CN202252615U - Creeping type robot for pipeline inspection - Google Patents

Creeping type robot for pipeline inspection Download PDF

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Publication number
CN202252615U
CN202252615U CN2011204034507U CN201120403450U CN202252615U CN 202252615 U CN202252615 U CN 202252615U CN 2011204034507 U CN2011204034507 U CN 2011204034507U CN 201120403450 U CN201120403450 U CN 201120403450U CN 202252615 U CN202252615 U CN 202252615U
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CN
China
Prior art keywords
guide
supporting wheels
driving
creeping
robot
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN2011204034507U
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Chinese (zh)
Inventor
张卫珠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NINGBO LIJIANG MACHINERY MANUFACTURING Co Ltd
Original Assignee
NINGBO LIJIANG MACHINERY MANUFACTURING Co Ltd
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Priority to CN2011204034507U priority Critical patent/CN202252615U/en
Application granted granted Critical
Publication of CN202252615U publication Critical patent/CN202252615U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model discloses a creeping type robot for pipeline inspection, which comprises a guide mechanism, a creeping push mechanism and an extensible driving device arranged between the guide mechanism and the creeping push mechanism. The guide mechanism and the creeping push mechanism are respectively connected with the extensible driving device through universal joints. The creeping push mechanism comprises a tensioning rod, a spiral support and support wheel sets, the tensioning rod is connected with the universal joints, the spiral support is sleeved outside the tensioning rod, the support wheel sets are peripherally and evenly distributed along the spiral support and connected with support wheel group support rods, the support wheel group support rods penetrate through guide holes to be contacted with conical sections arranged on the tensioning rod, the guide mechanism and the creeping push mechanism have the same structure and installation direction. The creeping type robot for the pipeline inspection has the advantages of high load capacity, strong adaption capacity of pipe diameter change and strong through capacity of bends.

Description

The creeping type detecting robot of pipe
Technical field
The utility model relates to a kind of robot that is used for pipe detection.
Background technique
In current society, various pipelines have obtained using widely in every field.In these pipeline using processs, just need detect, to ensure pipe-line system safety, unimpeded and efficient operation it.But the residing environment of pipeline, 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 pipeline, 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.
Occurred one type of robot that is used for pipeline operations at present, it can replace the people to get into pipeline detecting and keep in repair, reduced the scrappage of pipeline.But these some defectives of robotlike's ubiquity: physical dimension is difficult for reducing, and adapts to the ability that caliber changes, and is bad in the passing ability at bend pipe, U-shaped pipe place.
The model utility content
The technical problem that (one) will solve
It is little that the technical problem that the utility model will solve provides a kind of physical dimension, and it is strong that caliber changes adaptive capacity, and at bend pipe, creeping type detecting robot of pipe that U-shaped pipe passing capacity is strong.
(2) technological scheme
For solving the problems of the technologies described above, the utility model discloses a kind of creeping type detecting robot of pipe, this robot comprises guide mechanism, wriggling driving mechanism and retractable driving device.The wriggling driving mechanism comprises nutted rod, is the spiral bearing of sleeve shape and at least three groups supporting wheels of circumferentially evenly arranging along the spiral bearing; Nutted rod links to each other with retractable driving device through universal joint; The spiral branches cover for seat is located at outside the nutted rod; The supporting wheels are connected with supporting wheels pole, and supporting wheels pole is passed pilot hole and contacted with nutted rod.Retractable driving device is made up of pedestal, motor, retainer and nut frame; Pedestal links to each other with guide mechanism through universal joint, and the motor afterbody is installed on the pedestal, and retainer is fixed in the motor front end; And be placed on the output shaft of motor; Also be provided with a cell body on the retainer, the nut frame is slidedly arranged in the cell body, and the output shaft of motor is provided with thread section; And be connected with the nut frame through thread section, the nut frame passes through universal joint and links to each other with nutted rod.Guide mechanism is identical with the structure of wriggling driving mechanism, and installation direction is identical.
As a kind of optimal way of the utility model, nutted rod is provided with conical section with supporting wheels pole contact segment; Nutted rod also is provided with thread section, and thread section links to each other with the conical section miner diameter end, and the end near universal joint on the thread section is equiped with tensioning nut, is provided with pressure spring between tensioning nut and the spiral bearing.
(3) beneficial effect
The prestressing design of the conical section structural design of the multi-freedom degree design of supporting wheels, nutted rod and pressure spring in the detecting robot of pipe of the utility model; Make guide mechanism and wriggling driving 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 pipeline robot to complicated pipeline; And the robot radial dimension is reduced, be more suitable in microtubule, working.
Description of drawings
Fig. 1 is the structural representation of the creeping type detecting robot of pipe of the utility model.
Fig. 2 is the perspective view of the creeping type detecting robot of pipe of the utility model.
Fig. 3 is the structure for amplifying schematic representation of the wriggling driving mechanism of the utility model.
Fig. 4 is the B-B cross section view of Fig. 3.
Fig. 5 is the perspective view of wriggling driving mechanism.
Fig. 6 is the structural representation after the wriggling driving mechanism is removed the supporting wheels.
Fig. 7 is the structure for amplifying schematic representation of guide mechanism.
Fig. 8 is the structure for amplifying schematic representation of retractable driving device.
Fig. 9 is the perspective view of retractable driving device.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but can not be used for limiting the scope of the utility model.
As depicted in figs. 1 and 2; The creeping type detecting robot of pipe of the utility model; Comprise guide mechanism 1, wriggling driving mechanism 2 and retractable driving device 3; Retractable driving device 3 is located between guide mechanism 1 and the wriggling driving mechanism 2, and guide mechanism 1 links to each other with retractable driving device 3 through a universal joint 4 respectively with wriggling driving mechanism 2.Like Fig. 9 and shown in Figure 10, retractable driving device 3 is made up of pedestal 300, motor 301, retainer 302 and nut frame 303, and motor 301 afterbodys are installed on the pedestal 300; Retainer 302 is fixed in motor 301 front ends; And be placed on the output shaft of motor 301, also being provided with a cell body on the retainer 302, nut frame 303 is slidedly arranged in this cell body; The output shaft of motor 301 is provided with thread section, and is connected with nut frame 303 through this thread section.After motor 301 started, nut frame 303 was done the linear telescopic motion only under the constraint of cell body, can not rotate.
To shown in Figure 6, wriggling driving mechanism 2 comprises nutted rod 200, is the spiral bearing 210 of sleeve shape and at least three groups supporting wheels of circumferentially evenly arranging along spiral bearing 210 220 like Fig. 3.In the present embodiment, supporting wheels 220 are provided with three groups, offer chute 211 on the spiral bearing 210 vertically; And radially be provided with and the corresponding pilot hole 212 of each supporting wheels 220; Spiral bearing 210 is sheathed on outside the nutted rod 200, and nutted rod 200 is made up of conical section 201, thread section 202 and slide bar section 203, conical section 201 miner diameter end connecting thread sections 202; Bigger diameter end connects slide bar section 203; Thread section 202 links to each other with the nut frame 303 of retractable driving device 3 through a universal joint 4, and the end near retractable driving device 3 on the thread section 202 is equiped with tensioning nut 230 and compression spring 270, is provided with pressure spring 240 between tensioning nut 230 and the spiral bearing 210; Pressure spring 240 1 ends are through compression spring 270 location; The other end through regulating the position of tensioning nut 230, can be regulated the pre-pressing force size of pressure spring 240 through spiral bearing 210 location.Conical section 201 is positioned at spiral bearing 210 with slide bar section 203; 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; Slide bar section 203 is slidingly matched through the chute 211 of guide finger 204 with spiral bearing 210, when the nut frame 303 of retractable driving device 3 rotates through universal joint 4 drive nutted rods 200, can will rotatablely move through guide finger 204 and pass to whole wriggling driving mechanism 2; Make wriggling driving mechanism 2 in the motion of pipeline internal spiral, thereby drive entire machine people motion.Be arranged with supporting wheels pole 250 in the pilot hole 212 on the spiral bearing 210, supporting wheels pole 250 1 ends link to each other with corresponding supporting wheels 220, and the other end is the bulb shape; And extend in the spiral bearing 210 and conical section 201 contact matching, under the elastic force effect of pressure spring 240, conical section 201 can promote to support wheels pole 250 and stretch vertically; Change the external diameter of wriggling driving mechanism 2, wriggling driving mechanism 2 is stretched in the pipeline, simultaneously; Supporting wheels 220 can obtain the one-movement-freedom-degree of relative spiral bearing 210 along supporting wheels pole 250 axial directions; The wriggling driving mechanism 2 of robot is had become the caliber adaptive capacity preferably, and the contact matching of supporting wheels pole 250 and conical section 201 forms wedge structure, when the robot load increases; Load force is delivered to conical section 201; Under the effect of wedge structure, the positive pressure of 220 pairs of tube walls of supporting wheels is increased, thereby increase the frictional force between supporting wheels 220 and the tube wall; The frictional force of i.e. realization supporting wheels 220 and pipeline enclosure increases with the increase of load; Improve the robot tractive force of advancing, solved the frictional force that is used for drive machines people motion and be difficult for increasing, cause the limited problem of load capacity.Spiral bearing 210 outer being arranged with supporting wheels pole 250 flexible spacing protecting covers 260 can prevent to support wheels pole 250 and break away from spiral bearing 210.Supporting wheels 220 comprise helical wheel rack 221 and two helical wheels 222; Helical wheel rack 221 middle parts are hinged with supporting wheels pole 250 through bearing pin; Helical wheel rack 221 can rotate around bearing pin flexibly; Feasible supporting wheels 220 obtain a rotational freedom around this articulating point, and supporting wheels 220 satisfy the geometry of microtubule robot at bend pipe, U-shaped pipe and change caliber place more easily and pass through condition and kinematic constraint condition under the common support of one-movement-freedom-degree and rotational freedom.
As shown in Figure 7, guide mechanism 1 is identical with the structure of wriggling driving mechanism 2, and installation direction is identical.Slide bar section on the nutted rod in the guide mechanism links to each other with the pedestal 300 of retractable driving device 3 through universal joint 4.
After the creeping type detecting robot of pipe of the utility model starts; By retractable driving device 3 output running torques; Drive 2 rotations of wriggling driving mechanism; Travel forward through the spirals drive robot integral body of supporting wheels 220 along tube wall, guide mechanism 1 play supporting role at the robot the other end, the prestressing design of the multi-freedom degree design of supporting wheels 220, the conical section structural design of nutted rod 200 and pressure spring 240; Make guide mechanism 1 and wriggling driving mechanism 2 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, and the robot radial dimension is reduced, be more suitable in microtubule, working complicated pipeline.
The above is merely the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.

Claims (3)

1. creeping type detecting robot of pipe is characterized in that: this robot comprise guide mechanism (1), wriggling driving mechanism (2) and place said guide mechanism (1) and said wriggling driving mechanism (2) between retractable driving device (3); Said retractable driving device (3) is made up of pedestal (300), motor (301), retainer (302) and nut frame (303); Said pedestal (300) with link to each other with said guide mechanism (1) through universal joint (4); Said motor (301) afterbody is installed on the said pedestal (300), and said retainer (302) is fixed in said motor (301) front end, and is placed on the output shaft of said motor (301); Said retainer also is provided with a cell body on (302); Said nut frame (303) is slidedly arranged in the said cell body, and the output shaft of said motor (301) is provided with thread section, and is connected with said nut frame (303) through said thread section; Said wriggling driving mechanism (2) comprises nutted rod (200), is the spiral bearing (210) of sleeve shape and at least three groups supporting wheels of circumferentially evenly arranging along spiral bearing (210) (220); Said nutted rod (200) links to each other with said nut frame (303) through said universal joint (4); Said spiral bearing (210) is sheathed on outside the said nutted rod (200); Said supporting wheels (220) are connected with supporting wheels poles (250), and said supporting wheels pole (250) is passed pilot hole (212) and contacted with said nutted rod (200).
2. robot according to claim 1 is characterized in that: said nutted rod (200) is provided with conical section (201) with said supporting wheels pole (250) contact segment; Said nutted rod (200) also is provided with thread section (202); Said thread section (202) links to each other with the miner diameter end of said conical section (201); The end that said thread section (202) is gone up near said universal joint (4) is equiped with tensioning nut (230), is provided with pressure spring (240) between said tensioning nut (230) and the said spiral bearing (210).
3. robot according to claim 1 and 2 is characterized in that: said guide mechanism (1) is identical with the structure of said wriggling driving mechanism (2), and installation direction is identical.
CN2011204034507U 2011-10-21 2011-10-21 Creeping type robot for pipeline inspection Withdrawn - After Issue CN202252615U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011204034507U CN202252615U (en) 2011-10-21 2011-10-21 Creeping type robot for pipeline inspection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011204034507U CN202252615U (en) 2011-10-21 2011-10-21 Creeping type robot for pipeline inspection

Publications (1)

Publication Number Publication Date
CN202252615U true CN202252615U (en) 2012-05-30

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Application Number Title Priority Date Filing Date
CN2011204034507U Withdrawn - After Issue CN202252615U (en) 2011-10-21 2011-10-21 Creeping type robot for pipeline inspection

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103574219A (en) * 2012-07-20 2014-02-12 中国石油化工股份有限公司 Feeding and propelling device for pipe internal leakage flux detector
CN106090530A (en) * 2016-08-18 2016-11-09 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN106153542A (en) * 2016-08-31 2016-11-23 南京佳业检测工程有限公司 Tube performance detection device
CN107606383A (en) * 2017-11-01 2018-01-19 齐鲁工业大学 A kind of pneumatic locking type flexibility in-pipe robot of single-acting and its method of work
CN107953348A (en) * 2018-01-04 2018-04-24 大连理工大学 A kind of depth chamber frame rail climbing robot formula automatic machining device and method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103574219A (en) * 2012-07-20 2014-02-12 中国石油化工股份有限公司 Feeding and propelling device for pipe internal leakage flux detector
CN106090530A (en) * 2016-08-18 2016-11-09 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN106090530B (en) * 2016-08-18 2019-07-16 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN106153542A (en) * 2016-08-31 2016-11-23 南京佳业检测工程有限公司 Tube performance detection device
CN106153542B (en) * 2016-08-31 2019-05-17 南京通用化工设备技术研究院 Tube performance detection device
CN107606383A (en) * 2017-11-01 2018-01-19 齐鲁工业大学 A kind of pneumatic locking type flexibility in-pipe robot of single-acting and its method of work
CN107953348A (en) * 2018-01-04 2018-04-24 大连理工大学 A kind of depth chamber frame rail climbing robot formula automatic machining device and method
CN107953348B (en) * 2018-01-04 2020-11-06 大连理工大学 Deep cavity component rail crawling robot type automatic machining device and method

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GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20120530

Effective date of abandoning: 20120810

C20 Patent right or utility model deemed to be abandoned or is abandoned