CN205315946U - Symmetry V type pipeline robot - Google Patents
Symmetry V type pipeline robot Download PDFInfo
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- CN205315946U CN205315946U CN201620018495.5U CN201620018495U CN205315946U CN 205315946 U CN205315946 U CN 205315946U CN 201620018495 U CN201620018495 U CN 201620018495U CN 205315946 U CN205315946 U CN 205315946U
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- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a symmetry V type pipeline robot. Ordinary pipeline robot hardly adapts to the variable diameter pipeline, and the inception to put into the pipeline more difficult. The utility model discloses a spring strut is fixed in the casing, the inner symmetry cover of two spinal branch vaulting poles is put in the spring strut to pass through spring coupling, supporting rod outer end is articulated through the round pin axle with the inner of drive leg no. 1, drive leg no. 2, drive leg no. 1 is connected through the extension spring with the middle part of drive leg no. 2, equal fixed driving motor in drive leg no. 1 and the drive leg no. 2, the outer end of drive leg no. 1 and drive leg no. 2 all is equipped with drive wheel set spare, drive wheel set spare includes the initiative taper gear, driven bevel gear and drive wheel, the initiative taper gear fixes on driving motor's output shaft to mesh with driven bevel gear, driven bevel gear fixes at the wheel of drive wheel epaxially, the shaft of drive wheel is articulated with the drive leg. The utility model discloses two drive legs that can make one side V type slope forward quick entering pipeline, and can the self -adaptation pass through the varying -arca channel.
Description
Technical field
The utility model belongs to robot technology field, is specifically related to a kind of symmetrical v-shaped tube pipeline robot.
Background technology
Pipe robot is that one can be walked automatically along pipeline, carries one or more sensors, can carry out the electromechanical appearance integral system of a series of pipeline operations under remote operation or computer control in extremely severe environment. A large amount of research work has been done in each industrially developed country's pipeline aspect, wherein Japan to be engaged in the personnel of pipe robot research maximum, achievement is also maximum. Pipe robot mainly contains several classes such as wheel formula, track type, creeping motion type, creeping-type in terms of type of drive. Most pipe robot is affixed on duct bottom to creep, and pipeline environment adaptive faculty is poor, and particularly under duct bottom has mud environment, existing pipe robot is difficult to creep. In addition under pipe diameter changes situation, common support also is difficult to adapt in the pipe robot of tube wall. Moreover, the pipe robot being generally supported in pipeline two side walls is more difficult when initially putting into pipeline.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, it is proposed to a kind of symmetrical v-shaped tube pipeline robot, passes through pinned connection, it is possible to two driving legs of side V-type are tilted forward, enters pipeline fast; Drawn over to one's side by extension spring between the driving leg of single side, therefore robot has the distortion ability of the first step in pipeline, is connected by spring between the driving leg of both sides, has second stage distortion ability, being out of shape by two-stage, this pipe robot can adapt to more size range pipelines. Also there is the ability of self-adaptation by variable cross-section pipeline, carry various kinds of sensors, it is possible to be applicable to detect cavitation corrosion, the damaging problem of the big small pipeline of multiple size.
The utility model comprises housing, drive-motor, driving leg one, driving leg two, support bar, spring cylinder, camera and drive wheel assemblies; Described camera is arranged on housing front portion; Described spring cylinder is fixed in housing;Two inner symmetries of support bar are nested with in spring cylinder, and are connected by spring; Hinge is passed through in the inner of support bar outer end and driving leg one, driving leg two; Described driving leg one is connected by extension spring with the middle part of driving leg two; Described driving leg one and the interior all fixed drive motors of driving leg two; The outer end of driving leg one and driving leg two is equipped with drive wheel assemblies; Described drive wheel assemblies comprises drive bevel gear, from dynamic bevel gear and driving wheel; Described drive bevel gear is fixed on the output shaft of drive-motor, and engages with from dynamic bevel gear; Described is fixed on the wheel shaft of driving wheel from dynamic bevel gear; Wheel shaft and the driving leg of driving wheel are hinged.
Described driving leg one and the V-shaped layout of driving leg two.
Four drive wheel assemblies all arounds are all symmetrical arranged.
The useful effect that the utility model has:
1, robot initial is facilitated to enter pipeline. Pass through pinned connection, it is possible to two driving legs of side V-type are tilted forward, enters pipeline fast.
2, two grades of distressed structures, improve the adaptive faculty in pipeline, can pass through in the pipe that caliber changes greatly: drawn over to one's side by extension spring between the driving leg of single side, therefore robot has the distortion ability of the first step in pipeline, connected by spring between the driving leg of both sides, there is second stage distortion ability.
3, the drive-motor reversion of two, single side can make this side driving leg separately, changes the sticking power between single side drive wheel and tube wall instantaneously, arrives adjustment robot pose object.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is that the utility model initially enters pipeline figure;
Fig. 3 is that the utility model is by overall dimension pipeline figure;
Fig. 4 is that the utility model is by middle size pipeline figure;
Fig. 5 is that the utility model is by minimum size pipeline figure.
In figure: 1, drive-motor; 2, drive bevel gear; 3, from dynamic bevel gear; 4, wheel shaft; 5, driving wheel; 6, driving leg one; 7, bearing pin; 8, driving leg two; 9, extension spring; 10, support bar; 11, spring; 12, spring cylinder; 13, housing; 14, camera.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, symmetrical v-shaped tube pipeline robot, comprises housing 13, drive-motor 1, driving leg 1, driving leg 28, support bar 10, spring cylinder 12, camera 14 and drive wheel assemblies. Camera 14 is arranged on housing front portion; Spring cylinder 12 is fixed in housing; Two inner symmetries of support bar 10 are nested with in spring cylinder 12, and are connected by spring 11; The inner of support bar 10 outer end and driving leg 1, driving leg 28 is hinged by bearing pin 7; Driving leg 1 and the V-shaped layout of driving leg 28, and middle part connected by extension spring 9; Driving leg 1 and the interior all fixed drive motors 1 of driving leg 28; The outer end of driving leg 1 and driving leg 28 is equipped with drive wheel assemblies; Four drive wheel assemblies all arounds are all symmetrical arranged; Drive wheel assemblies comprises drive bevel gear 2, from dynamic bevel gear 3 and driving wheel 5; Drive bevel gear 2 is fixed on the output shaft of drive-motor 1, and engages with from dynamic bevel gear 3; It is fixed on the wheel shaft 4 of driving wheel 5 from dynamic bevel gear 3; The wheel shaft 4 of driving wheel 5 is hinged with driving leg 6.
This symmetry v-shaped tube pipeline robot, principle of work is as follows:
Drive-motor 1 drives drive bevel gear 2 to rotate, and that engages with drive bevel gear 2 drives driving wheel 5 to rotate from dynamic bevel gear 3 by wheel shaft 4.Driving leg 1, driving leg 28 can rotate around bearing pin 7, and pull extension spring 9 according to pipeline practical situation, and under elastic force effect, the driving wheel of four drive wheel assemblies is close to tube wall, and under motivating force effect, pipe robot moves ahead along tube wall.
As shown in Figure 2, this pipe robot is when starting to enter pipeline, symmetrical two driving legs 1, driving leg 28 rotate an angle around bearing pin 7, pipe robot front end is narrowed and is less than pipe diameter, after two anterior driving wheels 5 enter pipeline, drive pipe robot moves ahead, and two driving wheels at rear portion also enter pipeline subsequently.
As shown in Fig. 3,4,5, drawn over to one's side by extension spring 9 between single side driving leg 1, driving leg 28, therefore robot has the distortion ability of the first step in pipeline, it is connected by spring 11 between driving leg 1, driving leg 28 and the driving leg of its symmetry, there is second stage distortion ability, being out of shape by two-stage, this pipe robot can adapt to more size range pipelines.
This symmetry v-shaped tube pipeline robot is by realizing two grades of real-time deformation by the hinge of pinned connection and spring, it is possible to enter pipeline in initial stage fast and easy, it is possible to current in the pipeline that size is different; Can automatically adjusting angle with line size, under the effect of motivating force and spring elastic force, this pipe robot can firmly be attached on tube wall; Owing to pipeline environment is complicated, most duct bottom has the obstacle such as ponding, mud, this pipe robot all the time in the duct between current, it is possible to keep away the obstacle such as bottom water, mud to greatest extent. Each driving leg of this pipe robot, by a drive-motor, can adjust attitude by motor steering, is more conducive to pipe robot to work in complex environment.
Above-described embodiment only represents case of the present utility model, any combination according to technical solutions of the utility model, as: driving wheel increases, and the change of motor position, is all interpreted as and does not depart from protection domain of the present utility model.
Claims (3)
1. symmetrical v-shaped tube pipeline robot, comprises housing, drive-motor, driving leg one, driving leg two, support bar, spring cylinder, camera and drive wheel assemblies, it is characterised in that: described camera is arranged on housing front portion; Described spring cylinder is fixed in housing; Two inner symmetries of support bar are nested with in spring cylinder, and are connected by spring; Hinge is passed through in the inner of support bar outer end and driving leg one, driving leg two; Described driving leg one is connected by extension spring with the middle part of driving leg two; Described driving leg one and the interior all fixed drive motors of driving leg two; The outer end of driving leg one and driving leg two is equipped with drive wheel assemblies; Described drive wheel assemblies comprises drive bevel gear, from dynamic bevel gear and driving wheel; Described drive bevel gear is fixed on the output shaft of drive-motor, and engages with from dynamic bevel gear; Described is fixed on the wheel shaft of driving wheel from dynamic bevel gear; Wheel shaft and the driving leg of driving wheel are hinged.
2. symmetrical v-shaped tube pipeline robot according to claim 1, it is characterised in that: described driving leg one and the V-shaped layout of driving leg two.
3. symmetrical v-shaped tube pipeline robot according to claim 1, it is characterised in that: four drive wheel assemblies all arounds are all symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018495.5U CN205315946U (en) | 2016-01-08 | 2016-01-08 | Symmetry V type pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018495.5U CN205315946U (en) | 2016-01-08 | 2016-01-08 | Symmetry V type pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205315946U true CN205315946U (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018495.5U Expired - Fee Related CN205315946U (en) | 2016-01-08 | 2016-01-08 | Symmetry V type pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205315946U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN107940247A (en) * | 2017-11-23 | 2018-04-20 | 庄明忠 | A kind of gas pipeline leakage detection device |
| CN107990055A (en) * | 2017-12-22 | 2018-05-04 | 中国铁路设计集团有限公司 | Adjustable pipe settler and its method of work |
| CN109625820A (en) * | 2019-01-09 | 2019-04-16 | 中铁第四勘察设计院集团有限公司 | Cold Chain Logistics pipe-line system and machine for collecting load spring supporting type flexibility self-reacting device |
| CN112325051A (en) * | 2020-11-05 | 2021-02-05 | 北京建筑大学 | Novel pipeline robot |
| CN112524394A (en) * | 2020-12-01 | 2021-03-19 | 北京建筑大学 | Double V-shaped pipeline robot |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN112728287A (en) * | 2020-11-24 | 2021-04-30 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN114289423A (en) * | 2021-12-13 | 2022-04-08 | 山东科技大学 | Wheeled pipeline obstacle removing robot |
-
2016
- 2016-01-08 CN CN201620018495.5U patent/CN205315946U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN107084296B (en) * | 2017-06-10 | 2018-11-13 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN107940247A (en) * | 2017-11-23 | 2018-04-20 | 庄明忠 | A kind of gas pipeline leakage detection device |
| CN107990055A (en) * | 2017-12-22 | 2018-05-04 | 中国铁路设计集团有限公司 | Adjustable pipe settler and its method of work |
| CN109625820A (en) * | 2019-01-09 | 2019-04-16 | 中铁第四勘察设计院集团有限公司 | Cold Chain Logistics pipe-line system and machine for collecting load spring supporting type flexibility self-reacting device |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN112325051A (en) * | 2020-11-05 | 2021-02-05 | 北京建筑大学 | Novel pipeline robot |
| CN112325051B (en) * | 2020-11-05 | 2022-05-13 | 北京建筑大学 | Pipeline robot |
| CN112728287A (en) * | 2020-11-24 | 2021-04-30 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN112524394A (en) * | 2020-12-01 | 2021-03-19 | 北京建筑大学 | Double V-shaped pipeline robot |
| CN114289423A (en) * | 2021-12-13 | 2022-04-08 | 山东科技大学 | Wheeled pipeline obstacle removing robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20170108 |