CN204122424U - A kind of Multifunctional pipeline robot - Google Patents
A kind of Multifunctional pipeline robot Download PDFInfo
- Publication number
- CN204122424U CN204122424U CN201420617198.3U CN201420617198U CN204122424U CN 204122424 U CN204122424 U CN 204122424U CN 201420617198 U CN201420617198 U CN 201420617198U CN 204122424 U CN204122424 U CN 204122424U
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- moving device
- clearing apparatus
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- robot
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Abstract
The utility model relates to a kind of Multifunctional pipeline robot, it comprises moving device, clearing apparatus and control circuit board, moving device is provided with drive unit, also comprise the A planetary gear set be arranged on moving device and the B planetary gear set be arranged on clearing apparatus, moving device is connected by spring with clearing apparatus, promote clearing apparatus by running gear to advance in pipeline, when running into bend, spring can bend, realize the turning function of whole robot, due to running gear and clearing apparatus are provided separately, quite reduce the length of whole pipe robot, not easily occur that pipe robot is stuck in the phenomenon of bend.Drive unit adopts worm gear structure, in vertical pipeline, when pipe robot stop at certain position carry out cleaning or detecting time, utilize the self-locking property of worm and gear self, worm gear can not drive worm screw to rotate, and can ensure that driving wheel can not reverse and occur the phenomenon that pipe robot glides.
Description
Technical field
The utility model belongs to robot field, is specifically related to a kind of Multifunctional pipeline robot.
Background technology
IAQ is not good and popular health is just being endangered in city " sick building syndrome " that is that cause, the new ideas such as " sick buildings " and " Cure of Sick Building Syndrome " that therefore medical expert proposes, and the arch-criminal of these diseases be mainly hidden in building it " lung "-concentrate/half centralized air-conditioning pipeline (namely we daily alleged by central air-conditioning pipe) and dust removal by ventilation pipeline in, these pipelines can accumulate many dusts in Long-Time Service, germ, virus, dirt mite and radiation, these harmful substances just pollute air in air-supply process, sucked by human body for a long time, above-mentioned disease will be caused.The appearance of SARS and bird flu more causes the great attention of people to air quality.Periodic cleaning carries out to pipeline imperative.
A large amount of pipeline is used in modern industrial and agricultural production and daily life, as the industrial pipeline and gas piping etc. of the steam generator heat-transfer pipe of nuclear power plant, oil, chemical industry, refrigeration industry, most Pipe installing environment people can not directly arrive or not allow people directly to get involved, for carrying out quality testing and fault diagnosis, adopt traditional comprehensive mining method, method of random sampling or SCADA system method, quantities is large, and accuracy rate is low, therefore needs exploitation pipe robot to solve these practical problems.Pipe robot is that one along pipe interior or outside mobile, can be carried one or more sensors and operator, under the straighforward operation of operating personnel or the automatic control of computer, can carry out the mechatronics system of a series of pipeline operations.The achievable operation of pipe robot has quality testing inside and outside the pipe in production, installation process; The fault diagnosises such as weld seam situation in use procedure, surface corrosion, crack are damaged; The maintenance such as pipe-line purging, spraying, welding, inner polishing under adverse circumstances; To the reparation of buried old pipeline; Other purposes such as pipe inside and outside equipment transport, rescue.
