CN201902765U - Driving mechanism of pipeline robot - Google Patents
Driving mechanism of pipeline robot Download PDFInfo
- Publication number
- CN201902765U CN201902765U CN2010206782758U CN201020678275U CN201902765U CN 201902765 U CN201902765 U CN 201902765U CN 2010206782758 U CN2010206782758 U CN 2010206782758U CN 201020678275 U CN201020678275 U CN 201020678275U CN 201902765 U CN201902765 U CN 201902765U
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- roller
- rear portion
- frame
- articulating point
- pipeline
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Abstract
A driving mechanism of a pipeline robot comprises a front frame and a rear frame, which are both arranged in the pipeline and connected through a universal joint, wherein a frame cylinder arranged in the center of the pipeline and three groups of traveling mechanisms only capable of one-way moving and hinged on the circumference of the frame cylinder and distributed through mutually forming an angle of 120 DEG are arranged on both the front and the rear frames respectively; an air cylinder is fixed in the rear frame and fixedly connected with a motor in the rear frame cylinder through a crank connecting rod mechanism, and the outer end of a cylinder piston rod is connected with the universal joint; and a first hinge point and a second hinge point are not on the same plane, while a third hinge point and a fourth hinge point are not on the same plane, either. The driving mechanism of the pipeline robot is most remarkably characterized in that the driving mechanism of the pipeline robot is suitable for the operation of the straight pipelines and bent pipelines with different diameters, and has the characteristics of simple structure, novel design, highly stable movement and low cost.
Description
Technical field:
The utility model relates to the robot field, be a kind ofly can not directly enter the pipeline of its operation, use robot sensor installation and operating machine thereon, as mechanism hand, spray gun, welding gun, brush etc. to the people, operation in pipeline realizes the detection and the maintenance of pipeline.
Background technique:
Pipeline robot 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 important working tool.But existing pipeline robot still has many deficiencies, and for example existing brush robot can only operation in the fixed diameter pipeline, when pipe diameter changes, owing to the increase of frictional force or reduce, might be that robot is stuck in pipeline, cisco unity malfunction; 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 pipeline robot driving mechanism that can move in bend pipe.
The technical scheme in the invention for solving the technical problem is:
A kind of pipeline robot driving mechanism is characterized in that: it is made up of anterior frame that all is positioned at pipeline and rear portion frame, and anterior frame is connected by universal joint with the rear portion frame;
Described anterior frame comprise the anterior frame tube that is positioned at pipeline center and be hinged on arrange with 120 degree on the frame tube excircle three groups can only unidirectional movement anterior walking structure, described anterior walking structure comprises free rolling first roller and has second roller of single direction ratchet; First roller connects the first roller pole, and second roller connects the second roller pole, and the first roller pole is longer than the second roller pole; The first roller pole is connected on second articulating point after by the first spring strut inner chamber and second spring, and the second roller pole is connected on first articulating point after by the second spring strut inner chamber and first spring; First spring strut and the second spring strut outer wall are provided with anterior articulating point; The fixedly connected push rod of anterior frame tube, described push rod is connected with universal joint;
Described rear portion frame comprise the rear portion frame tube that is positioned at pipeline center and be hinged on arrange with 120 degree on the frame tube excircle three groups can only unidirectional movement the rear portion walking structure, described rear portion walking structure comprises free rolling the 4th roller and has the 3rd roller of single direction ratchet; The 3rd roller connects the 3rd roller pole, and the 4th roller connects the 4th roller pole, and the 4th roller pole is longer than the 3rd roller pole; The 3rd roller pole is connected on the 4th articulating point after by the 3rd spring strut inner chamber and the 3rd spring, and the 4th roller pole is connected on the 3rd articulating point after by the 4th spring strut inner chamber and the 4th spring; The 3rd spring strut and the 4th spring strut outer wall are provided with the rear portion articulating point; Rear portion frame tube internal fixation has cylinder, and described cylinder is fastened on motor in the frame tube of rear portion by connecting rod, and described cylinder piston rod outer end is connected with universal joint;
Described first articulating point and second articulating point be not in same plane, and described the 3rd articulating point and the 4th articulating point be not also in same plane.
The beneficial effects of the utility model are: the pipeline robot driving mechanism can adapt to the straight pipeline of different-diameter and the work in the curved pipe, this is the most outstanding characteristics, also have simultaneously simple in structure, modern design, robust motion is good, and lower-cost characteristics.
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;
Among the figure: 1 anterior frame, 2 rear portion frames, 3 universal joints, 4 cylinders, 5 piston rods, 6 push rods, 7 pipelines, 8 motors, 9 connecting rods, 101 first rollers, 102 second rollers, 103 first roller poles, 104 second roller poles, 105 first springs, 106 second springs, 107 first spring struts, 108 second spring struts, 109 anterior articulating points, 110 first articulating points, 111 second articulating points, 201 the 3rd rollers, 202 the 4th rollers, 203 the 3rd roller poles, 204 the 4th roller poles, 205 the 3rd springs, 206 the 4th springs, 207 the 3rd spring struts, 208 the 4th spring struts, 209 rear portion articulating points, 210 the 3rd articulating points, 211 the 4th articulating points.
Embodiment
As Fig. 1, this kind pipeline robot driving mechanism, it is made up of anterior frame 1 that all is positioned at pipeline 7 and rear portion frame 2, and anterior frame is connected by universal joint 3 with the rear portion frame.
Anterior frame 1 comprise the anterior frame tube that is positioned at pipeline center and be hinged on arrange with 120 degree on the frame tube excircle three groups can only unidirectional movement anterior walking structure, described anterior walking structure comprises free rolling first roller 101 and has second roller 102 of single direction ratchet; First roller 101 connects the first roller pole, 103, the second rollers 102 and connects the second roller pole, 104, the first roller poles, 103 to the second roller poles, 104 length; The first roller pole 103 is connected on second articulating point 111 after by first spring strut, 107 inner chambers and second spring 106, and the second roller pole 104 is connected on first articulating point 110 after by second spring strut, 108 inner chambers and first spring 105; First spring strut 107 and second spring strut, 108 outer walls are provided with anterior articulating point 109; The fixedly connected push rod 6 of anterior frame tube, described push rod 6 is connected with universal joint 3.
First articulating point 110 and second articulating point 111 be not in same plane, and described the 3rd articulating point 210 and the 4th articulating point 211 be not also in same plane.
One one-way fashion ratchet is installed on its roller shaft when second roller 102 is connected with the 3rd roller 201, make roller can only folk prescription to square rolling.Each spring is fixed on corresponding frame tube and the spring strut, is Returnning spring.
When motor 8 drives piston rod 5 rotations, rotatablely moving of motor changed into the linear reciprocating motion of piston by connecting rod 9; If piston moves from left to right, anterior frame 1 is subjected to pulling force backward, and according to active force and reaction force, rear portion frame 2 will be subjected to pulling force forward; Because second roller 102 is owing to the effect of ratchet can only be rolled forward, maintain static under frictional force action, robot first half roller all can not roll, and then the roller of rear portion frame can roll, can only travel forward under tension, move distance is a stroke distances of piston.When piston motion behind low order end, will be oppositely to left movement, 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, at this moment latter half of roller maintains static owing to frictional force, and first half can only travel forward under thrust, has so just realized that robot moves forward by intermittent movement in pipeline.
Be in operation if pipe diameter changes, then the positive pressure of tube wall pair roller also changes; Therefore when running into the reducing of pipe diameter, each roller inwardly compresses, angle between each roller pole and the pipe centerline is diminished, also change and compress corresponding spring simultaneously, reduce with the sudden change that adapts to pipe diameter at two hinged spring strut angles.In like manner, when the change that runs into pipe diameter is big, opposite with said process.
When in crooked pipeline, moving,, realize the motion of robot in bend pipe as Fig. 2 owing to allow the principle of certain angle between the antero posterior axis of universal joint.The position of universal joint will guarantee it in frame central position, rear portion, in order to avoid the power of disalignment deflects gantry motion.
As the force analysis of Fig. 1, thereby being to reduce a angle, the roller pole purpose of design that one is long and the other is short make positive pressure Fy increase frictional force, to prevent the skidding reliability of increase motion in roller and the pipeline.
Because first articulating point 110 and second articulating point 111 be not in same plane, described the 3rd articulating point 210 and the 4th articulating point 211 be not also in same plane.Therefore, still be the rear portion frame no matter for anterior frame, its three groups of six rollers, so just are equivalent to roller at six some frames tubes, thereby have increased mechanism stability also not in same plane at the strong point on the frame tube.
Claims (1)
1. pipeline robot driving mechanism, it is characterized in that: it is made up of anterior frame that all is positioned at pipeline and rear portion frame, and anterior frame is connected by universal joint with the rear portion frame;
Described anterior frame comprise the anterior frame tube that is positioned at pipeline center and be hinged on arrange with 120 degree on the frame tube excircle three groups can only unidirectional movement anterior walking structure, described anterior walking structure comprises free rolling first roller and has second roller of single direction ratchet; First roller connects the first roller pole, and second roller connects the second roller pole, and the first roller pole is longer than the second roller pole; The first roller pole is connected on second articulating point after by the first spring strut inner chamber and second spring, and the second roller pole is connected on first articulating point after by the second spring strut inner chamber and first spring; First spring strut and the second spring strut outer wall are provided with anterior articulating point; The fixedly connected push rod of anterior frame tube, described push rod is connected with universal joint;
Described rear portion frame comprise the rear portion frame tube that is positioned at pipeline center and be hinged on arrange with 120 degree on the frame tube excircle three groups can only unidirectional movement the rear portion walking structure, described rear portion walking structure comprises free rolling the 4th roller and has the 3rd roller of single direction ratchet; The 3rd roller connects the 3rd roller pole, and the 4th roller connects the 4th roller pole, and the 4th roller pole is longer than the 3rd roller pole; The 3rd roller pole is connected on the 4th articulating point after by the 3rd spring strut inner chamber and the 3rd spring, and the 4th roller pole is connected on the 3rd articulating point after by the 4th spring strut inner chamber and the 4th spring; The 3rd spring strut and the 4th spring strut outer wall are provided with the rear portion articulating point; Rear portion frame tube internal fixation has cylinder, and described cylinder is fastened on motor in the frame tube of rear portion by connecting rod, and described cylinder piston rod outer end is connected with universal joint;
Described first articulating point and second articulating point be not in same plane, and described the 3rd articulating point and the 4th articulating point be not also in same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206782758U CN201902765U (en) | 2010-12-24 | 2010-12-24 | Driving mechanism of pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206782758U CN201902765U (en) | 2010-12-24 | 2010-12-24 | Driving mechanism of pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201902765U true CN201902765U (en) | 2011-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206782758U Expired - Lifetime CN201902765U (en) | 2010-12-24 | 2010-12-24 | Driving mechanism of pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201902765U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102032417A (en) * | 2010-12-24 | 2011-04-27 | 张龙 | Pipeline robot driving mechanism |
| CN103244790A (en) * | 2013-04-28 | 2013-08-14 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN104763857A (en) * | 2015-03-24 | 2015-07-08 | 浙江水利水电学院 | Cross structural potential risk detection pipeline robot for reservoir culvert pipe |
| CN105415383A (en) * | 2015-12-23 | 2016-03-23 | 国家电网公司 | Checking and assessment robot in electric pipeline and assessment method |
| CN105465549A (en) * | 2016-01-25 | 2016-04-06 | 李超 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
-
2010
- 2010-12-24 CN CN2010206782758U patent/CN201902765U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102032417A (en) * | 2010-12-24 | 2011-04-27 | 张龙 | Pipeline robot driving mechanism |
| CN103244790A (en) * | 2013-04-28 | 2013-08-14 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103244790B (en) * | 2013-04-28 | 2014-12-10 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN104763857A (en) * | 2015-03-24 | 2015-07-08 | 浙江水利水电学院 | Cross structural potential risk detection pipeline robot for reservoir culvert pipe |
| CN105415383A (en) * | 2015-12-23 | 2016-03-23 | 国家电网公司 | Checking and assessment robot in electric pipeline and assessment method |
| CN105465549A (en) * | 2016-01-25 | 2016-04-06 | 李超 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN107990085B (en) * | 2017-12-29 | 2023-11-03 | 南京工程学院 | Multi-gesture variable-diameter pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110720 Effective date of abandoning: 20120606 |