CN203550915U - Internal diameter measuring robot for pipeline - Google Patents
Internal diameter measuring robot for pipeline Download PDFInfo
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- CN203550915U CN203550915U CN201320409840.4U CN201320409840U CN203550915U CN 203550915 U CN203550915 U CN 203550915U CN 201320409840 U CN201320409840 U CN 201320409840U CN 203550915 U CN203550915 U CN 203550915U
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- wheel support
- wheel
- internal diameter
- rear wheel
- screw
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Abstract
The utility model relates to an internal diameter measuring robot for pipeline, which comprises a supporting mechanism, a main driving mechanism and a laser measuring mechanism. The supporting mechanism is mainly composed of a ball screw nut, a stepping motor I, a wheel, a connecting rod, a push rod, etc. The main driving mechanism is mainly composed of a worm wheel, a worm, a belt wheel, a driving belt, etc. The main driving mechanism is driven by a stepping motor II for realizing linear movement of the internal diameter measuring robot. The laser measuring mechanism is mainly composed of a sensing head, a sensor bracket and a stepping motor III. The robot for the pipeline according to the utility model can measure the internal diameter of the long pipeline and is particularly suitable for satisfying the requirement for measuring thin and long pipeline with larger internal diameter range. Not only can non-contact measurement performed for the internal diameter of the pipelines with different dimensions, but also a plurality of measurements of flow detection, etc. can be realized through replacing sensor probes. Furthermore the internal diameter measuring robot for pipeline has advantages of high measurement precision and convenient use.
Description
Technical field
The present invention relates to a kind of inner diameter measurement pipe robot
Background technology
In prior art, inside caliper mostly is contact, manually by micrometer inside caliper, measures.This internal diameter measuring instrument can only be measured the size of circular hole internal diameter, and due to reasons such as the wearing and tearing of survey instrument and human factors, the error of measurement is larger.In addition, existing internal diameter measuring instrument can not test hole circularity and concentricity, when the circularity deficiency of circular hole or concentricity is when larger, the Oscillation Amplitude of machinery is large, affect mechanical overall performance, circular-hole internal-wall is easy to wear, and the serviceable life of machinery is short, can not meet internal diameter of the pipeline fast, accurately and measure.
Utility model content
Not high in order to overcome existing inside caliper measuring accuracy, and cannot adapt to the problem of different size internal diameter of the pipeline, the utility model provides a kind of pipe robot that can measure different inner diameters.
Scheme of the present invention is:
A kind of inner diameter measurement and carrying out flaw detection pipe robot, comprise supporting mechanism, main driving mechanism, laser measurement mechanism.Described supporting mechanism, is mainly comprised of ball-screw nut, stepper motor I, wheel, connecting rod and push rod etc.Described main driving mechanism, is mainly comprised of worm gear, worm screw, belt wheel, driving-belt etc., is driven to realize the rectilinear motion of machine by stepper motor II.Described laser measurement mechanism, mainly by sensing probe, sensor stand and stepper motor III composition.
The present invention is provided with three stepper motors, and these three stepper motors drive respectively ball-screw nut, worm screw and sensor stand.
Stepper motor I drives ball-screw to rotate, and ball-screw nut is moved forward and backward, and the push rod that drive and ball-screw nut are fixed together carries out opening and closing campaign, and then the folding angle of control rear wheel support (three).Between rear wheel support and front-wheel support (three), there is again connecting rod to be connected, can guarantee that the folding angle of front-wheel support and rear wheel support is identical, thereby be adapted to the pipeline of different-diameter.
Stepper motor II drives worm screw, and what be meshed with worm screw has three worm gears, is fixed with belt wheel I and front-wheel support on each worm gear, and the other end of each front-wheel support is all fixed with a front-wheel, also fixes a belt wheel II on front-wheel.By the rotation of worm gear, drive the belt wheel fixing with it to rotate, belt wheel can make front-wheel rotate through driving-belt, thereby realizes the walking of robot.
Stepper motor III rotates through sensor connecting base driving sensor bearing.At the front end of sensor support base, fixation of sensor gauge head, this transducer probe assembly can rotate freely, and replaceable, to realize multiple measurement object.
Pipe robot described in the utility model, can measure the internal diameter of long pipeline, be particularly suited for the measurement requirement of the elongated tubular that inside diameter ranges is larger, can not only carry out non-contact measurement for the internal diameter of the pipeline of different size, can also realize multiple measurement by changing transducer probe assembly, as carrying out flaw detection etc., and have advantages of that measuring accuracy is high, easy to use.
Accompanying drawing explanation
Fig. 1 is robot architecture's schematic diagram
Fig. 2 is Fig. 1 assembling front view
Fig. 3 is Fig. 1 assembling plan view
Fig. 4 is that Fig. 1 assembles left view
Fig. 5 is the A-A sectional view of Fig. 1
Fig. 6 is the B-B sectional view of Fig. 1
Wherein: 1, ball-screw; 2, ball-screw nut; 3, rear wheel support seat; 4, push rod; 5, shaft coupling I; 6, stepper motor II; 7, sleeve; 8 worm screws; 9, stepper motor III; 10, sensor support base; 11, socket head cap screw; 12, transducer probe assembly; 13, sensor connecting base; 14, belt wheel I; 15, worm gear; 16, front-wheel support; 17, driving-belt; 18, belt wheel II; 19, front-wheel; 20, shaft coupling II; 21, stepper motor I; 22, connecting rod; 23, trailing wheel; 24, rear wheel support.
Embodiment
Referring to Fig. 1～Fig. 6, on ball-screw 1, there is ball-screw nut 2.Rear wheel support seat 3 is fixed on ball-screw nut 2.One end of three push rods 4 is all fixed on rear wheel support seat 3, and the other end is connected with rear wheel support 24, can slide in this one end of push rod 4 on rear wheel support 24.
Stepper motor I21 drives ball-screw 1 to rotate through shaft coupling I5.By the umber of pulse of control step motor I 21, can indirectly control the rectilinear movement distance of ball-screw nut 2, thereby control the folding angle between push rod 4 and rear wheel support 24, to realize the measurement being adapted between different pipe diameters.On rear wheel support 24, be fixed with trailing wheel 23.
Between front-wheel support 16 and rear wheel support 24, by connecting rod 22, connected, so just can guarantee that front-wheel support 16 and rear wheel support 24 remain parallel at the volley.
Stepper motor II6, through sleeve 7 and shaft coupling II20, drives worm screw 8 to rotate, and further, worm screw 8 drives worm gear 15 to rotate, and belt wheel I14 rotates then, and belt wheel I14 is with movable belt pulley II18 rotation via driving-belt 17, thereby realizes the rotation of front-wheel 19.So just, can realize the walking of robot.
Stepper motor III9 rotates through sensor connecting base 13 driving sensor bearings 10, and transducer probe assembly 12 is fixed on sensor support base 10 by socket head cap screw 11.By stepper motor III9, indirectly drive transducer probe assembly 12 to rotate, realize non-contact measurement.
Claims (3)
1. an inner diameter measurement pipe robot, by supporting mechanism, main driving mechanism and measuring mechanism composition, it is characterized in that: in described supporting mechanism, on ball-screw (1), there is ball-screw nut (2), rear wheel support seat (3) is fixed on ball-screw nut (2), one end of three push rods (4) is all fixed on rear wheel support seat (3), the other end is connected with three rear wheel supports (24) respectively, this one end of push rod (4) can be in the upper slip of rear wheel support (24), on each rear wheel support (24), be fixed with a trailing wheel (23), stepper motor I (21) drives ball-screw (1) to rotate through shaft coupling I (5), ball-screw nut (2) is moved forward and backward, and the push rod (4) that drive and rear wheel support seat (3) are fixed together carries out opening and closing campaign, and then control the folding angle of rear wheel support (24) and trailing wheel (23), in described main driving mechanism, what be meshed with worm screw (8) has three worm gears (15), on each worm gear (15), be fixed with belt wheel I (14) and front-wheel support (16), the other end of each front-wheel support (16) is all fixed with a front-wheel (19), also fixes a belt wheel II (18) on each front-wheel, stepper motor II (6) drives worm screw (8) through sleeve (7) and shaft coupling II (20), worm screw (8) drives worm gear (15) to rotate, then belt wheel I (14) rotates, belt wheel I (14) is via driving-belt (17) band movable belt pulley II (18) rotation, thereby realize the rotation of front-wheel (19), and then realize the walking of robot, in described measuring mechanism, stepper motor III (9) rotates through sensor connecting base (13) driving sensor bearing (10), and transducer probe assembly (12) is fixed on sensor support base (10) by socket head cap screw (11), by stepper motor III (9), indirectly drive transducer probe assembly (12) to rotate, realize non-contact measurement.
2. inner diameter measurement pipe robot as claimed in claim 1, it is characterized in that: between each rear wheel support (24) and corresponding front-wheel support (16), by connecting rod (22), be connected, can make front-wheel support (16) and rear wheel support (24) at the middle keeping parallelism of advancing.
3. inner diameter measurement pipe robot as claimed in claim 1 or 2, is characterized in that: described transducer probe assembly (12) is detachable, replaceable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320409840.4U CN203550915U (en) | 2013-07-04 | 2013-07-04 | Internal diameter measuring robot for pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320409840.4U CN203550915U (en) | 2013-07-04 | 2013-07-04 | Internal diameter measuring robot for pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203550915U true CN203550915U (en) | 2014-04-16 |
Family
ID=50469015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320409840.4U Expired - Fee Related CN203550915U (en) | 2013-07-04 | 2013-07-04 | Internal diameter measuring robot for pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203550915U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103398665A (en) * | 2013-07-04 | 2013-11-20 | 内蒙古工业大学 | Pipeline robot for internal diameter measurement |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN106382434A (en) * | 2016-09-25 | 2017-02-08 | 羊丁 | Intelligent pipeline climbing robot |
| CN107543010A (en) * | 2017-08-31 | 2018-01-05 | 中国石油大学(华东) | A kind of detection robot for petroleum pipeline |
-
2013
- 2013-07-04 CN CN201320409840.4U patent/CN203550915U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103398665A (en) * | 2013-07-04 | 2013-11-20 | 内蒙古工业大学 | Pipeline robot for internal diameter measurement |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN106382434A (en) * | 2016-09-25 | 2017-02-08 | 羊丁 | Intelligent pipeline climbing robot |
| CN107543010A (en) * | 2017-08-31 | 2018-01-05 | 中国石油大学(华东) | A kind of detection robot for petroleum pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140416 Termination date: 20150704 |
|
| EXPY | Termination of patent right or utility model |