CN202320572U

CN202320572U - Single-wheel type pipe climbing robot outside pipes

Info

Publication number: CN202320572U
Application number: CN2011203650484U
Authority: CN
Inventors: 赵建建; 樊炳辉; 郑义
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2011-09-06
Filing date: 2011-09-06
Publication date: 2012-07-11
Anticipated expiration: 2021-09-06

Abstract

The utility model discloses a single-wheel type pipe climbing robot outside pipes, and particularly relates to a pipe climbing robot which can pass through a straight pipe, a bent pipe and a cross corner, rotate around a pipeline and be used for pipeline flaw detection and the like. The pipe climbing robot is characterized by comprising a driving device, holding arm devices and parallelism adjusting devices, wherein the driving device is arranged in the middle; the holding arm devices as well as the parallelism adjusting devices are symmetrically arranged on two sides; and the driving device comprises a moving wheel with a built-in motor, a steering mechanism and a basal flat plate for allowing a control device and a flaw detector to be placed on. Owing to the steering mechanism, the pipe climbing robot can move by 360 degrees around the pipeline; the holding arm devices can adjust the lengths of holding arms according to the diameter of the pipeline, so that the pipe climbing robot can firmly move on the pipeline; and owing to the parallelism adjusting devices, the basal flat plate can be parallel to the pipeline on which the robot climbs, and the flaw detector can be placed conveniently for conducting flaw detection operation and the like.

Description

The outer tube climber device people of monocycly pipe

Technical field

The present invention relates to pipe detection field and robot field, especially can pass through straight tube, bend pipe and criss-cross pipeline, and can revolve the outer climbing robot of pipe of three-sixth turn around pipeline.

Background technology

At present, pipe robot in the majority with in managing, outer fewer of pipe, and also the outer climbing robot of pipe is very difficult through bend especially cross bar bend the time.When people to flaw detection outside managing, needs manual work to put up a ladder when especially the higher pipeline of small diameter pipeline and aspect ratio being surveyed and detect, waste time and energy, and some local pipeline is than comparatively dense, the people is difficult to be able to pass, so unusual inconvenience.

Summary of the invention

The problem that the invention will solve is: tube climber device people is difficult to through straight tube, bend pipe and criss-cross pipeline, and revolves three-sixth turn around pipeline.

Its technical solution:

The outer tube climber device people of a kind of monocycly pipe comprises actuating device, level(l)ing device and embraces arm assembly, and the drive wheel of actuating device contacts with pipeline outer wall, and level(l)ing device and armful arm assembly symmetry respectively are installed in the actuating device both sides.

Described actuating device comprises matrix support plate, matrix flat board, steer motor, steer motor gear, track annulus, moving wheel, hub, upward hub, motor anchor clamps upper casing, moving wheel motor, motor anchor clamps lower casing and moving wheel support down; The moving wheel motor is packed in the motor anchor clamps that are made up of motor anchor clamps upper casing and motor anchor clamps lower casing; The motor anchor clamps are installed in the motion hub that is made up of last hub and following hub; Add lubricating oil between motor anchor clamps and the motion hub; The gear teeth that gear and last hub inwall are installed on the moving wheel motor carry out interior engagement, will drive the motion hub during rotation of drive wheel motor and rotate; Motor anchor clamps both sides all have boss to connect with the moving wheel support; Moving wheel supports and is connected on the track of track circle ring inner wall; Be installed in engagement in the gear that gear and moving wheel on the steer motor main shaft on the matrix flat board support top, when steer motor is worked, will make that moving wheel turns to; The matrix support plate is installed in the dull and stereotyped both sides of matrix, and the matrix support plate is connected with level(l)ing device.

Described level(l)ing device comprises connector, small-sized cartridge type electromagnet and back of the body cap, and the connector right side is connected with an armful arm assembly through screw, in the cylinder boss that is threaded into the matrix support plate of back of the body cap, adds lubricating oil between matrix support plate, connector and the back of the body cap; Small-sized cartridge type electromagnet gets electric collapsible.

Described armful of arm assembly (left side is embraced arm assembly and only embraced arm assembly limited bracket motor than the right side) comprises to be embraced arm lifting motor, carriage motor, embrace arm blaster, embraces the arm matrix, embraces arm support and embraces arm lifting gear; Embrace arm and promote and have gear to form the external meshing tooth transmission and embrace the arm support side and have tooth bar to form the external meshing tooth transmission on the electric machine main shaft, embrace the big miniature gears that arm promotes gear and be fixed as one with embracing the miniature gears that arm promotes gear with embracing big gear wheel that arm promotes gear; Embrace arm blaster and be installed in the square opening of embracing arm literary composition frame, embracing the arm blaster upside has tooth bar and carriage motor engagement, and the carriage motor running then promotes to embrace the arm blaster motion and inserts opposite side and embrace embracing in the arm support square opening of arm assembly; Be provided with biserial v shape plate in order to good rest pipeline in the middle of embracing arm blaster; And v shape plate embed ball (v shape plate divides two-layer, above one deck be drilled with the hole that a lot of diameters are slightly less than ball diameter, ball places in the middle of the two-ply); Make that pipeline contacted with ball when embracing arm held pipeline tightly, friction force is very little.

The invention has following useful technique effect:

This tube climber device people can and center on pipeline outer wall through straight tube, bend pipe, criss-cross bend and rotatablely move, thereby makes people survey easily than the pipeline of comparatively dense relatively more complicated, highly higher and layout, and principle is simple, and is easy to use.

Only use the device of the moving wheel of a built-in motor as motion, motion is beneficial to robot and crosses bend very easily freely; Embrace arm assembly and can guarantee that this robot can move securely on pipeline according to different pipe diameter automatic compensation length; Parallel control apparatus can be so that people place detection instrument, control setup etc. on the matrix flat board.

Description of drawings

Fig. 1: the layout of the invention, for clear expression and explanation, saved pipeline and 3 303 armfuls of arm blasters among the figure.

Fig. 2: 1. actuating devices shown in Figure 1: Fig. 2 (a). actuating device layout Fig. 2 (b). actuating device explosive view Fig. 2 (c). turn to scheme drawing Fig. 2 (d). drive wheel layout Fig. 2 (e). drive wheel structure explosive view

Fig. 3: 2. parallel control apparatus: Fig. 3 (f) shown in Figure 1. parallel control apparatus layout Fig. 3 (g). parallel adjusting scheme drawing

Fig. 4: arm assembly is embraced on 3. right sides shown in Figure 1: Fig. 4 (h). and the right side is embraced arm assembly layout Fig. 4 (i) and is gone to the right side of armful arm matrix to embrace the arm assembly layout. Fig. 4 (j). remove to embrace armful arm matrix schematic internal view Fig. 4 (k) of arm support. embrace arm support bottom enlarged drawing

Fig. 5: the tube climber device people simple and easy diagrammatic sketch that moves

In the above-mentioned accompanying drawing, 1. 3. armfuls of arm assemblies of actuating device 2. parallel control apparatuss

101. hub 1053. motor anchor clamps upper casings 1054. moving wheel motors 1055. motor anchor clamps lower casings 106. moving wheel bracing frames on 1051. times hubs 1052. of dull and stereotyped 103. steer motor, 1031. steer motor gears (connecting), 104. track annulus, 105. moving wheels of matrix support plate 102. matrixes with electric machine main shaft

201. connector 202. small-sized cartridge type telescoping electromagnetic iron 203. back of the body caps

All represent an armful arm middle circle to represent drive wheel A 301. embrace 306. armfuls of arms liftings of 305. armfuls of arm supports of arm lifting 304. armfuls of arm matrixes of 303. armfuls of arm blasters of motor 302.

carriage motor gear

501 and 502; B, C represent three pipeline q, r; S, t represent four positions of tube climber device people

The specific embodiment

The outer tube climber device people of a kind of pipe; Comprise actuating device, parallel control apparatus and embrace arm assembly; The drive wheel of actuating device contacts with pipeline outer wall; Level(l)ing device with embrace arm assembly respectively symmetry be installed in the actuating device both sides, the arm blaster of embracing of wherein embracing arm assembly is provided with v shape plate, embraces an arm assembly and holds pipeline tightly and make the suitable friction force of generation between drive wheel and the pipeline; The job requirement robot of detecting a flaw in addition can be rotated motion along weld around pipeline at weld; When this robot along pipeline straight move arrive weld and stop after; The steering hardware of actuating device will make drive wheel turn to 90 degree; The drive motor of drive wheel running then, thus make the rotation of this robot integral body along weld around pipeline.

Below in conjunction with accompanying drawing the present invention is specified as follows:

Actuating device shown in Figure 2, it comprises hub, 1053. motor anchor clamps upper casings, 1054. moving wheel motors, 1055. motor anchor clamps lower casings and 106. moving wheel bracing frames on 101. matrix support plates, 102. matrixes flat board, 103. steer motor, 1031. steer motor gears (connecting with electric machine main shaft), 104. track annulus, 105. moving wheels, the 1051. times hubs, 1052..

Wherein, The realization of robot divertical motion function: with reference to Fig. 2 (a). actuating device layout, Fig. 2 (b). actuating device explosive view and Fig. 2 (c). turn to scheme drawing; 101. matrix support plate, 102. matrixes flat board and 104. track annulus are linked together by screw retention, the gear on 106. moving wheel bracing frame tops and 1031 steer motor gears form interior engaged transmission, and 104. track circle ring inner walls have a circular orbit; 06 moving wheel bracing frame is installed in this track; When 103 steer motor are moved, just can drive 106 moving wheel bracing frames with this orbiting motion by internal gearing, drive 105 moving wheels and turn to; After this 105 moving wheel rotations, robot just can rotate around pipeline.

Wherein, the robot realization of function that seesaws: with reference to Fig. 2 (d). drive wheel layout and Fig. 2 (e). drive wheel structure explosive view, 1054. moving wheel motors are packed in the 1055. motor anchor clamps lower casings; Add a cover 1053. motor anchor clamps upper casings then; Reinstall hub on 1051. times hubs and 1052., wherein, 1055. motor anchor clamps lower casings can hold 1054. moving wheel motor and electric wires; The square boss of motor anchor clamps both sides is hollow boss, and electric wire is drawn thus; 1054. have gear on the moving wheel electric machine main shaft, the hub inwall is a gear on 1052., two gears form interior engagement, are little free-running fit between motor anchor clamps and the hub, the middle form that adds lubricating oil or take to add ball; The square boss and the 106 moving wheel support and connection of the motor anchor clamps both sides that 1055 motor anchor clamps lower casings and 1053 motor anchor clamps upper casings constitute; When the motor clamps; 1054. during the moving wheel motor action; Just can drive the hub motion by internal gearing, thereby can realize seesawing of robot.

Arm assembly (left side is embraced arm assembly and only lacked 302 carriage motor than it) is embraced on right side shown in Figure 4; Two armfuls of arms promote gear about among Fig. 4 (i) and Fig. 4 (j) does not have key to cooperate with center shaft; Center shaft only plays a supportive role; Can not transferring power; 301 armfuls of arms of below promote electric machine main shaft the transmission of 306 armfuls of arms liftings of gear and right side gear formation external meshing tooth are housed, and 305 armfuls of arm support sides have tooth bar and 306 armfuls of arms lifting gears to form the external meshing tooth transmission, and 301 armfuls of arms promote motor and rotate and will or fall by 305 armfuls of arm supports liftings of 306 armfuls of arms lifting gear drivens; 303 armfuls of arm blasters are installed in the square opening of 305 armfuls of arm supports, and 303 armfuls of arm blaster upsides have tooth bar and the engagement of 302 carriage motor, and the running of 302 carriage motor then promotes 303 armfuls of arm blaster motions and inserts opposite side and embrace embracing in the arm support square opening of arm assembly; Be provided with biserial v shape plate in order to good rest pipeline in the middle of 303 armfuls of arm blasters; And v shape plate embeds ball, and (v shape plate divides two-layer; Top one deck is drilled with the hole that a lot of diameters are slightly less than ball diameter; Ball places in the middle of the two-ply), make that pipeline contacted with ball when embracing arm held pipeline tightly, friction force is very little.

The tube climber device people shown in Figure 5 simple and easy diagrammatic sketch that moves, q position, robot place, 102 matrixes are dull and stereotyped parallel with the A pipeline; When robot was near the A pipe moves to the B pipe, 502 armfuls of arms were held 501 armfuls of arms of B pipeline tightly and are unclamped, and robot arrives the r position; This moment, 102 matrixes were dull and stereotyped vertical with B, when the robot motion is neighbouring to the C pipe, because 102 matrixes are directly over moving wheel; Promptly 102 matrixes are clipped between moving wheel and the C pipe, thereby robot can't climb on the C pipe, and this just requires to need to regulate the direction of 102 matrixes flat board; Make itself and B pipe parallel, promptly shown in the s position, regulate the dull and stereotyped position of 102 matrixes again after moving on the C pipeline; Shown in the t position, promptly every mistake one bend of robot all will rotate dull and stereotyped 90 degree of 102 matrixes, makes it parallel with pipeline.

Parallel control apparatus shown in Figure 3; It comprises 201. connectors, 202. small-sized cartridge type electromagnet and 203. back of the body caps; 201 connector right sides are connected with an armful arm assembly, and being threaded in the 101 matrix support plates of 203. back of the body caps adds lubricating oil between 101 matrix support plates, 201 connectors and 203 back of the body caps; 202 small-sized cartridge type electromagnet get between electric contraction back 201 connectors and the 101 matrix support plates just has counterrotating degree of freedom; Hold pipeline tightly owing to embrace arm; Friction force between 105 moving wheels and the pipeline will be much larger than the friction force between 201 connectors and 101 matrix support plates and 203 back of the body caps; Then when 1054 moving wheel motors rotate; It is static relatively that the hub of 105 moving wheels and pipeline keep, and 1054 moving wheel motors will rotate with the motor anchor clamps, and 106 moving wheels support, 104 track circular motion drive 102 matrix treadmill exercises thereby the square boss of motor anchor clamps drives; This moment, 202 small-sized cartridge type telescoping electromagnetic iron dead electricity were stretched out in the hole that penetrates 101 matrix support plates, thereby had accomplished the adjusting of 102 matrixes flat board with the pipeline keeping parallelism.

The realization of the invention radical function is described below in conjunction with Fig. 5:

Manage side-to-side movement along A: we are placed on A pipe q position to this tube climber device people; 501 armfuls of arms 301 armfuls of arm therein promote to fall under the effect of motor and drop to lowest part (can be controlled by limit switch); 303 armfuls of arm blasters motion and insert the square groove the inside that opposite side is embraced 305 armfuls of arm supports of arm assembly under 302 carriage motor effects; Then 305 armfuls of arm supports promote under the effect of 301 lifting motors and make 303 armfuls of arm blasters hold pipeline (dynamics of holding tightly can be controlled by force transducer) tightly; Moving wheel moves under the effect of 1054 moving wheel motors then, thereby robot can be managed side-to-side movement along A.

Move to the B pipe by A pipe: 502 armfuls of arms promoted at another 301 armfuls of arms under the effect of motors and project forwardly to the forefront when this tube climber device people moved near the B pipe by the A pipe, and 302 armfuls of arm blasters actions are then contracted behind 305 armfuls of arm supports; Thereby hold pipeline tightly; This moment, 501 armfuls of arms fell, 303 armfuls of arm blaster withdrawals, and 501 armfuls of arms promote; Moving wheel rotates, and then robot has moved to the B pipe by the A pipe.

Move to the C pipe by B pipe: after this tube climber device people moves to the corner between B, C pipe, embrace almost not action of arm, when B, C pipe diameter not simultaneously, the flexible of 502 armfuls of arms will be controlled by force transducer, just can move to the C pipe by the B pipe like a cork.

Move to A pipe left side by A pipe right side through the B pipe: mode 1; Move to B pipe top by A pipe right side; The drive wheel of this robot turns to 90 degree under the effect of 103 steer motor then; The moving wheel motion lets this tube climber device people around B pipe Rotate 180 degree, and drive wheel is counter steer 90 degree under the effect of 103 steer motor, move to A pipe left side from B pipe top again; Mode 2 is two identical tube climber device people, and front and back are respectively placed one; With connecting rod these two robots are coupled together, at first two robots are simultaneously around A pipe Rotate 180 degree, then to A, the motion of B infall; Fwd tube climber device people embraces arm and unclamps when arriving near the infall, and crosses infall under tube climber device people's the promotion in the back, and then fwd tube climber device people embraces the arm action and holds pipeline tightly; The robot of back unclamps embraces arm; The fwd robot is pulled through infall to the robot of back then, and this moment, the robot of back was held pipeline again tightly, thereby has realized moving to A pipe left side by A pipe right side through the B pipe.

Detection to weld seam on the pipeline: it is dull and stereotyped parallel with pipeline that this detects 102 matrixes that require the placement detecting instrument; Detecting instrument can rotate a circle around pipeline welding place in addition; This tube climber device people can install detecting instrument on 102 matrix flat boards of actuating device; Have parallel control apparatus to make 102 matrix flat boards parallel with pipeline all the time, steering hardware can make this tube climber device people around pipeline rotation in addition, thereby can accomplish the detection to pipe welding seam etc.

Claims

1. the outer tube climber device people of a monocycly pipe; It is characterized in that: this tube climber device people comprises actuating device, level(l)ing device and embraces arm assembly; The drive wheel of actuating device contacts with pipeline outer wall, and level(l)ing device and armful arm assembly symmetry respectively are installed in the actuating device both sides.

2. the outer tube climber device people of monocycly pipe according to claim 1; It is characterized in that: described actuating device comprises matrix support plate, matrix flat board, steer motor, steer motor gear, track annulus, moving wheel, hub, upward hub, motor anchor clamps upper casing, moving wheel motor, motor anchor clamps lower casing and moving wheel support down; The moving wheel motor is packed in the motor anchor clamps that are made up of motor anchor clamps upper casing and motor anchor clamps lower casing; The motor anchor clamps are installed in the motion hub that is made up of last hub and following hub; Add lubricating oil between motor anchor clamps and the motion hub; The gear teeth that gear and last hub inwall are installed on the moving wheel motor carry out interior engagement, will drive the motion hub during rotation of drive wheel motor and rotate; Motor anchor clamps both sides all have boss to connect with the moving wheel support; Moving wheel supports and is connected on the track of track circle ring inner wall; Be installed in engagement in the gear that gear and moving wheel on the steer motor main shaft on the matrix flat board support top, when steer motor is worked, will make that moving wheel turns to; The matrix support plate is installed in the dull and stereotyped both sides of matrix, and the matrix support plate is connected with level(l)ing device.

3. the outer tube climber device people of monocycly pipe according to claim 1; It is characterized in that: described level(l)ing device comprises connector, small-sized cartridge type electromagnet and back of the body cap; The connector right side is connected with an armful arm assembly through screw; In the cylinder boss that is threaded into the matrix support plate of back of the body cap, add lubricating oil between matrix support plate, connector and the back of the body cap; Small-sized cartridge type electromagnet gets electric collapsible.

4. the outer tube climber device people of monocycly pipe according to claim 1; It is characterized in that: described armful of arm assembly comprises to be embraced arm lifting motor, carriage motor, embrace arm blaster, embraces the arm matrix, embraces arm support and embraces arm lifting gear; Embrace arm and promote and have gear to form the external meshing tooth transmission and embrace the arm support side and have tooth bar to form the external meshing tooth transmission on the electric machine main shaft, embrace the big miniature gears that arm promotes gear and be fixed as one with embracing the miniature gears that arm promotes gear with embracing big gear wheel that arm promotes gear; Embrace arm blaster and be installed in the square opening of embracing arm support, embracing the arm blaster upside has tooth bar and carriage motor engagement, and the carriage motor running then promotes to embrace the arm blaster motion and inserts opposite side and embrace embracing in the arm support square opening of arm assembly; Be provided with biserial v shape plate in order to good rest pipeline in the middle of embracing arm blaster, and v shape plate embedding ball, making that pipeline contacted with ball when embracing an arm held pipeline tightly, friction force is very little.