CN203671142U - Crawling mechanism of squirming pipeline robot - Google Patents
Crawling mechanism of squirming pipeline robot Download PDFInfo
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- CN203671142U CN203671142U CN201320800909.6U CN201320800909U CN203671142U CN 203671142 U CN203671142 U CN 203671142U CN 201320800909 U CN201320800909 U CN 201320800909U CN 203671142 U CN203671142 U CN 203671142U
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- locking mechanism
- guide rod
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Abstract
The utility model provides a crawling mechanism of a squirming pipeline robot. The crawling mechanism is applicable to pipeline diameter ranging from 160 mm to 220 mm, three-section type modular design is adopted in the structure of the crawling mechanism, the head portion and the tail portion are a front locking mechanism and a back locking mechanism respectively, and the middle portion is a telescopic mechanism. When the robot runs forwards in a pipeline, the front locking mechanism is loosened firstly, the back locking mechanism is locked, the telescopic mechanism stretches out, to push the front locking mechanism forwards, then, the front locking mechanism is locked, the back locking mechanism is loosened, the telescopic mechanism draws back to drive the back locking mechanism to move forwards, and one advancing movement period is completed; through circulation movement in the mode, periodic advancing movement of the squirming pipeline robot is achieved, and otherwise, the retreating movement of the robot can be achieved. According to the crawling mechanism, the modular design is adopted, a certain pipe diameter change adaptive capacity and bend passing capacity are achieved, and the robot can advance or retreat in the pipeline in a squirming mode.
Description
Technical field
The utility model relates to a kind of creeping type pipeline robot crawling mechanism.
Background technique
At present, pipeline is widely used in many industries such as oil, chemical industry, plumbing, and these pipelines are after long-time use, easily occurs that corrosion and fatigue is destroyed or damaged and cause leakage accident etc.Therefore, need to safeguard pipeline termly and overhaul, however due to the residing environment of pipeline often manpower limit or people can't be obtained, maintenance difficulty very large.Detection, maintenance that the research of pipeline robot is pipeline provide new technological means, have changed the single-mode of conventional pipelines excavation sampling observation.The domestic research for pipeline robot has had certain basis, but also has a certain distance compared with abroad.
At present both at home and abroad the robot of development can be divided into the types such as wheeled, crawler, creeping type by move mode, and wheeled pipeline robot tractive force is large, has very high bearing capacity, easily design with manufacture.But its obstacle climbing ability a little less than, pipeline bad adaptability.Crawler belt type pipeline robot, has overcome the shortcoming of wheeled pipeline robot, but between crawler belt and tube wall, excessive frictional force can produce and impact inner-walls of duct, easily damage pipeline.Squirmy robot obstacle climbing ability is strong, stable, but the creepage robot that adopts marmem, piezoelectricity metal and Electromagnetic Drive to pipeline require too highly, adaptive capacity is poor, motion speed is slow, a little less than bearing capacity.
Therefore, overcoming on the basis of above three kinds of pipeline robot shortcomings, designing and developing a kind of novel creeping type pipeline robot crawling mechanism.Have important practical significance.
Model utility content
The purpose of this utility model is to provide a kind of creeping type pipeline robot crawling mechanism, adopts modular design, can adapt to the pipe diameter between 160-220mm.
The purpose of this utility model is achieved through the following technical solutions:
Creeping type pipeline robot crawling mechanism, comprises front locking mechanism, extending means, rear locking mechanism, it is characterized in that: front locking mechanism is arranged on the front end of extending means by coupling, and rear locking mechanism is arranged on the rear end of extending means by coupling.
In the time that pipeline robot advances, first front locking mechanism unclamps, rear locking mechanism locking, when extending means extends, before driving, locking mechanism moves forward, subsequently front locking mechanism locking, rear locking mechanism unclamps, when extending means shrinks, after driving, locking mechanism moves forward, and realizes a progressive motion cycle of pipeline robot;
In the time that pipeline robot retreats, first front locking mechanism locking, rear locking mechanism unclamps, when extending means extends, after driving, locking mechanism moves backward, and front locking mechanism unclamps subsequently, rear locking mechanism locking, when extending means shrinks, before driving, locking mechanism moves backward, realizes a return motion cycle of pipeline robot;
When current locking mechanism and rear locking mechanism are all locked, can make pipeline robot stably rest on somewhere, carrying out the operations such as pipe detection maintenance for pipeline robot provides a working platform.
According to an aspect of the present utility model, a kind of creeping type pipeline robot crawling mechanism is provided, it is characterized in that comprising:
Extending means;
The front coupling being connected with the front end of extending means,
The rear coupling being connected with the rear end of extending means,
Front locking mechanism, it is connected with the front end of extending means by front coupling, for locking or unclamp with inner-walls of duct;
Rear locking mechanism, it is connected with the rear end of extending means by rear coupling, for locking or unclamp with inner-walls of duct.
According to another aspect of the present utility model, a kind of creeping type pipeline robot crawling mechanism is provided, it is characterized in that comprising:
Extending means;
The front coupling being connected with the front end of extending means,
The rear coupling being connected with the rear end of extending means,
Front locking mechanism, it is connected with the front end of extending means by front coupling;
Rear locking mechanism, it is connected with the rear end of extending means by rear coupling,
Wherein
Front locking mechanism is identical with rear locking mechanism structure, respectively comprises:
Form the little guide rod of a slidercrank mechanism, large guide rod, fixed block and the second guide rod;
The second coupling;
The second motor linking together by the second coupling and the second leading screw;
Casing, the second rear box and motor in the second front casing, second, wherein in the second front casing, second casing, the second rear box and motor with being fixed together;
The second bearing and the second round nut; The second leading screw is bearing on the second front casing by the second bearing and the second round nut;
The second feed screw nut, it is contained on the second leading screw and along the second guide rod and moves;
The support arm hinged with large guide rod,
Wherein, fixed block and the second feed screw nut link together by lock bolt, and move with the second feed screw nut, drive slidercrank mechanism action, and the support arm hinged with large guide rod moved in or out,
Extending means comprises:
The first guide rod,
Casing, the first rear box and the first motor in the first front casing, first,
Clutch shaft bearing and the first round nut,
The first coupling,
The first motor linking together by the first coupling and the first leading screw, wherein the first leading screw is bearing on the first front casing by clutch shaft bearing and the first round nut, and in the first front casing, first, casing, the first rear box and the first motor are fixed together,
Be contained in the first feed screw nut on the first leading screw, it moves along the first guide rod,
The first front cover,
Fixed block, shell and rear end cover, wherein
The first feed screw nut, fixed block, shell and rear end cover are fixed together, and the first guide rod and the first front cover are fixed together.
The outstanding substantive distinguishing features of technical solutions of the utility model and significant progressive being mainly reflected in:
The utility model compact structure, be easy to realize, obstacle climbing ability is strong, and pipeline is adaptable, the advantage that obstacle climbing ability is strong, and its power source is no longer to be provided by the frictional force between driving wheel and tube wall, so when operation can impulse piping inwall, stable.Pipeline robot can be suitable for calibers different between 160-220mm, and application prospect is good.
According to an aspect of the present utility model, a kind of creeping type pipeline robot crawling mechanism is provided, it is characterized in that comprising:
Front locking mechanism and rear locking mechanism, loosening or locking for pipeline robot and inner-walls of duct;
Extending means, cooperatively interacts with front locking mechanism and rear locking mechanism, realizes the creeping type of pipeline robot in pipeline and advances or retreat.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solutions of the utility model are described further:
Fig. 1 is the creeping type pipeline robot crawling mechanism general structure schematic diagram according to an embodiment of the present utility model;
Fig. 2 is the extending means structural representation according to an embodiment of the present utility model.
Fig. 3 is according to an embodiment's of the present utility model front locking mechanism or rear locking mechanism structure schematic diagram.
Reference character:
The front coupling of the 1 front locking mechanism rear locking mechanism 4 of 2 extending means 3
5 rear coupling 6 first front cover 7 fixed block 8 first guide rods
9 first feed screw nut 10 shell 11 first leading screw 12 first front casings
Casing 14 first rear box 15 rear end cover 16 first motors in 13 first
17 first coupling 18 first round nut 19 first sleeve 20 clutch shaft bearings
21 second front cover 22 second leading screw 23 second guide rod 24 second feed screw nuts
Casing 27 second rear box 28 second motors in 25 second front casings 26 second
29 second coupling 30 second round nut 31 second sleeve 32 second bearings
33 little guide rod 34 support arm 35 bolt 36 nuts
41 bolt 42 bolt 43 bolt 44 bolts
45 bolts
Embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, adopt modular design according to an embodiment's of the present utility model creeping type pipeline robot crawling mechanism, be divided into front locking mechanism, extending means, rear locking mechanism totally 3 modules.
Front locking mechanism 1 is identical with rear locking mechanism 3 structures, be arranged on respectively the front-end and back-end of extending means 2 by front coupling 4 and rear coupling 5, respectively comprise casing 26, the second rear box 27, the second motor 28, the second coupling 29, the second round nut 30, the second sleeve 31, the second bearing 32, little guide rod 33, support arm 34, bolt 35, nut 36, bearing pin 37, large guide rod 38, fixed block 39 in the second front cover 21, the second leading screw 22, the second guide rod 23, the second feed screw nut 24, the second front casing 25, second.
Its medium and small guide rod 33, large guide rod 38, fixed block 39 and the second guide rod 23 form one group of slidercrank mechanism, at whole circumferencial direction with symmetrical 3 groups of these slidercrank mechanisms of 120 degree.The second motor 28 and the second leading screw 22 link together by the second coupling 29, and the second leading screw 22 is bearing on the second front casing 25 by the second bearing 32 and the second round nut 30.In the second front casing 25, second, casing 26, the second rear box 27 use bolts 44,45 link together.The second feed screw nut 24 is contained on the second leading screw 22, moves left and right along the second guide rod 23.Fixed block 39 and the second feed screw nut 24 are installed together by lock bolt 40, and move with the second feed screw nut 24, and then drive slidercrank mechanism action, the support arm 34 hinged with large guide rod 38 moved in or out, thereby realize unclamping or locking of robot and tube wall.
Referring to Fig. 2, extending means 2 comprises the first front cover 6, fixed block 7, the first guide rod 8, the first feed screw nuts 9, shell 10, casing 13 in the front casing 12, the first of the first leading screw 11, the first, the first rear box 14, rear end cover 15, the first motors 16, the first coupling 17, the first round nut 18, the first sleeves 19, clutch shaft bearing 20.
Wherein, the first motor 16 and the first leading screw 11 link together by the first coupling 17, and the first leading screw 11 is bearing on the first front casing 12 by clutch shaft bearing 20 and the first round nut 18.In the first front casing 12, first, casing 13, the first rear box 14 use bolts 41,42 link together.The first feed screw nut 9 is contained on the first leading screw 11, moves left and right along the first guide rod 8.The first feed screw nut 9, fixed block 7, shell 10 and rear end cover 15 link together by bolt 43, the first guide rod 8 and the first front cover 6 being threaded togather by the first guide rod 8 front ends.
In concrete application, in the time that pipeline robot advances (suppose direction of advance be in figure left), whole process can be divided into four steps.
The first step: the second motor 28 forwards in front locking mechanism 1, drive the second leading screw 22 forwards by the second coupling 29, the second feed screw nut 24 on it is moved to the left, drive 3 groups of slidercrank mechanism actions, make to be hinged on support arm 34 on large guide rod 38 and move inward, thereby realize unclamping of front locking mechanism 1 and tube wall.According to same principle, in rear locking mechanism 3, the second motor 28 reverses, the locking of locking mechanism 3 and tube wall after realizing.
Second step: the first motor 16 forwards in extending means 2, drive the first leading screw 11 forwards by the first coupling 17, and due to rear locking mechanism 3 with pipeline in locking state, the rear end cover 15 being now connected with rear locking mechanism 3 by rear coupling 5 is fixing indefinite, and then first feed screw nut 9, fixed block 7, shell 10 is also in maintaining static state, thereby make the first motor 16, the first coupling 17, the first leading screw 11 is around self axis rotation, drive the first front cover 6, the first guide rod 8, the first front casing 12, casing 13 in first, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is done as a whole being moved to the left.
The 3rd step: in front locking mechanism 1, the second motor 28 reverses, drive the second leading screw 22 to reverse by the second coupling 29, the second feed screw nut 24 on it moves right, drive 3 groups of slidercrank mechanism actions, make to be hinged on support arm 34 on large guide rod 38 and outwards move, thus the locking of the front locking mechanism 1 of realization and tube wall.According to same principle, the second motor 28 forwards in rear locking mechanism 3, after realizing, locking mechanism 3 and tube wall unclamps.
The 4th step: in extending means 2, the first motor 16 reverses, drive the first leading screw 11 to reverse by the first coupling 17, and due to front locking mechanism 1 with pipeline in locking state, the first front cover 6 being now connected with front locking mechanism 1 by front coupling 4, the first guide rod 8, the first front casing 12, casing 13 in first, the first rear box 14, the first round nut 18, the first sleeve 19, clutch shaft bearing 20 is done as a whole maintaining static, the first feed screw nut 9 drives fixed block 7, shell 10, rear end cover 15, rear coupling 5 and rear locking mechanism 3 are done as a whole being moved to the left.
So far completed a progressive motion cycle, the creeping type that can realize pipeline robot by above four steps that circulate advances.When with above four step motion controls when contrary, the creeping type that can realize pipeline robot retreats.
According to an embodiment of the present utility model, the front locking mechanism 1 of creeping type pipeline robot crawling mechanism is identical with rear locking mechanism 3 structures, respectively comprises:
Form the little guide rod 33 of a slidercrank mechanism, large guide rod 38, fixed block 39 and the second guide rod 23;
The second coupling 29;
The second motor 28 linking together by the second coupling 29 and the second leading screw 22;
The second bearing 32 and the second round nut 30; The second leading screw 22 is bearing on the second front casing 25 by the second bearing 32 and the second round nut 30;
The second feed screw nut 24, it is contained on the second leading screw 22 and along the second guide rod 23 and moves;
The support arm 34 hinged with large guide rod 38,
Wherein, fixed block 39 and the second feed screw nut 24 link together by lock bolt 40, and move with the second feed screw nut 24, drive slidercrank mechanism action, and the support arm 34 hinged with large guide rod 38 moved in or out.
According to an embodiment of the present utility model, the front locking mechanism 1 of creeping type pipeline robot crawling mechanism and rear locking mechanism 3 are respectively included in circumferencial direction with slidercrank mechanism described in symmetrical 3 groups of 120 degree.
According to an embodiment of the present utility model, the extending means 2 of creeping type pipeline robot crawling mechanism comprises:
The first guide rod 8,
Casing 13, the first rear box 14 and the first motor 16 in the first front casing 12, first,
Clutch shaft bearing 20 and the first round nut 18,
The first coupling 17,
The first motor 16 linking together by the first coupling 17 and the first leading screw 11, wherein the first leading screw 11 is bearing on the first front casing 12 by clutch shaft bearing 20 and the first round nut 18, in the first front casing 12, first, casing 13, the first rear box 14 and the first motor 16 are fixed together
Be contained in the first feed screw nut 9 on the first leading screw 11, it moves along the first guide rod 8,
The first front cover 6,
Fixed block 7, shell 10 and rear end cover 15, wherein
The first feed screw nut 9, fixed block 7, shell 10 and rear end cover 15 are fixed together, and the first guide rod 8 and the first front cover 6 are fixed together.
When current locking mechanism 1 and rear locking mechanism 3 are all locked, can make pipeline robot stably rest on somewhere in pipeline, provide a working platform for detecting the operations such as maintenance.
The pipe diameter that is applicable to for example about 160-220mm according to an embodiment's of the present utility model creeping type pipeline robot crawling mechanism, the creeping type that can realize in pipeline moves forward and backward, and also can be used as the stable pipe interior somewhere that rests on of working platform.
Below be only concrete exemplary applications of the present utility model, protection domain of the present utility model is not constituted any limitation.All employing equivalents or equivalence are replaced and the technological scheme of formation, within all dropping on the utility model rights protection scope.
Claims (2)
1. a creeping type pipeline robot crawling mechanism, is characterized in that comprising:
Extending means (2);
The front coupling (4) being connected with the front end of extending means (2),
The rear coupling (5) being connected with the rear end of extending means (2),
Front locking mechanism (1), it is connected with the front end of extending means (2) by front coupling (4);
Rear locking mechanism (3), it is connected with the rear end of extending means (2) by rear coupling (5),
Wherein
Front locking mechanism (1) is identical with rear locking mechanism (3) structure, respectively comprises:
Form the little guide rod (33) of a slidercrank mechanism, large guide rod (38), fixed block (39) and the second guide rod (23);
The second coupling (29);
The second motor (28) linking together by the second coupling (29) and the second leading screw (22);
Casing (26), the second rear box (27) and motor (28) in the second front casing (25), second, wherein in the second front casing (25), second casing (26), the second rear box (27) and motor (28) with being fixed together;
The second bearing (32) and the second round nut (30); The second leading screw (22) is bearing on the second front casing (25) by the second bearing (32) and the second round nut (30);
The second feed screw nut (24), it is upper and mobile along the second guide rod (23) that it is contained in the second leading screw (22);
The support arm (34) hinged with large guide rod (38),
Wherein, fixed block (39) and the second feed screw nut (24) link together by lock bolt (40), and move with the second feed screw nut 24, the action of drive slidercrank mechanism, the support arm (34) hinged with large guide rod (38) moved in or out
Extending means 2 comprises:
The first guide rod (8),
Casing (13), the first rear box (14) and the first motor (16) in the first front casing (12), first,
Clutch shaft bearing (20) and the first round nut (18),
The first coupling (17),
The first motor (16) linking together by the first coupling (17) and the first leading screw (11), wherein the first leading screw (11) is bearing on the first front casing (12) by clutch shaft bearing (20) and the first round nut (18), in the first front casing (12), first, casing (13), the first rear box (14) and the first motor (16) are fixed together
Be contained in the first feed screw nut (9) on the first leading screw (11), it is mobile along the first guide rod (8),
The first front cover (6),
Fixed block (7), shell (10) and rear end cover (15), wherein
The first feed screw nut (9), fixed block (7), shell (10) and rear end cover (15) are fixed together, and the first guide rod (8) and the first front cover (6) are fixed together.
2. according to the creeping type pipeline robot crawling mechanism of claim 1, it is characterized in that front locking mechanism (1) and rear locking mechanism (3) are respectively included in circumferencial direction with slidercrank mechanism described in symmetrical 3 groups of 120 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320800909.6U CN203671142U (en) | 2013-12-06 | 2013-12-06 | Crawling mechanism of squirming pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320800909.6U CN203671142U (en) | 2013-12-06 | 2013-12-06 | Crawling mechanism of squirming pipeline robot |
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| Publication Number | Publication Date |
|---|---|
| CN203671142U true CN203671142U (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320800909.6U Expired - Fee Related CN203671142U (en) | 2013-12-06 | 2013-12-06 | Crawling mechanism of squirming pipeline robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN105090679A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN105240647A (en) * | 2015-11-11 | 2016-01-13 | 无锡清杨机械制造有限公司 | Steel pipe walking-through device based on hydraulic driving |
| RU2576746C1 (en) * | 2015-01-12 | 2016-03-10 | Владимир Евгеньевич Скворцов | Autonomous intratubal vehicle |
| CN107191740A (en) * | 2017-05-26 | 2017-09-22 | 哈尔滨工程大学 | A kind of hydraulic-driven sizing pipe robot |
| CN107842666A (en) * | 2017-08-29 | 2018-03-27 | 胡旸海 | A kind of imitative caterpillar wriggle pipeline climbing robot and control method |
| CN108895244A (en) * | 2018-05-25 | 2018-11-27 | 哈尔滨工程大学 | A kind of variable diameter seabed tunnel robot for cleaning |
| CN110758594A (en) * | 2019-10-08 | 2020-02-07 | 中国矿业大学 | Robot walking device for narrow reducing pipeline in underwater missile launching shaft |
-
2013
- 2013-12-06 CN CN201320800909.6U patent/CN203671142U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN103672295B (en) * | 2013-12-06 | 2016-04-20 | 北京信息科技大学 | Creeping type pipeline robot crawling mechanism |
| RU2576746C1 (en) * | 2015-01-12 | 2016-03-10 | Владимир Евгеньевич Скворцов | Autonomous intratubal vehicle |
| CN105090679A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN105090679B (en) * | 2015-08-13 | 2017-03-22 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN105240647A (en) * | 2015-11-11 | 2016-01-13 | 无锡清杨机械制造有限公司 | Steel pipe walking-through device based on hydraulic driving |
| CN107191740A (en) * | 2017-05-26 | 2017-09-22 | 哈尔滨工程大学 | A kind of hydraulic-driven sizing pipe robot |
| CN107842666A (en) * | 2017-08-29 | 2018-03-27 | 胡旸海 | A kind of imitative caterpillar wriggle pipeline climbing robot and control method |
| CN107842666B (en) * | 2017-08-29 | 2019-09-17 | 胡旸海 | A kind of imitative caterpillar wriggle pipeline climbing robot and control method |
| CN108895244A (en) * | 2018-05-25 | 2018-11-27 | 哈尔滨工程大学 | A kind of variable diameter seabed tunnel robot for cleaning |
| CN110758594A (en) * | 2019-10-08 | 2020-02-07 | 中国矿业大学 | Robot walking device for narrow reducing pipeline in underwater missile launching shaft |
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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: 20140625 Termination date: 20151206 |
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| EXPY | Termination of patent right or utility model |