Existing a kind of pipe robot, as Authorization Notice No. CN 102921683 B, name is called " planetary pipeline cleaning robot ", disclosed in Chinese invention utility application, it comprises: comprise moving device and clearing apparatus, moving device comprises chassis, to advance motor, driving wheel, electric machine support, universal wheel and planet installing rack, the lower end symmetry of two electric machine supports of the outwardly bending in middle part is fixed on the minor face two ends on horizontally disposed "T"-shaped chassis, the upper end symmetry of two electric machine supports slopes inwardly, strengthened by reinforcement between the inside middle portion of electric machine support and chassis upper surface, all circular hole is processed with in the middle of two electric machine support tops, two round hole axial are positioned at same vertical with chassis upper surface, in the plane parallel with chassis minor face, two round hole axial are all inner low, outer end is high, and it is equal with the angle of chassis upper surface, two motors of advancing all are fixed on the upper inner of electric machine support by adpting flange, the motor shaft of motor of advancing is outside, and tilt upward through after the circular hole in the middle of electric machine support top, end is all provided with driving wheel, the one end on long limit, chassis is fixedly connected with in the middle part of the minor face of chassis, the other end upper surface place on long limit is fixed with center and processes round-meshed planet installing rack, the round hole axial of planet installing rack is parallel with chassis upper surface, with two electric machine support round hole axial place plane orthogonal, and the plane be positioned at by chassis minor face mid point, the lower surface of long limit, chassis near planet installing rack place, the universal wheel being positioned at same vertical guide with the round hole axial of planet installing rack is installed by nut I and packing ring I, clearing apparatus comprises planetary driving device, reducing motor and hairbrush, planetary driving device comprises sun gear, planetary gear, driving shaft, planet carrier and planet axis, center processes round-meshed sun gear and is fixed on planet installing rack away from motor of advancing by bolt II and packing ring II, and in the plane perpendicular with the round hole axial of planet installing rack, the axis of sun gear center circular hole is coaxial with the round hole axial of planet installing rack, middle part empty set is bearing in the driving shaft in hole, sun gear center, towards motor drive direction of advancing external part by shaft coupling with adopt bolt III, the reducing motor that nut III and packing ring III are fixed on long limit, chassis upper surface middle part is fixedly connected with, two planet carrier centers are separately fixed at driving shaft away from the close sun gear place of motor drive direction external part of advancing and the driving shaft end away from sun gear, behind many planet axis two ends empty sets of axis and the driving shaft axis being parallel hole through the planet carrier outer edge be fixed on driving shaft, near the end of reducing motor, the planetary gear engaged with sun gear is respectively housed, end away from reducing motor is each fixes 1 cylindrical brush.
Although this planetary pipeline cleaning robot can adapt to the pipeline of different tube diameters within the specific limits, but its flexibility of turning is poor, its total also relative complex.
Pipe robot wants the change that can adapt to caliber within the specific limits when designing, and want the bend change that can adapt to pipeline, carry out the turning of certain angle, having in the gradient or vertical pipe, when robot stops carrying out monitoring or cleaning, also require that pipe robot has certain on-slip ability, realize the location of robot, accurately to detect.Under the requirement of these combination properties, general pipe robot structure is comparatively complicated.
Given this, inventor furthers investigate the problems referred to above, then has this case to produce.
Utility model content
The purpose of this utility model is to provide a kind of can adapt to caliber change, Multifunctional pipeline robot flexible, that anti-slip effect is better and more convenient to operate of turning.
In order to achieve the above object, the utility model adopts such technical scheme:
A kind of Multifunctional pipeline robot, comprise moving device, clearing apparatus and control circuit board, also comprise the A planetary gear set be arranged on moving device and the B planetary gear set be arranged on clearing apparatus, described moving device is connected by spring with described clearing apparatus, described A planetary gear set comprises first planet wheels and the second planetary gear set, first planet wheels comprise the first regulating wheel and two driving wheels, the axle center of each driving wheel is provided with rotating shaft, rotating shaft is fixed with worm gear, also comprise two the first drive motors corresponding respectively to described two worm gears and arrange, the output shaft of each first drive motors is provided with the worm screw with corresponding worm gear, described moving device is provided with gripper shoe, described first regulating wheel is on the supporting plate hinged by connecting plate, connecting plate is formed the extension stretching out gripper shoe, extension offers opening up first bayonet socket, gripper shoe is provided with downward opening second bayonet socket, the first elastic threads is arranged with between first bayonet socket and the second bayonet socket, described clearing apparatus is provided with chassis, chassis is connected with rotating canine tooth wheel disc, canine tooth wheel disc is connected with Clean Brush for cleaning, also comprise the second drive motors, the output shaft of the second drive motors is fixed with the pinion coordinated with canine tooth wheel disc.
