fixed on the fixed support dish of regulating on the screw mandrel 1 42 by 1 pair of nut 2 by nut 2 and spring 3, travel(l)ing rest dish 41 is connected with some short struts 6, fixed support dish 42 is connected with the main support rod 9 of corresponding short strut 6 quantity, short strut 6 is movably connected in main support rod 9 middle parts, main support rod 9 ends are connected with branch pole 8, divide friction ball 7 and upper saw pulley 10 that symmetry is installed in the branch of pole 8, regulate also to be provided with on the screw mandrel 1 and be used for the bindiny mechanism that is connected with intermediate transmission mechanism 4.
Shown in motor 19 drive and drive screw mandrels 22 and rotate, thereby drive moving of feed screw nut, nut moves the mechanism of the parallelogram that drive is made of connecting rod 1, connecting rod 2 17, connecting rod 3 20, during the clockwise and anticlockwise of motor 19, realizes the elongation and the contraction of parallel-crank mechanism respectively; Because self-locking mechanism can only unidirectionally move, supporting mechanism 14 moves forward before promoting during the parallel mechanism elongation, when parallel mechanism shrinks, back supporting mechanism 15 is drawn in forward, thereby finishes the action of advancing of robot.
The self-lock mechanism of mechanism such as Fig. 3, shown in 4, with respect to the postive direction of advancing, the upper saw pulley of being installed on the pole 8 in described minute 10 is preceding, friction ball 7 after, form a self-locking mechanism like this, the self-locking mechanism principle is as follows: when supporting structure 14 is to positive movement before making under the effect of intermediate transmission mechanism 4, friction ball 7 is subjected to downward frictional force action, fixed support dish 42 will connect spring 11 compressions, main support rod 9 rotates to the direction of regulating screw mandrel 1 around the two ends of fixed support dish 42, distance between the branch pole 8 on several like this main support rods 9 shortens, friction ball 7 and upper saw pulley 10 reduce with the positive pressure of inner-walls of duct, friction reduction between supporting mechanism 14 and the tube wall can travel forward smoothly like this.And as shown in Figure 4, current supporting mechanism 14 puts in place, and in the time of need taking up back supporting mechanism 15 by intermediate transmission mechanism 4, supporting mechanism 14 is maintained fixed the position before needing in pipeline.When current supporting mechanism 14 has backward motion trend, as shown in Figure 4, before the suffered frictional force of supporting mechanism 14 opposite with direction shown in Figure 3, cause the distance between the branch pole 8 on several main support rods 9 that increase tendency is arranged, thereby increase the positive pressure between friction ball 7 and inner tube wall, frictional force is strengthened, make the mechanism can not backward motion, realized a kind of self-locking that utilizes the walking mechanism of the pipeline robot that self-locking realizes and advancing of the utility model.Mechanism can guarantee the one-way of robot activity in pipeline like this.
Flexibly connect mutually by Assembly of pin 5 between described travel(l)ing rest dish 41, short strut 6, fixed support dish 42, the main support rod 9, such connection is simple and reliable.Described short strut 6 and main support rod 9 quantity are 4, are adapted at operation in the different pipelines.The bindiny mechanism of supporting mechanism 14 is a T-shaped slide block 13 before described, convenient operation in the pipeline of bending.The bindiny mechanism of described back supporting mechanism 15 is a fixed base 21.Adopt robot of the present utility model can adaptation level, bending, pipeline such as vertical; Can adapt to square, circular, rectangular cross-section pipeline; Utilize manual, automatic regulatory function, can make robot can adapt to line size variation within the specific limits.
Described intermediate transmission mechanism 4 is by being movably connected in the shrinking structure that connecting rod 1, connecting rod 2 17, connecting rod 3 20 that parallelogram links together are formed that is crossed as that drives on the screw mandrel 22, and the motor 19 that is fixed on the motor bearing 18 is formed, connecting rod 1 is connected in the bindiny mechanism of preceding supporting mechanism 14, connecting rod 3 20 is connected in the bindiny mechanism of back supporting mechanism 15, and motor 19 connects driving screw mandrel 22.The length of described connecting rod 1 is longer than the length of connecting rod 3 20.
Adjusting nut 2, changing appears in the stretching degree of supporting mechanism 14 and back supporting mechanism 15 before can making, under the effect of the tension force of spring 3, supporting mechanism 14 and back supporting mechanism 15 can adapt to the variation of caliber automatically before making, so the utility model can be manually or adapt to caliber variation within the specific limits automatically;
To sum up, the utility model is a kind of to be utilized self-locking to realize that the walking mechanism of the pipeline robot of advancing travels forward to be in elongation state from the shrinking structure of middle driving mechanism 4, one-period can be decomposed into following six actions: promptly back supporting structure 15 is as shown in Figure 2 shunk, the shrinking structure of intermediate transmission mechanism 4 shrinks, back supporting structure 15 is opened, preceding supporting structure 14 is shunk, and the shrinking structure of intermediate transmission mechanism 4 opens this six actions.Six actions form one-periods, and the repeating of a plurality of cycles makes robot finish forward motion.Because whole action is driven by a motor 19, simplifies the structure, reduce cost, and do not needed extra control circuit, be fit to mass production.
The above only is the concrete enforcement of the utility model the best, but structure characteristic of the present utility model is not limited thereto, any those skilled in the art is in field of the present utility model, and variation of being done or modification all are encompassed among the claim of the present utility model.
Claims (8)
1. the walking mechanism of a pipeline robot that utilizes self-locking to finish to advance, comprise the preceding supporting mechanism (14) that connects successively by the bindiny mechanism that has connection spring (11), intermediate transmission mechanism (4), back supporting mechanism (15), it is characterized in that, supporting mechanism (14) and back supporting mechanism (15) are umbrella-shaped structure before described, comprise and regulate screw mandrel (1), and be actively socketed on the travel(l)ing rest dish (41) regulated on the screw mandrel (1) and be fixed on fixed support dish (42) on the adjusting screw mandrel (1) by 1 pair of nut (2) by nut (2) and spring (3), travel(l)ing rest dish (41) is connected with some short struts (6), fixed support dish (42) is connected with the main support rod (9) of corresponding short strut (6) quantity, short strut (6) is movably connected in main support rod (9) middle part, main support rod (9) end is connected with branch pole (8), divide friction ball (7) and upper saw pulley (10) that symmetry is installed in the branch of pole (8), also be provided with on the adjusting screw mandrel (1) and be used for the bindiny mechanism that is connected with intermediate transmission mechanism (4).
2. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, with respect to direct of travel, the upper saw pulley of being installed on pole (8) in described minute (10) is preceding, friction ball (7) after.
3. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1, it is characterized in that, flexibly connect mutually by Assembly of pin (5) between described travel(l)ing rest dish (41), short strut (6), fixed support dish (42), the main support rod (9).
4. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that described short strut (6) and main support rod (9) quantity are 4.
5. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, described before the bindiny mechanism of supporting mechanism (14) be T-shaped slide block (13).
6. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, the bindiny mechanism of described back supporting mechanism (15) is fixed base (21).
7. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1, it is characterized in that, described intermediate transmission mechanism (4) is by being movably connected in the connecting rod one (16) that parallelogram links together that is crossed as that drives on the screw mandrel (22), connecting rod two (17), the shrinking structure that connecting rod three (20) is formed, and the motor (19) that is fixed on the motor bearing (18) is formed, connecting rod one (16) is connected in the bindiny mechanism of preceding supporting mechanism (14), connecting rod three (20) is connected in the bindiny mechanism of back supporting mechanism (15), and motor (19) connects driving screw mandrel (22).
8. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 7 is characterized in that the length of described connecting rod one (16) is longer than the length of connecting rod three (20).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201556337U CN201696807U (en) | 2010-04-02 | 2010-04-02 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
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| CN2010201556337U CN201696807U (en) | 2010-04-02 | 2010-04-02 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
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| CN2010201556337U Expired - Lifetime CN201696807U (en) | 2010-04-02 | 2010-04-02 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101818842A (en) * | 2010-04-02 | 2010-09-01 | 浙江师范大学 | Pipeline robot walking mechanism realizing walking by using self-locking |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102691853A (en) * | 2012-05-23 | 2012-09-26 | 浙江工业大学 | Pneumatic pipeline internal traveling device |
| CN103047511A (en) * | 2013-01-07 | 2013-04-17 | 梁亚 | Traveling device in pipeline |
| CN103307408A (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic peristaltic pipeline running mechanism and control method thereof |
| CN103383019A (en) * | 2013-08-10 | 2013-11-06 | 北华航天工业学院 | Adaptive three-point umbrella pipeline inner wall supporting device |
| CN103759095A (en) * | 2014-02-12 | 2014-04-30 | 滨州学院 | Device capable of walking freely in pipeline |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN105570609A (en) * | 2016-01-29 | 2016-05-11 | 中北大学 | Six-wheel supported type self-adaptation creeping device in pipeline |
| CN106764244A (en) * | 2017-01-11 | 2017-05-31 | 扬州大学 | A kind of magnetic suspension pipe robot |
| CN107061926A (en) * | 2017-05-25 | 2017-08-18 | 哈尔滨工程大学 | Detection robot in a kind of push-and-pull self-locking pipeline |
| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN108548047A (en) * | 2018-04-27 | 2018-09-18 | 天津大学 | A kind of wheeled pipe robot transfer |
| CN112097008A (en) * | 2020-09-16 | 2020-12-18 | 西南石油大学 | Lining composite pipe shape-modifying robot |
| CN113788315A (en) * | 2021-09-01 | 2021-12-14 | 江苏昱博自动化设备有限公司 | Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used |
| CN113883359A (en) * | 2021-08-23 | 2022-01-04 | 武汉工程大学 | Self-adaptive crawler pipeline robot climbing device and control method |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
-
2010
- 2010-04-02 CN CN2010201556337U patent/CN201696807U/en not_active Expired - Lifetime
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101818842A (en) * | 2010-04-02 | 2010-09-01 | 浙江师范大学 | Pipeline robot walking mechanism realizing walking by using self-locking |
| CN101818842B (en) * | 2010-04-02 | 2011-09-21 | 浙江师范大学 | Pipeline robot walking mechanism realizing walking by using self-locking |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102506266B (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN103307408A (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic peristaltic pipeline running mechanism and control method thereof |
| CN102691853A (en) * | 2012-05-23 | 2012-09-26 | 浙江工业大学 | Pneumatic pipeline internal traveling device |
| CN103047511A (en) * | 2013-01-07 | 2013-04-17 | 梁亚 | Traveling device in pipeline |
| CN103383019A (en) * | 2013-08-10 | 2013-11-06 | 北华航天工业学院 | Adaptive three-point umbrella pipeline inner wall supporting device |
| CN103383019B (en) * | 2013-08-10 | 2015-10-07 | 北华航天工业学院 | Self adaption 3 umbrella-type inner-walls of duct bearing devices |
| CN103759095A (en) * | 2014-02-12 | 2014-04-30 | 滨州学院 | Device capable of walking freely in pipeline |
| CN103759095B (en) * | 2014-02-12 | 2015-10-21 | 滨州学院 | A kind of device freely can walked in pipeline |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN105570609A (en) * | 2016-01-29 | 2016-05-11 | 中北大学 | Six-wheel supported type self-adaptation creeping device in pipeline |
| CN106764244A (en) * | 2017-01-11 | 2017-05-31 | 扬州大学 | A kind of magnetic suspension pipe robot |
| CN106764244B (en) * | 2017-01-11 | 2018-10-30 | 扬州大学 | A kind of magnetic suspension pipe robot |
| CN107061926A (en) * | 2017-05-25 | 2017-08-18 | 哈尔滨工程大学 | Detection robot in a kind of push-and-pull self-locking pipeline |
| CN107061926B (en) * | 2017-05-25 | 2019-07-16 | 哈尔滨工程大学 | A kind of push-and-pull self-locking pipeline is interior to detect robot |
| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN108548047A (en) * | 2018-04-27 | 2018-09-18 | 天津大学 | A kind of wheeled pipe robot transfer |
| CN112097008A (en) * | 2020-09-16 | 2020-12-18 | 西南石油大学 | Lining composite pipe shape-modifying robot |
| CN112097008B (en) * | 2020-09-16 | 2022-01-25 | 西南石油大学 | Lining composite pipe shape-modifying robot |
| CN113883359A (en) * | 2021-08-23 | 2022-01-04 | 武汉工程大学 | Self-adaptive crawler pipeline robot climbing device and control method |
| CN113788315A (en) * | 2021-09-01 | 2021-12-14 | 江苏昱博自动化设备有限公司 | Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used |
| CN113788315B (en) * | 2021-09-01 | 2022-08-26 | 江苏昱博自动化设备有限公司 | Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110105 Effective date of abandoning: 20110921 |