CN205131422U - Carrier system of wriggling formula pipeline robot - Google Patents
Carrier system of wriggling formula pipeline robot Download PDFInfo
- Publication number
- CN205131422U CN205131422U CN201520822115.9U CN201520822115U CN205131422U CN 205131422 U CN205131422 U CN 205131422U CN 201520822115 U CN201520822115 U CN 201520822115U CN 205131422 U CN205131422 U CN 205131422U
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- China
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- carrier system
- chain
- motion type
- type pipe
- creeping motion
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Abstract
The utility model relates to a carrier system of wriggling formula pipeline robot. The carrier system is including removing obstacles the claw, and the carrier system still includes outer tube, drive assembly and ball wheel, and drive assembly includes motor, sprocket and the chain that connects gradually, and the chain setting has the spheroid fixing base at the outer wall of outer tube, chain, the ball wheel forms the universal wheel structure with the cooperation of spheroid fixing base. Ball wheel and spheroid fixing base cooperate formation universal wheel structure to make the carrier system can follow working pipe with the removal of wriggling formula, just so can easily cross great barrier, avoids the carrier system problem that crashes, can't normally work to appear in working pipe.
Description
Technical field
The utility model relates to a kind of carrier system of robot, specifically, relates to a kind of robot carrier system of wearing cable, removing contamination and detecting for pipeline.
Background technology
Pipeline is a kind of structure very common in modern society, and it is widely applied in various fields, and cable duct is exactly wherein a kind of very important conduit types.But such as cable duct etc. in use for some time, can amass dirt in pipeline, if these dirts do not process, can impact the secondary maintenance of cable duct and threading, sometimes cannot pass through cable, therefore pipeline should process in time at all.In addition, the detection etc. for the environmental parameters of pipe interior also needs to be sampled in pipeline by robot.
Existing pipeline cleaning, the robot carrier system of wearing cable and detection generally adopt delivery formula or inputting type, if the distance of pipeline is longer, so often make work apparatus and check implement arrive appointed place.In addition, more existing pipeline climbing robot many employings polypody creeping-types, although it overcomes robot can not reach the problem of distance compared with long pipeline destination, but when running into obstacle, this robot is difficult to go beyond obstacle, and there are serious problems in the discharge of the obstacle of its cleaning, robot or its carrier system easily block, thus cause robot fault to take place frequently.
Utility model content
The problem of difficulty easily occurs when going beyond obstacle for existing pipe robot carrier system, and the utility model main purpose is to provide a kind of creeping motion type pipe robot carrier system.
The emission problem of the obstacle of difficulty and cleaning easily occurs when going beyond obstacle for existing pipe robot carrier system, and another object of the present utility model is to provide a kind of operational method of creeping motion type pipe robot carrier system.
The creeping motion type pipe robot carrier system that the utility model provides comprises pawl of removing obstacles, carrier system also comprises outer tube, driven unit and ball wheel, driven unit comprises the motor, sprocket wheel and the chain that connect successively, and chain is arranged on the outer wall of outer tube, and chain has spheroid permanent seat; Ball wheel to coordinate with spheroid permanent seat and forms Universal wheel structure.
From such scheme, ball wheel to coordinate with spheroid permanent seat and forms Universal wheel structure carrier system can be moved with creeping motion type along service pipe, so just can easily cross larger obstacle, avoid carrier system in service pipe, occur the problem crashing, cannot normally work.
A preferred scheme is that chain is arranged in chain box, and chain box is fixed on the outer wall of outer tube, and it is exposed outside chain box at least partially that ball is taken turns.
From such scheme; chain box is conducive to playing a protective role to chain on the one hand; guiding function well can be played to the arrangement mode of chain on the outer wall of outer tube on the other hand, in addition, stabilization can also be played to ball wheel with coordinating of spheroid permanent seat.
A preferred scheme is, creeping motion type pipe robot carrier system also comprises interior pipe, and motor and sprocket wheel are arranged in gear box, and gear box is arranged between interior pipe and outer tube.
From such scheme, the space of Appropriate application carrier system, interior pipe and outer tube be provided with the structural arrangement being beneficial to motor and sprocket assembly, and such structure can effectively avoid motor and sprocket wheel to be subjected to outside environmental corrosion.
Preferred scheme is that interior pipe has hollow structure further, and the upstream face of creeping motion type pipe robot carrier system working direction is provided with multiple pawl of removing obstacles.
From such scheme, at the upstream extremity of working direction, remove obstacles after pawl loosens obstacle on service pipe inwall and can manage the downstream end being shifted into working direction gradually in hollow structure, design is very reasonable, avoids the impact that the ponding of obstacle causes carrier system.
A preferred scheme is, motor is Worm reduction motor.
From such scheme, Worm reduction motor can provide powerful power for ball wheel, and power its important impetus advanced in service pipe just of ball wheel, for the obstacle of some difficulties, Worm reduction motor can play beyond thought technique effect.
A preferred scheme is, chain is along the spiral layout of circumference of the outer wall of outer tube.
From such scheme, the mode of the spiral layout of chain contributes to the advance of carrier system entirety, increases work efficiency.
Preferred scheme is that pawl of removing obstacles is tool cuboid jaggy, and breach is positioned at the outside of upstream face further.
From such scheme, pawl scheme of removing obstacles more is conducive to the obstacle on the inwall of service pipe to know, and strengthens the work efficiency of carrier system.
The operational method of the creeping motion type pipe robot carrier system that the utility model provides is as follows, and wherein this creeping motion type pipe robot carrier system comprises outer tube, interior pipe, driven unit and ball wheel; Driven unit comprises the motor, sprocket wheel and the chain that connect successively, chain is arranged on the outer wall of outer tube, motor and sprocket wheel are arranged in gear box, described gear box is arranged between interior pipe and outer tube, chain has spheroid permanent seat, ball wheel to coordinate with spheroid permanent seat and forms Universal wheel structure, and interior pipe has hollow structure, and the upstream face of creeping motion type pipe robot carrier system working direction is provided with multiple pawl of removing obstacles; This operational method comprises: creeping motion type pipe robot carrier system is put in service pipe, fitting with the inwall of service pipe at least partially of the outer wall of outer tube; Under the effect of motor, be with movable sprocket and chain movement successively, the spheroid permanent seat on chain drives ball wheel to wriggle, and the entirety of creeping motion type pipe robot carrier system moves axially relative to service pipe; Pawl of removing obstacles is discharged to the obstacle on service pipe inwall the downstream of working direction along pipe in hollow structure.
A preferred scheme is, the inwall of the entirety of the outer wall of outer tube and service pipe is fitted tightly.
From such scheme, the application force that ball wheel produces increases, and the work efficiency of carrier system improves.
A preferred scheme is, the outer wall of chain along outer tube is arranged in the screw type mode of circumference.
From such scheme, the application force that ball wheel produces increases, and the work efficiency of carrier system improves.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of the utility model creeping motion type pipe robot carrier system embodiment.
Fig. 2 is the front view of the utility model creeping motion type pipe robot carrier system embodiment.
Fig. 3 is the left view of the utility model creeping motion type pipe robot carrier system embodiment.
Fig. 4 is the birds-eye view of the pawl of removing obstacles of the utility model creeping motion type pipe robot carrier system embodiment.
Fig. 5 is the constructional drawing that the gear box of the utility model creeping motion type pipe robot carrier system embodiment is installed in inner and outer tubes.
Fig. 6 is the motor of the utility model creeping motion type pipe robot carrier system embodiment and the matching chart of sprocket wheel.
Fig. 7 is the chain of the utility model creeping motion type pipe robot carrier system embodiment, the matching chart between spheroid permanent seat and ball wheel.
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Detailed description of the invention
As shown in Figure 1, Figure 2 and Figure 3, the creeping motion type pipe robot carrier system of the present embodiment comprises outer tube 10, interior pipe 20, driven unit, ball wheel, chain box 30 and pawl 40 of removing obstacles.The quantity of pawl of removing obstacles is eight, and these eight pawls 40 of removing obstacles are evenly arranged along the circumference of working direction upstream face 41.The outer wall of outer tube 10 is provided with the fixing chain box 30 of welding manner, and chain box 30 is along the spiral layout of circumference of the outer wall of outer tube 10.Interior pipe 20 is hollow structure, and namely, pipe 20 is the structure of through open at both ends.
As shown in Figure 4, each pawl 40 of removing obstacles is tool cuboid 42 jaggy, and keeps breach to be positioned at the outside of upstream face 41 when cuboid 42 is arranged in upstream face 41.
As shown in Figure 5 and Figure 6, between interior pipe 20 and outer tube 10, have gear box 11, motor 50 and sprocket wheel 51 are all arranged in gear box 11, and wherein motor 50 is preferably Worm reduction motor.Driven unit comprises the motor 50, sprocket wheel 51 and the chain 52 that connect successively, and interior pipe 20 is beneficial to being provided with of outer tube 10 corrosion that material in external environment condition avoided by gear box 11.As shown in Figure 7, chain 52 has spheroid permanent seat 54, ball wheel 55 to coordinate with spheroid permanent seat 54 and forms Universal wheel structure.Ball wheel 55 to coordinate with spheroid permanent seat 54 and forms Universal wheel structure carrier system can be moved with creeping motion type along service pipe, so just can easily cross larger obstacle, avoid carrier system in service pipe, occur the problem crashing, cannot normally work.
The chain 52 of the present embodiment is arranged on chain box 30 li, a part for ball wheel is exposed outside chain box 30, due to chain box 30 helically formula layout, therefore chain 52 outer tube 10 outer wall also helically formula mode arrange, chain 52 mode that helically formula is arranged contributes to the advance of carrier system entirety, increases work efficiency.Chain box 30 1 aspect is conducive to playing a protective role to chain 52; guiding function well can also be played on the other hand to the arrangement mode of chain 52 on the outer wall of outer tube 10; in addition, 55 can also be taken turns to ball and play stabilization in the cooperation of the spheroid permanent seat 54 of chain 52.
At the upstream extremity of working direction, remove obstacles and the downstream end of working direction after pawl 40 loosens obstacle on service pipe inwall, can be shifted into along pipe in hollow structure 20 gradually, this design is very reasonable, avoids the impact that the ponding of obstacle causes carrier system.
Worm reduction motor can take turns 55 power providing powerful for ball, and power its important impetus advanced in service pipe just of ball wheel 55, for the obstacle of some difficulties, Worm reduction motor can play beyond thought technique effect.
The operational method of the creeping motion type pipe robot carrier system of the present embodiment is as follows: first creeping motion type pipe robot carrier system is put in service pipe, and a part for the outer wall of outer tube 10 and the inwall of service pipe are adjacent to.Preferably, the inwall of the entirety of the outer wall of outer tube 10 and service pipe is fitted tightly, can strengthen the application force that ball wheel 55 produces like this, the work efficiency of carrier system improves.
Then, under the effect of motor 50, be with movable sprocket 51 and chain 52 to move successively, chain 52 along the outer wall helically formula mode circulating motion of outer tube 10, and then drives the ball wheel 55 of the spheroid permanent seat 54 on chain 52 that creeping effect occurs.
Then, the entirety of creeping motion type pipe robot carrier system moves axially relative to service pipe, and pawl 40 of removing obstacles is discharged to the obstacle on service pipe inwall the downstream of working direction along interior pipe 20.In order to the principle of work of creeping motion type pipe robot carrier system in service pipe is described better, here this motion process is analogized to the mode of motion of ball screw, ball screw comprises screw rod, ball and nut, and screw rod has plug helix, and ball is arranged in plug helix.Ball wheel 50 on carrier system is just equivalent to ball, chain 52 is just equivalent to the plug helix on screw rod, and service pipe is equivalent to nut, after creeping effect occurs multiple ball wheel 50, between creeping motion type pipe robot carrier system and service pipe, relative motion can be there is.
It should be noted that, the creeping motion type pipe robot carrier system of the present embodiment generally may be used for clean-up operation during secondary maintenance and the threading of cable duct, also may be used for other pipeline as bridge drainage pipeline etc.But for having the pipeline of normality water process, and when the flow of water is larger, the application of the creeping motion type pipe robot carrier system of the present embodiment can be subject to a definite limitation.
Finally it should be noted that; the utility model is not limited to above-mentioned embodiment; such as install on creeping motion type pipe robot carrier system and be used for the sensor of testing pipes intrinsic parameter as temperature or humidity, or designs such as having the device of camera function is installed on carrier system also within claims of the present utility model.
Claims (7)
1. creeping motion type pipe robot carrier system, creeping motion type pipe robot carrier system comprises pawl of removing obstacles, and it is characterized in that, this system also comprises:
Outer tube;
Driven unit, described driven unit comprises the motor, sprocket wheel and the chain that connect successively, and described chain is arranged on the outer wall of described outer tube, and described chain has spheroid permanent seat;
Ball is taken turns, and described ball wheel coordinates with described spheroid permanent seat and forms Universal wheel structure.
2. creeping motion type pipe robot carrier system according to claim 1, is characterized in that:
Described chain is arranged in chain box, and described chain box is fixed on the outer wall of described outer tube, and it is exposed at least partially outside described chain box that described ball is taken turns.
3. creeping motion type pipe robot carrier system according to claim 1 and 2, is characterized in that:
Described creeping motion type pipe robot carrier system also comprises interior pipe, and described motor and described sprocket wheel are arranged in gear box, and described gear box is arranged between described interior pipe and described outer tube.
4. creeping motion type pipe robot carrier system according to claim 3, is characterized in that:
Described interior pipe has hollow structure, and the upstream face of described creeping motion type pipe robot carrier system working direction be provided with multiple described in remove obstacles pawl.
5. creeping motion type pipe robot carrier system according to claim 1 and 2, is characterized in that:
Described motor is Worm reduction motor.
6. creeping motion type pipe robot carrier system according to claim 1 and 2, is characterized in that:
Described chain is along the spiral layout of circumference of the outer wall of described outer tube.
7. creeping motion type pipe robot carrier system according to claim 4, is characterized in that:
Described pawl of removing obstacles is tool cuboid jaggy, and described breach is positioned at the outside of described upstream face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520822115.9U CN205131422U (en) | 2015-10-20 | 2015-10-20 | Carrier system of wriggling formula pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520822115.9U CN205131422U (en) | 2015-10-20 | 2015-10-20 | Carrier system of wriggling formula pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205131422U true CN205131422U (en) | 2016-04-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520822115.9U Withdrawn - After Issue CN205131422U (en) | 2015-10-20 | 2015-10-20 | Carrier system of wriggling formula pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205131422U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128974A (en) * | 2015-10-20 | 2015-12-09 | 中铁十九局集团第七工程有限公司 | Creeping type pipeline robot carrier system and working method thereof |
-
2015
- 2015-10-20 CN CN201520822115.9U patent/CN205131422U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128974A (en) * | 2015-10-20 | 2015-12-09 | 中铁十九局集团第七工程有限公司 | Creeping type pipeline robot carrier system and working method thereof |
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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: 20160406 Effective date of abandoning: 20170926 |
|
| AV01 | Patent right actively abandoned |