Preferably, described second planetary set comprises the cylindrical base be fixed on described running gear, the sidewall of cylindrical base is equidistantly distributed with three lugs, each lug is connected with the second regulating wheel by adjustment plate, adjustment plate to be hinged on lug and to stretch out lug and forms protuberance, protuberance is provided with the adjustment tank that opening extends towards cylindrical base sidewall, is arranged with the second elastic threads between three adjustment tanks.
Preferably, described chassis is provided with the first terminal pad near the one side of described running gear, first terminal pad is provided with three joint pins extended towards described running gear, the end of three joint pins is provided with the second terminal pad, described B planetary set comprises the third planet wheels be arranged on the first terminal pad and the fourth planet wheels be arranged on the second terminal pad, third planet wheels comprise three guide wheels, each guide wheel is connected with swing component, swing component offers axis hole, guide wheel is hinged on on the joint pin of correspondence by swing component, also comprise the torsion spring be arranged between joint pin and axis hole, one support arm of torsion spring is fixed on swing component, another support arm is fixed on the first terminal pad.
Further, also comprise the ccd video camera be arranged on described chassis, described chassis is also provided with lighting source, ccd video camera and lighting source are all electrically connected to described control circuit board.
Further, be also included in the activating sensor be arranged on described chassis, the touching bar of activating sensor extends to the front of described Clean Brush for cleaning.
In such scheme, described Clean Brush for cleaning is fixed on cutting ferrule, and described chassis is provided with the deck coordinated with cutting ferrule, and cutting ferrule is fixed on described deck by screwed lock.
After adopting the technical solution of the utility model, running gear is connected by spring with clearing apparatus, promote clearing apparatus by running gear to advance in pipeline, when running into bend, spring can bend, and realizes the turning function of whole robot, owing to running gear and clearing apparatus being provided separately, the ability that whole robot adapts to bend is stronger, not easily occurs that pipe robot is stuck in the phenomenon of bend.Because first planet wheels comprise the first regulating wheel and two driving wheels, utilize the first bayonet socket, the second bayonet socket and the first elastic threads effect can realize connecting plate and rotate the inwall can supporting pipeline when making the first regulating wheel run into the pipeline of different tube diameters within the specific limits; Worm and gear is utilized to drive driving wheel to rotate the motion realizing running gear, owing to adopting worm gear structure, in vertical pipeline, when pipe robot stop at certain position carry out cleaning or detecting time, utilize the self-locking property of worm and gear self, worm gear can not drive worm screw to rotate, and can ensure that driving wheel can not reverse and occur the phenomenon that pipe robot glides; Therefore, after adopting the technical solution of the utility model, the walking of pipe robot in pipeline is more smooth and easy, operates convenient.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the enlarged drawing at C place in Fig. 1;
Fig. 3 is the structural representation of the utility model another one angle;
Fig. 4 is the enlarged drawing at D place in Fig. 3;
Fig. 5 is the structural representation that the utility model is watched from another angle.
In figure:
1-running gear 101-driving wheel
102-first regulating wheel 103-rotating shaft
104-worm gear 105-first drive motors
106-worm screw 107-connecting plate
108-gripper shoe 109-extension
1010-first bayonet socket 1011-second bayonet socket
1012-first elastic threads 111-cylindrical base
112-lug 113-adjusts plate
114-protuberance 115-adjustment tank
116-second elastic threads 117-second regulating wheel
2-clearing apparatus 21-chassis
22-canine tooth wheel disc 23-second drive motors
24-pinion 25-first terminal pad
26-second terminal pad 27-joint pin
281-guide wheel 282-swing arm
283-axis hole 29-Clean Brush for cleaning
291-cutting ferrule 211-deck
3-spring 4-control circuit board
5-lighting source 6-CCD video camera
7-activating sensor
Detailed description of the invention
In order to explain the technical solution of the utility model further, be described in detail below in conjunction with accompanying drawing.
A kind of Multifunctional pipeline robot, comprise moving device 1, clearing apparatus 2 and control circuit board 4, described moving device is connected by spring 3 with clearing apparatus described in 12, specifically respectively be provided with projecting shaft in the one side that moving device 1 is corresponding with clearing apparatus 2, the two ends of spring 3 are separately fixed on projecting shaft, moving device 1 is provided with drive unit, drive unit drives moving device 1 to move in pipeline, moving device 1 promotes clearing apparatus 2 by spring 3 and moves, the driving wheel 101 that drive unit will describe below adopting and the first drive motors 105.Moving device 1 is provided with A planetary gear set, the B planetary gear set on clearing apparatus 2, jointly driven the movement of whole pipe robot by A planetary gear set and B planetary gear set.With pipe robot advance direction be front, described A planetary gear set comprises first planet wheels and the second planetary gear set, first planet group is arranged on the front end of running gear 1, second planetary set is arranged on the rear end of running gear 1, the central point of central point and two driving wheels 101 that first planet wheels comprise the first regulating wheel 102 and two driving wheel 101, first regulating wheels 102 surrounds equilateral triangle.The axle center of each driving wheel 101 is provided with rotating shaft 103, rotating shaft 103 is erected on the corresponding position of running gear 1 frame, rotating shaft 103 is fixed with worm gear 104, also comprise two the first drive motors 105, the output shaft of each first drive motors 105 is provided with the worm screw 106 coordinated with corresponding worm gear 104, drive worm screw 106 to rotate by the first drive motors 105, worm screw 106 drives worm gear 104 to rotate and then drives driving wheel 101 rolls forward.
Moving device 1 is provided with gripper shoe 108, gripper shoe 108 extends straight down, described first regulating wheel 102 is hinged in gripper shoe 108 by connecting plate 107, connecting plate 107 is formed the extension 109 stretching out gripper shoe 108, extension 109 offers the first opening up bayonet socket 1010, gripper shoe 108 is provided with downward opening second bayonet socket 1011, first bayonet socket 1010 and the second bayonet socket about 1011 stagger and arrange, the first elastic threads 1012 is arranged with between the first bayonet socket 1010 and the second bayonet socket 1011, under the constraint of the first elastic threads 1012, connecting plate 107 locates a certain position, when there is less change in the internal diameter of the pipeline of pipe robot walking, be subject to the pressure of pipeline or the elastic force of the first elastic threads 1012 itself, connecting plate 107 correspondingly rotates certain angle to adapt to the change of internal diameter of the pipeline.
Clearing apparatus 2 is provided with chassis 21, chassis 21 is connected with rotating canine tooth wheel disc 22, canine tooth wheel disc 22 is connected with Clean Brush for cleaning 29.The output shaft that chassis 21 is also fixed with the second drive motors 23, second drive motors 23 is fixed with the pinion 24 coordinated with canine tooth wheel disc 22.Second drive motors 23 driving pinion 24 rotates, and then drives canine tooth wheel disc 22 to rotate, and canine tooth wheel disc 22 drives Clean Brush for cleaning 29 to rotate, and realizes the cleaning to pipeline.
In order to the change making the second planetary set adapt to pipeline better, described second planetary set comprises the cylindrical base 111 be fixed on described running gear 1, the sidewall of cylindrical base 111 is equidistantly distributed with three lugs 112, the central point that each lug 112 is connected with the second regulating wheel 117, three the second regulating wheels 117 by adjustment plate 113 surrounds equilateral triangle.Adjustment plate 113 to be hinged on lug 112 and to stretch out lug 112 and forms protuberance 114, and protuberance 114 is provided with between adjustment tank 115, three adjustment tanks 115 that opening extends towards cylindrical base 111 sidewall and is arranged with the second elastic threads 118.Three the second regulating wheels 117 are positioned at certain position by the second elastic threads 118 simultaneously, when there is less change in the internal diameter of the pipeline of pipe robot walking, be subject to the pressure of pipeline or the elastic force of the second elastic threads 118 itself, adjustment plate 113 correspondingly rotates certain angle to adapt to the change of internal diameter of the pipeline, and the second regulating wheel 117 is adjacent at inner-walls of duct.
Inner-walls of duct can be resisted against preferably to make clearing apparatus 2, pipe robot is facilitated to walk, described chassis 21 is provided with the first terminal pad 25 near the one side of described running gear 1, the end that first terminal pad 25 is provided with three joint pins, 27, three joint pins 27 extended towards described running gear 1 is provided with the second terminal pad 26.Above-mentioned B planetary set comprises the third planet wheels be arranged on the first terminal pad 25 and the fourth planet wheels be arranged on the second terminal pad 26, and the center that third planet wheels comprise three guide wheels, 281, three guide wheels 281 surrounds equilateral triangle.Each guide wheel 281 is connected with swing component 282, swing component 282 offers axis hole 283.Guide wheel 281 is hinged on one end of swing component 282, the other end of swing component 282 is hinged on on the joint pin 27 of correspondence, also comprise the torsion spring (not shown) be arranged between joint pin 27 and axis hole 283, one support arm of torsion spring is fixed on swing component 282, and another support arm is fixed on the first terminal pad 25.Pipe robot is when pipeline internal is walked, when running into the less pipeline of caliber, three swing components 282 shrink the change adapting to caliber to the inside under the effect of torsion spring, and when running into caliber and becoming large, three swing components 282 open the change adapting to caliber laterally under the effect of torsion spring.
Further, the utility model also comprises the ccd video camera 6 be arranged on described chassis 21, described chassis 21 is also provided with lighting source 5, ccd video camera 6 and lighting source 5 are all electrically connected to described control circuit board 4, monitored the situation in pipeline by lighting source 5 and ccd video camera 6, to facilitate, pipe robot is controlled.
Further, the utility model also comprises the activating sensor 7 be arranged on described chassis 21, and the touching bar of activating sensor 7 extends to the front of described Clean Brush for cleaning 29.When obstacle appears in front, induction occurs activating sensor 7 and by signal transmission to control panel circuit 4, circuit control panel 4 is by the manipulator of signal transmission pipe robot, and with handled easily, person operates.
In such scheme, described Clean Brush for cleaning 29 is fixed on cutting ferrule 291, and described chassis 21 is provided with the deck 211 coordinated with cutting ferrule 291, and cutting ferrule 291 is fixed on described deck 211 by screwed lock.This setup is adopted to change by hairbrush 29 convenient for cleaning.
Product form of the present utility model is not limited to this case diagram and embodiment, and anyone carries out suitable change or the modification of similar thinking to it, all should be considered as not departing from patent category of the present utility model.
Claims (6)
1. a Multifunctional pipeline robot, comprise moving device, clearing apparatus and control circuit board, also comprise the A planetary gear set be arranged on moving device and the B planetary gear set be arranged on clearing apparatus, it is characterized in that: described moving device is connected by spring with described clearing apparatus, described A planetary gear set comprises first planet wheels and the second planetary gear set, first planet wheels comprise the first regulating wheel and two driving wheels, the axle center of each driving wheel is provided with rotating shaft, rotating shaft is fixed with worm gear, also comprise two the first drive motors corresponding respectively to described two worm gears and arrange, the output shaft of each first drive motors is provided with the worm screw with corresponding worm gear, described moving device is provided with gripper shoe, described first regulating wheel is on the supporting plate hinged by connecting plate, connecting plate is formed the extension stretching out gripper shoe, extension offers opening up first bayonet socket, gripper shoe is provided with downward opening second bayonet socket, the first elastic threads is arranged with between first bayonet socket and the second bayonet socket, described clearing apparatus is provided with chassis, chassis is connected with rotating canine tooth wheel disc, canine tooth wheel disc is connected with Clean Brush for cleaning, also comprise the second drive motors, the output shaft of the second drive motors is fixed with the pinion coordinated with canine tooth wheel disc.
2. Multifunctional pipeline robot as claimed in claim 1, it is characterized in that: described second planetary set comprises the cylindrical base be fixed on described moving device, the sidewall of cylindrical base is equidistantly distributed with three lugs, each lug is connected with the second regulating wheel by adjustment plate, adjustment plate to be hinged on lug and to stretch out lug and forms protuberance, protuberance is provided with the adjustment tank that opening extends towards cylindrical base sidewall, is arranged with the second elastic threads between three adjustment tanks.
3. Multifunctional pipeline robot as claimed in claim 1, it is characterized in that: described chassis is provided with the first terminal pad near the one side of described moving device, first terminal pad is provided with three joint pins extended towards described moving device, the end of three joint pins is provided with the second terminal pad, described B planetary set comprises the third planet wheels be arranged on the first terminal pad and the fourth planet wheels be arranged on the second terminal pad, third planet wheels comprise three guide wheels, each guide wheel is connected with swing component, swing component offers axis hole, guide wheel is hinged on on the joint pin of correspondence by swing component, also comprise the torsion spring be arranged between joint pin and axis hole, one support arm of torsion spring is fixed on swing component, another support arm is fixed on the first terminal pad.
4. Multifunctional pipeline robot as claimed in claim 1, it is characterized in that: also comprise the ccd video camera be arranged on described chassis, described chassis is also provided with lighting source, and ccd video camera and lighting source are all electrically connected to described control circuit board.
5. Multifunctional pipeline robot as claimed in claim 1, it is characterized in that: also comprise the activating sensor be arranged on described chassis, the touching bar of activating sensor extends to the front of described Clean Brush for cleaning.
6. Multifunctional pipeline robot as claimed in claim 1, it is characterized in that: described Clean Brush for cleaning is fixed on cutting ferrule, described chassis is provided with the deck coordinated with cutting ferrule, and cutting ferrule is fixed on described deck by screwed lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420617198.3U CN204122424U (en) | 2014-10-23 | 2014-10-23 | A kind of Multifunctional pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420617198.3U CN204122424U (en) | 2014-10-23 | 2014-10-23 | A kind of Multifunctional pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204122424U true CN204122424U (en) | 2015-01-28 |
Family
ID=52378815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420617198.3U Withdrawn - After Issue CN204122424U (en) | 2014-10-23 | 2014-10-23 | A kind of Multifunctional pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204122424U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259158A (en) * | 2014-10-23 | 2015-01-07 | 福建省泉州市第七中学 | Multifunctional pipeline robot |
| CN105953027A (en) * | 2016-03-15 | 2016-09-21 | 东北电力大学 | Flexible shaft driven mini type pipe robot |
| CN106364588A (en) * | 2016-10-26 | 2017-02-01 | 哈尔滨工程大学 | Peristaltic pipeline walking robot |
| CN107374734A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN107838140A (en) * | 2017-12-12 | 2018-03-27 | 潍坊学院 | A kind of pipe-line cleaner |
-
2014
- 2014-10-23 CN CN201420617198.3U patent/CN204122424U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259158A (en) * | 2014-10-23 | 2015-01-07 | 福建省泉州市第七中学 | Multifunctional pipeline robot |
| CN104259158B (en) * | 2014-10-23 | 2016-06-29 | 福建省泉州市第七中学 | A kind of Multifunctional pipeline robot |
| CN105953027A (en) * | 2016-03-15 | 2016-09-21 | 东北电力大学 | Flexible shaft driven mini type pipe robot |
| CN106364588A (en) * | 2016-10-26 | 2017-02-01 | 哈尔滨工程大学 | Peristaltic pipeline walking robot |
| CN107374734A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN107374734B (en) * | 2017-07-31 | 2023-06-09 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107838140A (en) * | 2017-12-12 | 2018-03-27 | 潍坊学院 | A kind of pipe-line cleaner |
| CN107838140B (en) * | 2017-12-12 | 2019-12-10 | 潍坊学院 | Pipeline cleaner |
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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: 20150128 Effective date of abandoning: 20160629 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |