CN201897039U

CN201897039U - Multifunctional driving mechanism for pipe robot

Info

Publication number: CN201897039U
Application number: CN2010205973014U
Authority: CN
Inventors: 刘成琪; 于复生
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-11-09
Filing date: 2010-11-09
Publication date: 2011-07-13
Anticipated expiration: 2020-11-09

Abstract

The utility model relates to a multifunctional driving mechanism for a pipe robot, which comprises two frames, wherein three roller structures in unidirectional movement are arranged at 120 degrees on the outer circumference in the front of each frame; one of the frames is provided with a motor and a hinge four-rod mechanism; a universal shaft is connected between the two frames; and one end of the universal shaft is welded on the front center of one frame, and the other is articulated with a connecting rod of the four-rod mechanism of the other frame. The multifunctional driving mechanism not only realizes the operation of the robot in a straight pipe, but also realizes the normal operation of the robot in a bent pipe or a reducing pipe.

Description

A kind of multi-functional tube pipeline robot driving mechanism

Technical field

The utility model relates to a kind of pipeline robot driving mechanism, is a kind ofly can not directly enter the pipeline of its operation to the people, uses robot sensor installation and operate machine (as mechanism hand, spray gun, welding gun, brush) thereon.

Background technique

Detecting robot of pipe belongs to a kind of of job that requires special skills robot, and its video detection system provides comparatively advanced and replenishing of using value arranged for current pipe detection mode.Along with the raising of modern industry level, under ground piping, above ground piping, industrial pipeline, civil pipeline are all increasing, but because most of pipelines all can not be by people's direct operation, so pipeline robot becomes a working tool of wanting.But existing pipeline robot still has many deficiencies, and for example existing brush robot can only operation in the fixed diameter pipeline, and to the material requirements of its brush than higher, so increased cost.

The model utility content

At above deficiency, the utility model provides a kind of pipe diameter that can adapt to automatically to change, and the robot driving mechanism that can move in bend pipe.

The utility model is achieved through the following technical solutions:

A kind of multi-functional tube pipeline robot driving mechanism, wrap two frames, on the anterior excircle of each frame with 120 degree arranged three groups can only unidirectional movement roller structure, one of them frame is equipped with motor and four-bar linkage, be provided with cardan shaft between two frames and connect, cardan shaft one end is welded in the frame front in the heart and the rod hinge connection of the other end and another frame fourbar linkage.

Described roller structure comprises two supports that are hinged with frame, two supports link to each other with two roller connecting rods by turning block, two roller connecting rods are a quarter butt and a stock, stock directly is connected with roller, one one-way fashion ratchet when being connected with roller, is installed on its roller shaft by quarter butt, make roller can only folk prescription to square rolling, load onto Returnning spring between frame and the slide block.

Roller energy radial variation adapts to the pipeline of different-diameter; Front and back two-part are connected by cardan shaft, realize curvilinear motion; Ratchet control roller one-way rotation, the driven by motor fourbar linkage is realized the intermittent type reach; Cardan shaft one end is welded in the frame front in the heart and the rod hinge connection of the other end and fourbar linkage will guarantee it in frame central position, rear portion, in order to avoid the motion of the power test-run a machine frame of disalignment deflects; The connection of cardan shaft can realize robot turning in bend pipe.

When the swing of driven by motor fourbar linkage, according to active force and reaction force, the front and rear part will be subjected to two rightabout power, because the roller one-way rotation, make two periodicity near and away from, thereby realized that robot moves forward by intermittent type in pipeline.

Description of drawings

Fig. 1 is the robot schematic representation of walking in straight tube.

Fig. 2 is the robot schematic representation of walking in bend pipe.

Fig. 3 is the position of each expanding pulley on frame.

Fig. 4 is that rolling wheel support, roller and ratchet are arranged schematic representation (being the enlarged view at I place among Fig. 3).

Fig. 5 is that fourbar linkage and frame cooperate schematic representation when motion.

Among the figure: 1 frame, 2 rollers, 3 Returnning springs, 4 connecting rods, 5 and 6 are bar, 7 cardan shafts, 8 turning blocks, 9 shells, 10 stocks, 11 quarter butts, 12 one-way fashion ratchets.

Embodiment

As figure one, on the anterior excircle of frame 1 with 120 degree arranged three groups can only unidirectional movement roller structure, this structure is by two springs 3, two rolling wheel supports (one is long and the other is short), a turning block 8, an one-way fashion ratchet 12 and one group of roller 2 are formed, and two supports are hinged with frame respectively, with putting behind of quarter butt 11; Shown in figure one power is analyzed, thereby can reduce a angle like this and make positive pressure Fy increase frictional force,, increase the reliability of moving to prevent the slip of roller and pipeline enclosure; Pass turning block then respectively, be connected with roller again; Shown in figure four, an one-way fashion ratchet is installed on its roller shaft when quarter butt 11 is connected with roller, make roller can only folk prescription to square rolling; And stock 10 directly is connected with roller; Load onto Returnning spring between frame and slide block, spring must be fixed on frame and the slide block, and the latter half part exterior roller is arranged with anterior identical.Motor and four-bar linkage have been installed as shown in the figure by portion within it, when driven by motor bar 3 rotates, can realize the swing of bar 4; At last front and back two-part are connected with cardan shaft 7, cardan shaft one end is welded on frame 1 front central and the connecting rod 4 in the other end and the fourbar linkage is hinged, and guarantee it in frame central position, rear portion, in order to avoid the power of disalignment deflects gantry motion; The connection of cardan shaft can realize that robot turns to walking in bend pipe.

When driven by motor bar 6 rotated, according to the fourbar linkage motion principle, bar 5 drove bar 4 swings; As figure one, if bar 4 is swung from left to right, the front portion is subjected to pulling force backward, and according to active force and reaction force, the rear portion will have two points to be subjected to driving forwards power; Because roller can only roll forward, robot first half roller and pipeline enclosure are sliding friction, therefore will maintain static, and latter half of because pulling force travels forward, move distance is fork 4 end points swinging distances; After bar 4 moves to low order end, oppositely swing left, at this moment, the robot first half is subjected to thrust forward, and the latter half of active force that is subjected to backward; In like manner, because roller can only roll forward, this is latter half of because frictional force maintains static, and first half has so just realized that robot moves forward by intermittent movement because thrust travels forward in pipeline.

Annotate: 1, one is long and the other is short arranges for two bars of rolling wheel support, because the bar 10 of front end is longer, therefore less with the angle of conduit axis, therefore when running into the reducing of pipe diameter, be easy to stock is inwardly compressed, thereby, increased the angle of two bars by the slide block pressure spring; When diameter increases, slide block is pushed away by Returnning spring; So just realized adapting to the operation of diameter change pipeline.

2, shown in figure four, the

bar

10 and 11 by double-slider is not in same plane, and therefore two rollers so just are equivalent to roller six some frames, thereby have increased mechanism stability not in same plane.

3, as figure five, for avoiding taking place the collision of bar, central locating rod is arranged as shown in the figure on bar 4 in the fourbar linkage and bar 5 and the frame, should make the two bars central locating rod that staggers respectively.

Claims

1. multi-functional tube pipeline robot driving mechanism, comprise two frames, it is characterized in that, on the anterior excircle of each frame with 120 degree arranged three groups can only unidirectional movement roller structure, one of them frame is equipped with motor and four-bar linkage, be provided with cardan shaft between two frames and connect, cardan shaft one end is welded in the frame front in the heart and the rod hinge connection of the other end and another frame fourbar linkage.

2. multi-functional tube pipeline robot driving mechanism according to claim 1, it is characterized in that, described roller structure comprises two supports that are hinged with frame, two supports link to each other with two roller connecting rods by turning block, two roller connecting rods are a quarter butt and a stock, and stock directly is connected with roller, and an one-way fashion ratchet is installed on its roller shaft when quarter butt is connected with roller, make roller can only folk prescription to square rolling, load onto Returnning spring between frame and the slide block.