CN204879274U - Wriggling formula pipeline flexible robot drive mechanism - Google Patents
Wriggling formula pipeline flexible robot drive mechanism Download PDFInfo
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- CN204879274U CN204879274U CN201520260225.0U CN201520260225U CN204879274U CN 204879274 U CN204879274 U CN 204879274U CN 201520260225 U CN201520260225 U CN 201520260225U CN 204879274 U CN204879274 U CN 204879274U
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- featherway
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- engaging element
- driving mechanism
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Abstract
The utility model provides a wriggling formula pipeline flexible robot drive mechanism, characterized by is by running gear, drive mechanism and actuating mechanism constitute, wherein running gear comprises preceding travel unit and back travel unit, wherein back travel unit and drive mechanism are through taking M10 nut (23) the fixed connection on featherway cavity flexible lead screw (4), preceding travel unit passes through collimation nut (6) and is connected with the screw pair of taking featherway cavity flexible lead screw (4) to form, drive mechanism passes through gear (9) and motor shaft gear (24) meshing with actuating mechanism and is connected, actuating mechanism passes through motor bracing piece (25) and installs in preceding travel unit's base. The beneficial effects of the utility model are that a pipeline flexible robot drive mechanism, this mechanism of can be smoothly through curved type pipeline, adopts longer flexible shaft to improve the continuity of whole drive mechanism motion, it is little that this mechanism meets the fluid area, is fit for at the special environment of using as a servant the pipeline.
Description
Technical field
The utility model relates to gas-liquid conveyance conduit engineering field, particularly a kind of creeping type pipeline flexible robot haulage gear.
Background technique
The pipeline robot that gas-liquid conveyance conduit detects and repairs has by traction drive modes such as fluid pressure difference driving, in-wheel driving, crawler, biomimetic peristaltic formulas.
Drive by fluid pressure difference and belong to passive type driving, tractive force can not regulate and control, and load capacity is poor.
In-wheel driving is crossed bend place and is driven difficulty large, and efficiency is low, although propose many motors drive theory and inputted by single motor, drive circumference is simultaneously multiple takes turns rotation, and this quadrat method can cross bend in theory, and mechanism is complicated, causes reliability to reduce.
Crawler drives obstacle climbing ability strong, can export comparatively large traction, but complex structure, turning to property is poor, and by bend difficulty, energy consumption is large.
A kind of creeping type pipeline robot of patented technology that Research foundation of the present utility model is applied for before being moves haulage gear (ZL201220229959.9), and although this technology has initiatively traction, simple and reliable for structure, low power consumption and other advantages, but still not too convenient in bend passes through.Leading screw mainly in the middle of it is rigidity.
Summary of the invention
Not enough for solving prior art, devise a kind of creeping type pipeline flexible robot haulage gear.Creeping type pipeline robot to be moved in haulage gear (ZL201220229959.9) three and change middle flexible feed screw into for coaxial rigidity slide bar and middle rigidity leading screws, combine other parts such as collimating nut and make this haulage gear can be smooth excessively curved.
The technical solution adopted in the utility model is:
A kind of creeping type pipeline flexible robot haulage gear, it is characterized in that by traveller, driving mechanism and driving mechanism composition, it is characterized in that wherein traveller is made up of front ground-engaging element and rear ground-engaging element, wherein driving mechanism forms by being with featherway flexible hollow leading screw (4), gear (9), collimation nut (6), bearing (7) and limit switch a (5), stop nut (13), and wherein driving mechanism is made up of motor support bar (25), motor (11), generator shaft gear (24); Wherein, ground-engaging element and driving mechanism are by being with the M10 nut (23) on featherway flexible hollow leading screw (4) to be fixedly connected with, the screw pair that front ground-engaging element is formed by collimation nut (6) and band featherway flexible hollow leading screw (4) is connected, and driving mechanism and driving mechanism are connected with a joggle by gear (9) and generator shaft gear (24); Driving mechanism is installed in the base of front ground-engaging element by motor support bar (25).
It is characterized in that wherein traveller is made up of front ground-engaging element and rear ground-engaging element, the two all includes leg (2), pin a (14), Telescopic spring (15), sliding pin (16), sleeve (17), leg bearing (18), the wherein interior motor (11) being installed with driving mechanism by motor support bar (25) of the base of front ground-engaging element, the slide block (8) of circumferential spacing feather key that has in the base of front ground-engaging element is connected with collimation nut (6) by bearing (7), the slide block (8) of circumferential spacing feather key is had to be connected with band featherway flexible hollow leading screw (4) by its built-in feather key (10), feather key (10) slides in the featherway (28) of the excircle axis of band featherway flexible hollow leading screw (4), guarantee that front ground-engaging element can not rotate in a circumferential direction, can only slide axially along flexible feed screw (4) together with collimation nut (6).
It is characterized in that being wherein with more piece universal joint (26) the upper threading formation flexible feed screw that featherway flexible hollow leading screw (4) is in the staggered connection that continues, connected by pin b (27) between each joint, the outer avris of flexible feed screw has featherway (28), and flexible feed screw has axial center hole (29).
It is characterized in that taper mouth is made in the two ends design wherein collimating nut (6), use with band featherway flexible hollow leading screw (4), be convenient to band featherway flexible hollow leading screw (4) collimation, collimation nut (6) excircle is with gear (9) and spoke (30).
It is characterized in that being that wherein limit switch a (5) and limit switch b (12) adopts switch Hall element.
This haulage gear alternately forms positive feedback effect with the frictional force strengthen continuously of tube wall (1) along two groups of legs (2) during pipe motion, makes this mechanism have large tractive force.When be with featherway flexible hollow leading screw (4) base (3) that connects and have circumferential spacing feather key the reduction of slide block (8) spacing time, base (3) relative duct size is static, has slide block (8) forward movement relatively of circumferential spacing feather key.When be with featherway flexible hollow leading screw (4) base (3) that connects and have circumferential spacing feather key the increase of slide block (8) spacing time, there is slide block (8) relative duct size of circumferential spacing feather key static, base (3) relative duct size forward movement, namely form front ground-engaging element and the rear ground-engaging element alternately proal form of traveller, make the effect that whole haulage gear formation creeping type moves ahead.
The beneficial effects of the utility model: a kind of creeping type pipeline flexible robot haulage gear, this mechanism can pass through curved pipeline smoothly, adopt longer flexible shaft to improve the continuity of whole haulage gear motion, it is little that this mechanism meets fluid area, is adapted at the particular surroundings of service pipeline.
Accompanying drawing explanation
A kind of creeping type pipeline flexible of Fig. 1 the utility model robot haulage gear simplified schematic diagram;
A kind of creeping type pipeline flexible of Fig. 2 the utility model robot haulage gear detailed maps;
The generalized section of a kind of creeping type pipeline flexible of Fig. 3 the utility model robot haulage gear band featherway flexible hollow leading screw;
A kind of creeping type pipeline flexible of Fig. 4 the utility model robot haulage gear collimation nut schematic diagram.
Wherein 1 is pipeline, 2 is legs, 3 is bases, 4 is band featherway flexible hollow leading screws, 5 is limit switch a, 6 is collimation nuts, 7 is bearings, 8 is the slide blocks having circumferential spacing feather key, 9 is gears, 10 is feather keys, 11 is motors, 12 is limit switch b, 13 is stop nuts, 14 is pin a, 15 is Telescopic springs, 16 is sliding pins, 17 is sleeves, 18 is leg bearings, 19 is bearing (ball) covers, 20 is M3 screws, 21 is M5 screws, 22 is bearing supports, 23 is M10 nuts, 24 is generator shaft gears, 25 is motor support bars, 26 is universal joints, 27 is pin b, 28 featherways, 29 center holes, 30 is spokes.
Embodiment
With reference to the accompanying drawings, a kind of creeping type pipeline flexible robot haulage gear, it is characterized in that by traveller, driving mechanism and driving mechanism composition, it is characterized in that wherein traveller is made up of front ground-engaging element and rear ground-engaging element, wherein driving mechanism forms by being with featherway flexible hollow leading screw (4), gear (9), collimation nut (6), bearing (7) and limit switch a (5), stop nut (13), and wherein driving mechanism is made up of motor support bar (25), motor (11), generator shaft gear (24); Wherein, ground-engaging element and driving mechanism are by being with the M10 nut (23) on featherway flexible hollow leading screw (4) to be fixedly connected with, the screw pair that front ground-engaging element is formed by collimation nut (6) and band featherway flexible hollow leading screw (4) is connected, and driving mechanism and driving mechanism are connected with a joggle by gear (9) and generator shaft gear (24); Driving mechanism is installed in the base of front ground-engaging element by motor support bar (25).
It is characterized in that wherein traveller is made up of front ground-engaging element and rear ground-engaging element, the two all includes leg (2), pin a (14), Telescopic spring (15), sliding pin (16), sleeve (17), leg bearing (18), the wherein interior motor (11) being installed with driving mechanism by motor support bar (25) of the base of front ground-engaging element, the slide block (8) of circumferential spacing feather key is had to be connected with collimation nut (6) by bearing (7) in the base of front ground-engaging element, the slide block (8) of circumferential spacing feather key is had to be connected with band featherway flexible hollow leading screw (4) by its built-in feather key (10), feather key (10) slides in the featherway (28) of the excircle axis of band featherway flexible hollow leading screw (4), guarantee that front ground-engaging element can not rotate in a circumferential direction, can only slide axially along flexible feed screw (4) together with collimation nut (6).
It is characterized in that being wherein with more piece universal joint (26) the upper threading formation flexible feed screw that featherway flexible hollow leading screw (4) is in the staggered connection that continues, connected by pin b (27) between each joint, the outer avris of flexible feed screw has featherway (28), and flexible feed screw has axial center hole (29).
It is characterized in that taper mouth is made in the two ends design being wherein to collimate nut (6), use with band featherway flexible hollow leading screw (4), be convenient to band featherway flexible hollow leading screw (4) collimation, collimation nut (6) excircle is with gear (9) and spoke (30).
It is characterized in that being that wherein limit switch a (5) and limit switch b (12) adopts switch Hall element.
This haulage gear alternately forms positive feedback effect with the frictional force strengthen continuously of tube wall (1) along two groups of legs (2) during pipe motion, makes this mechanism have large tractive force.When be with featherway flexible hollow leading screw (4) base (3) that connects and have circumferential spacing feather key the reduction of slide block (8) spacing time, base (3) relative duct size is static, has slide block (8) forward movement relatively of circumferential spacing feather key.When be with featherway flexible hollow leading screw (4) base (3) that connects and have circumferential spacing feather key the increase of slide block (8) spacing time, there is slide block (8) relative duct size of circumferential spacing feather key static, base (3) relative duct size forward movement, namely form front ground-engaging element and the rear ground-engaging element alternately proal form of traveller, make the effect that whole haulage gear formation creeping type moves ahead.
Claims (5)
1. a creeping type pipeline flexible robot haulage gear, it is characterized in that by traveller, driving mechanism and driving mechanism composition, wherein traveller is made up of front ground-engaging element and rear ground-engaging element, wherein driving mechanism forms by being with featherway flexible hollow leading screw (4), gear (9), collimation nut (6), bearing (7) and limit switch a (5), stop nut (13), and wherein driving mechanism is made up of motor support bar (25), motor (11), generator shaft gear (24); Wherein, ground-engaging element and driving mechanism are by being with the M10 nut (23) on featherway flexible hollow leading screw (4) to be fixedly connected with, the screw pair that front ground-engaging element is formed by collimation nut (6) and band featherway flexible hollow leading screw (4) is connected, and driving mechanism and driving mechanism are connected with a joggle by gear (9) and generator shaft gear (24); Driving mechanism is installed in the base of front ground-engaging element by motor support bar (25).
2. a kind of creeping type pipeline flexible robot as claimed in claim 1 haulage gear, it is characterized in that wherein traveller is made up of front ground-engaging element and rear ground-engaging element, the two all includes leg (2), pin a (14), Telescopic spring (15), sliding pin (16), sleeve (17), leg bearing (18), the wherein interior motor (11) being installed with driving mechanism by motor support bar (25) of the base of front ground-engaging element, the slide block (8) of circumferential spacing feather key is had to be connected with collimation nut (6) by bearing (7) in the base of front ground-engaging element, the slide block (8) of circumferential spacing feather key is had to be connected with band featherway flexible hollow leading screw (4) by its built-in feather key (10), feather key (10) slides in the featherway (28) of the excircle axis of band featherway flexible hollow leading screw (4), slide axially along flexible feed screw (4) together with collimation nut (6).
3. a kind of creeping type pipeline flexible robot as claimed in claim 1 haulage gear, it is characterized in that wherein with more piece universal joint (26) the upper threading formation flexible feed screw that featherway flexible hollow leading screw (4) is in the staggered connection that continues, connected by pin b (27) between each joint, the outer avris of flexible feed screw has featherway (28), and flexible feed screw has axial center hole (29).
4. a kind of creeping type pipeline flexible robot as claimed in claim 1 haulage gear, it is characterized in that taper mouth is made in the two ends design wherein collimating nut (6), with band featherway flexible hollow leading screw (4) conbined usage, collimation nut (6) excircle is with gear (9) and spoke (30).
5. a kind of creeping type pipeline flexible robot as claimed in claim 1 haulage gear, is characterized in that wherein limit switch a (5) and limit switch b (12) adopts switch Hall element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520260225.0U CN204879274U (en) | 2015-04-27 | 2015-04-27 | Wriggling formula pipeline flexible robot drive mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520260225.0U CN204879274U (en) | 2015-04-27 | 2015-04-27 | Wriggling formula pipeline flexible robot drive mechanism |
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| CN204879274U true CN204879274U (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520260225.0U Expired - Fee Related CN204879274U (en) | 2015-04-27 | 2015-04-27 | Wriggling formula pipeline flexible robot drive mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
| CN105480318A (en) * | 2016-01-20 | 2016-04-13 | 晋中学院 | Multi-claw retractable wheel obstacle-negotiation mechanism and control mechanism thereof |
| CN105822868A (en) * | 2015-12-31 | 2016-08-03 | 西华大学 | Hydraulic feedback speed-controllable pipeline robot |
| CN106151769A (en) * | 2015-04-27 | 2016-11-23 | 西安文理学院 | A kind of creeping motion type pipeline flexible robot haulage gear |
| CN106838543A (en) * | 2017-03-27 | 2017-06-13 | 合肥科的星测控科技有限公司 | A kind of robot for environment detection in city water pipeline |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN109854963A (en) * | 2017-11-06 | 2019-06-07 | 张玲花 | A kind of pipe detector |
| CN110906107A (en) * | 2019-12-02 | 2020-03-24 | 珠海格力电器股份有限公司 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
| CN114592587A (en) * | 2022-03-29 | 2022-06-07 | 河海大学 | Composite bionic robot for dredging sewer pipe and control method |
-
2015
- 2015-04-27 CN CN201520260225.0U patent/CN204879274U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106151769A (en) * | 2015-04-27 | 2016-11-23 | 西安文理学院 | A kind of creeping motion type pipeline flexible robot haulage gear |
| CN106151769B (en) * | 2015-04-27 | 2018-11-27 | 西安文理学院 | A kind of creeping motion type pipeline flexible robot traction mechanism |
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
| CN105822868A (en) * | 2015-12-31 | 2016-08-03 | 西华大学 | Hydraulic feedback speed-controllable pipeline robot |
| CN105822868B (en) * | 2015-12-31 | 2017-10-17 | 西华大学 | Hydraulic feedback rate controlling pipe robot |
| CN105480318A (en) * | 2016-01-20 | 2016-04-13 | 晋中学院 | Multi-claw retractable wheel obstacle-negotiation mechanism and control mechanism thereof |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN106838543A (en) * | 2017-03-27 | 2017-06-13 | 合肥科的星测控科技有限公司 | A kind of robot for environment detection in city water pipeline |
| CN109854963A (en) * | 2017-11-06 | 2019-06-07 | 张玲花 | A kind of pipe detector |
| CN110906107A (en) * | 2019-12-02 | 2020-03-24 | 珠海格力电器股份有限公司 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
| CN114592587A (en) * | 2022-03-29 | 2022-06-07 | 河海大学 | Composite bionic robot for dredging sewer pipe and control method |
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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: 20151216 Termination date: 20180427 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |