CN204717232U - Pipeline robot drive unit and pipeline robot - Google Patents
Pipeline robot drive unit and pipeline robot Download PDFInfo
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- CN204717232U CN204717232U CN201520216719.9U CN201520216719U CN204717232U CN 204717232 U CN204717232 U CN 204717232U CN 201520216719 U CN201520216719 U CN 201520216719U CN 204717232 U CN204717232 U CN 204717232U
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- drive unit
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- pipeline robot
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- wheel
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- 230000002146 bilateral effect Effects 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 description 5
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- 230000037431 insertion Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model provides a kind of pipeline robot drive unit and pipeline robot, comprise substrate and be symmetrically distributed in some driving legs outside substrate, spring is connected with between adjacent two driving legs, code-disc motor, output shaft and wheel shaft is provided with in driving leg, code-disc motor is connected with output shaft, output shaft is provided with drive bevel gear and the driven wheel of differential of engagement interlock, and wheel shaft bilateral symmetry is provided with driving wheel; Described driving leg end is provided with tooth bar seat, bogie and positioning means; Tooth bar seat is connected with wheel shaft, and tooth bar seat is provided with gear and tooth bar, when bogie position is fixing do not rotate time, separately, when bogie rotates, gear and tooth bar engage each other, and positioning means can locate the angle that bogie rotates for gear and tooth bar; Described drive unit also comprises steering wheel, and described bogie is connected with steering wheel by the first drag-line.The utility model structure is simple, and robot freely can walk in various shape pipeline.
Description
Technical field
The utility model belongs to robot field, is specifically related to a kind of pipeline robot drive unit and pipeline robot.
Background technique
Prior art pipeline robot has vehicle type pipeline robot, crawler belt type pipeline robot and walking type pipeline robot.Vehicle type pipeline robot is as the patent No.: 201010240870.8,201310118019.1, and the Robot Design of this class formation is simple, but bad adaptability, be difficult to obstacle detouring, and the pipeline robot of similar structure can not be creeped in vertical pipe.Crawler belt type pipeline robot is as the patent No.: 200910061704.9, this kind of pipeline robot, and traction is larger than general vehicle formula pipeline robot, and adaptive capacity is good, but in pipeline, curved meeting is very difficult excessively, has the danger of overturning.Walking type pipeline robot is as the patent No.: 201310069842.8, and walking type pipeline robot adaptability comparatively above two kinds of adaptability will be got well, but complex structure, poor reliability is very high to operating environment requirements.When topographical form sudden change (T-shaped, Y type, L type, cross), sectional shape irregular (non-circular, ring shake, docking depression or protruding), inwall physical property inconsistent (roughness, coefficient of attachment) situation appear in pipeline, the pipeline robot of prior art is difficult to adapt to this tube topology structural mutation situation.
Model utility content
The utility model mainly solves the problem existing for prior art, provides a kind of structure simple, the pipeline robot drive unit freely can walked in various shape pipeline and pipeline robot.Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals:
The utility model provides a kind of pipeline robot drive unit, comprise substrate and be symmetrically distributed in some driving legs outside substrate, spring is connected with between adjacent two driving legs, code-disc motor, output shaft and wheel shaft is provided with in driving leg, code-disc motor is connected with output shaft, output shaft is provided with drive bevel gear and the driven wheel of differential of engagement interlock, and wheel shaft bilateral symmetry is provided with driving wheel; Described driving leg end is provided with tooth bar seat, bogie and positioning means; Tooth bar seat is connected with wheel shaft, and tooth bar seat is provided with gear and tooth bar, when bogie position is fixing do not rotate time, separately, when bogie rotates, gear and tooth bar engage each other, and positioning means can locate the angle that bogie rotates for gear and tooth bar; Described drive unit also comprises steering wheel, and described bogie is connected with steering wheel by the first drag-line.
As preferably, described positioning means comprises pin and positioning plate, and positioning plate is provided with a positioning hole that can insert pin, and described pin is fixedly connected with tooth bar seat.
As preferably, described pipeline robot drive unit also comprises tripper, and described tripper comprises unlocking feature and the second drag-line, and the second drag-line is connected with spring, and when opening unlocking feature, the second drag-line separates with spring.
As preferably, described driving leg is 4.
As preferably, described substrate is square.
As preferably, described driving leg and substrate are connected through the hinge.
The invention also discloses and a kind of pipeline robot is provided, comprise pipeline robot drive unit as above, and main control system, described drive unit is connected with main control system, main control system and server wireless telecommunications.
The beneficial effect brought of the present utility model is:
(1) pipeline robot drive unit is by the engagement of cone tooth and the ingenious combination of gear rack and pin, allows same motor to the adjustment of attitudes such as realizing wheel and move ahead and turn to, robot can be worked in complex environment.
(2) pipeline robot drive unit is symmetrically arranged with some driving legs, and robot can be made to remain at walking in the middle of pipeline.
(3) when obstacle appears in pipeline robot, open tripper, make spring unclamp driving leg and shrink, with line, robot is hauled out from pipeline, avoid robot stuck in pipeline.
Accompanying drawing explanation
Accompanying drawing 1 is the plan view of the utility model pipeline robot drive unit;
Accompanying drawing 2 is the rear view of the utility model pipeline robot drive unit;
Accompanying drawing 3 is the driving leg cross-sectional end view of the utility model pipeline robot drive unit;
Accompanying drawing 4 is the left view of Fig. 3;
Accompanying drawing 5 is that the utility model pipeline robot is at T-shaped pipeline crawling process and attitudes vibration figure;
Accompanying drawing 6 is that the utility model pipeline robot is at L-type pipeline crawling process and attitudes vibration figure;
Accompanying drawing 7 is inventive pipeline robot four kinds of gesture stability schematic diagram, wherein (1) craspedodrome attitude figure, and turn-take attitude figure for (2) minor spiral attitude figure, (3) king bolt attitude figure and (4) original place.
As shown in drawings: 1, code-disc motor; 2, output shaft; 3, drive bevel gear; 4, driven wheel of differential; 5, wheel shaft; 6, driving wheel; 7, spring; 8, the first drag-line; 9, tooth bar seat; 10, bogie; 11, substrate; 12, steering wheel; 13, tripper; 14, the second drag-line; 15, positioning plate; 16, gear; 17, tooth bar; 18, sell.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Pipeline robot drive unit, 4 driving legs comprising square substrate 11 and be symmetrically distributed in outside substrate 11, driving leg and substrate 11 are connected through the hinge, spring 7 is connected with between adjacent two driving legs, code-disc motor 1, output shaft 2 and wheel shaft 5 is provided with in driving leg, code-disc motor 1 is connected with output shaft 2, and output shaft 2 is provided with drive bevel gear 3 and the driven wheel of differential 4 of engagement interlock, and wheel shaft 5 bilateral symmetry is provided with driving wheel 6; Drive unit also comprises steering wheel 12 and can control the steering gear that driving leg turns to, and the steering gear is arranged on driving leg end, and steering equipment is connected with steering wheel 12 by the first drag-line 8.The steering gear comprises tooth bar seat 9, bogie 10 and positioning means; Tooth bar seat 9 is connected on wheel shaft 5, and tooth bar seat 9 is provided with gear 16 and tooth bar 17, when bogie 10 position is fixing do not turn to time, gear 16 and tooth bar 17 are separately, when bogie 10 turns to, gear 16 and tooth bar 17 engage each other, and positioning means can locate the angle that bogie 10 turns to.Positioning means comprises pin 18 and positioning plate 15, and described positioning plate 15 is provided with the positioning hole that 4 can be inserted pin 18, and described pin 18 is fixedly connected with tooth bar seat 9.Code-disc motor 1 driver output axle 2 drives drive bevel gear 3 to rotate, and drive the driven wheel of differential 4 engaged with 3 to rotate, drive driving wheel 6 to rotate by wheel shaft 5, other each driving leg of free walker pipeline robot also presses which work, and on the substrate 11 hinged with it.Under the pulling force effect of spring 7, adjacent driven leg can be close to tube wall, and under driving force effect, robot moves ahead along tube wall.
Pipeline robot drive unit also comprises tripper, and tripper comprises unlocking feature 13 and the second drag-line 14, second drag-line 14 is connected with spring 7, and when opening unlocking feature 13, the second drag-line 14 separates with spring 7.Tripper 13 and the second drag-line 14 are the self-saving device in the stuck situation of robot, and process is: robot is stuck, and tripper 13 unlocks, and the second drag-line 14 loosens, and spring 7 loses pulling force, and freely, robot pulls out pipeline by safety rope to each driving leg.
Of the present utility model kind of pipeline robot, comprises pipeline robot drive unit as previously discussed, and main control system, and drive unit is connected with main control system, main control system and server wireless telecommunications.
Pipeline robot of the present utility model can realize the excessively curved of T-shaped and L-type pipeline, and the sense of rotation mainly through driving wheel 6 grade adjusts, and realizes the different distortion amount of spring 7, realizes curved and action of creeping that is T connector.As shown in accompanying drawing 5,6.Here is two kinds of curved examples of mistake:
One, Fig. 5 (1)-(3) show that T-shaped pipeline is excessively curved, Fig. 5 (1) robot is in the attitude that moves ahead, Fig. 5 (2) below two wheel sense of rotation is contrary, under frictional force effect, lower driving leg separately, upper driving leg enters by-pass line, and the upper driving wheel of Fig. 5 (3) contacts with tube wall and obtains driving force, and robot climbs into by-pass line.
Two, Fig. 6 (1)-(3) show that L-type pipeline is excessively curved, Fig. 6 (1) robot is in the attitude that moves ahead, Fig. 6 (2) entered curved leading portion, 3 driving wheels contact with tube wall below, acquisition driving force realizes leading portion and turns round, Fig. 6 (3) entered curved back segment, above to contact tube wall with left side driving wheel and obtain driving force, excessively curved by 3 process implementation L-types.
When robot needs adjustment attitude, steering wheel 12 works, first drag-line 8 pulls tooth bar seat 9, gear 16 and tooth bar 17 engage, as shown in Figure 3,4, because tooth bar seat is fixed, the drive bevel gear 3 now rotated and driven wheel of differential 4 drive bogie 10 to rotate, thus realizing pose adjustment, different attitudes to be coordinated with positioning plate 15 by pin 18 and realizes 4 kinds of attitudes, and concrete attitude form is as shown in Figure 7.
Fig. 7-(1) is craspedodrome attitude, and pin is inserted in (pin-and-hole is hole 1, hole 2, hole 3, hole 4 by counter clockwise direction) in the hole 1 of positioning plate, and bogie is fixed, and driving wheel is kept straight on;
Fig. 7-(2) are minor spiral attitude, and steering wheel 12 controls tooth bar and cogs with wheel shaft and engage, and driving wheel does not turn, and under the effect of cone tooth, bogie rotates to an angle, pin insertion hole 2, and bogie is fixed, and enters minor spiral attitude.Bogie is rotated further, and pin insertion hole 3, Fig. 7-(3) are king bolt attitude.Bogie is rotated further, and pin insertion hole 4, Fig. 7-(4) are for turn-taking attitude in original place.The effect of adjustment attitude is: robot can surmount obstacles, also can carry out 3-D scanning (as installed laser scanning).
Above-mentioned embodiment is used for explaining and the utility model is described; instead of the utility model is limited; in the protection domain of spirit of the present utility model and claim; any amendment that the utility model is made and change; as: driving wheel increases; steering equipment becomes pull bar by drag-line, unlocks the constant and change of tripper of form, all falls into protection domain of the present utility model.
Claims (7)
1. pipeline robot drive unit, it is characterized in that some the driving legs comprising substrate (11) and be symmetrically distributed in substrate (11) outside, spring (7) is connected with between adjacent two driving legs, code-disc motor (1), output shaft (2) and wheel shaft (5) is provided with in driving leg, code-disc motor (1) is connected with output shaft (2), output shaft (2) is provided with drive bevel gear (3) and the driven wheel of differential (4) of engagement interlock, and wheel shaft (5) bilateral symmetry is provided with driving wheel (6); Described driving leg end is provided with tooth bar seat (9), bogie (10) and positioning means; Tooth bar seat (9) is connected with wheel shaft (5), tooth bar seat (9) is provided with gear (16) and tooth bar (17), when bogie (10) position is fixing do not rotate time, gear (16) and tooth bar (17) are separately, when bogie (10) rotates, gear (16) and tooth bar (17) engage each other, and positioning means can locate the angle that bogie (10) rotates; Described drive unit also comprises steering wheel (12), and described bogie (10) is connected with steering wheel (12) by the first drag-line (8).
2. pipeline robot drive unit according to claim 1, it is characterized in that described positioning means comprises pin (18) and positioning plate (15), positioning plate (15) is provided with the positioning hole that 4 can be inserted pin (18), and described pin (18) is fixedly connected with tooth bar seat (9).
3. pipeline robot drive unit according to claim 1, it is characterized in that described pipeline robot drive unit also comprises tripper, described tripper comprises unlocking feature (13) and the second drag-line (14), second drag-line (14) is connected with spring (7), and when opening unlocking feature (13), the second drag-line (14) separates with spring (7).
4. pipeline robot drive unit according to claim 1, is characterized in that described driving leg is 4.
5. pipeline robot drive unit according to claim 1, is characterized in that described substrate (11) is for square.
6. pipeline robot drive unit according to claim 1, is characterized in that described driving leg and substrate (11) are connected through the hinge.
7. a pipeline robot, is characterized in that comprising pipeline robot drive unit as described in any one of claim 1-6, and main control system, and described drive unit is connected with main control system, main control system and server wireless telecommunications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520216719.9U CN204717232U (en) | 2015-04-10 | 2015-04-10 | Pipeline robot drive unit and pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520216719.9U CN204717232U (en) | 2015-04-10 | 2015-04-10 | Pipeline robot drive unit and pipeline robot |
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| CN204717232U true CN204717232U (en) | 2015-10-21 |
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| CN201520216719.9U Expired - Fee Related CN204717232U (en) | 2015-04-10 | 2015-04-10 | Pipeline robot drive unit and pipeline robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN106122677A (en) * | 2016-07-16 | 2016-11-16 | 吴思 | A kind of diesel pipeline inwall processes Special Automatic walking arrangement |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN106200644A (en) * | 2016-08-12 | 2016-12-07 | 广东工业大学 | A kind of robot underground positioner |
| CN106195521A (en) * | 2016-07-16 | 2016-12-07 | 吴思 | A kind of even support running gear for tube inner wall |
| CN106564060A (en) * | 2016-10-26 | 2017-04-19 | 南京航空航天大学 | Narrow space precise operation robot mechanism and working method |
| CN106885098A (en) * | 2017-04-10 | 2017-06-23 | 燕胜 | A kind of oil-gas pipeline detects walking mechanism |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN108105529A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Pipe robot driving device and pipe robot |
| CN108374945A (en) * | 2018-03-29 | 2018-08-07 | 杭州杭睿科技有限公司 | A kind of pipeline climbing robot of move mode Suresh Kumar |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth welding robot |
| CN111571081A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Pipeline inner wall welding robot |
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2015
- 2015-04-10 CN CN201520216719.9U patent/CN204717232U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN106122677B (en) * | 2016-07-16 | 2018-10-19 | 洪娇娇 | A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing |
| CN106122677A (en) * | 2016-07-16 | 2016-11-16 | 吴思 | A kind of diesel pipeline inwall processes Special Automatic walking arrangement |
| CN106195521A (en) * | 2016-07-16 | 2016-12-07 | 吴思 | A kind of even support running gear for tube inner wall |
| CN106195521B (en) * | 2016-07-16 | 2019-04-02 | 张晓锋 | A kind of even support running gear for tube inner wall |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN106200644A (en) * | 2016-08-12 | 2016-12-07 | 广东工业大学 | A kind of robot underground positioner |
| CN106564060A (en) * | 2016-10-26 | 2017-04-19 | 南京航空航天大学 | Narrow space precise operation robot mechanism and working method |
| CN106885098A (en) * | 2017-04-10 | 2017-06-23 | 燕胜 | A kind of oil-gas pipeline detects walking mechanism |
| CN108105529A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Pipe robot driving device and pipe robot |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN107990085B (en) * | 2017-12-29 | 2023-11-03 | 南京工程学院 | Multi-gesture variable-diameter pipeline robot |
| CN108374945A (en) * | 2018-03-29 | 2018-08-07 | 杭州杭睿科技有限公司 | A kind of pipeline climbing robot of move mode Suresh Kumar |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth welding robot |
| CN111571081A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Pipeline inner wall welding robot |
| CN111571080B (en) * | 2020-06-01 | 2022-03-22 | 安徽盈创石化检修安装有限责任公司 | Circular pipeline inner wall girth welding robot |
| CN111571081B (en) * | 2020-06-01 | 2022-05-27 | Dig自动化工程（武汉）有限公司 | Pipeline inner wall welding robot |
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| 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: 20151021 Termination date: 20160410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |