CN205479972U - Intraductal self -adaptation device of crawling based on six rounds of support formulas - Google Patents
Intraductal self -adaptation device of crawling based on six rounds of support formulas Download PDFInfo
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- CN205479972U CN205479972U CN201620091584.2U CN201620091584U CN205479972U CN 205479972 U CN205479972 U CN 205479972U CN 201620091584 U CN201620091584 U CN 201620091584U CN 205479972 U CN205479972 U CN 205479972U
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- crank
- supporting mechanism
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- cylinder
- self adaptation
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Abstract
The utility model provides an intraductal self -adaptation device of crawling based on six rounds of support formulas, this intraductal self -adaptation device of crawling based on six rounds of support formulas commonality is strong, stability is good, can change by the self -adaptation pipe diameter, and easy operation is convenient for make, the technical scheme of adoption: including the drum, install power unit and reduction gears in the drum, power unit is connected with the active adjustment mechanism of screw nut through the reduction gears, power unit's the other end is connected with spring pretension supporting mechanism, all install a plurality of crank connecting rod supporting mechanisms on active adjustment mechanism of screw nut and the spring pretension supporting mechanism, crank connecting rod supporting mechanism is including short crank, be connected with long crank on the short crank, the other one end of long articulate is connected with little crank, the wheel is installed through the bearing to little articulate tail end, be provided with pressure sensor on the wheel.
Description
Technical field
This utility model belongs to climbing robot field in general pipe, particularly relates to self adaptation crawling device in a kind of pipe taking turns brace type based on six.
Background technology
Robotics is an integrated technology, relate to mechanical engineering, automatically control, computer, artificial intelligence, the multiple subject such as sensor and electronic technology, enhance the ability of the human knowledge world, reforming world dramatically, improve labor productivity and the quality of life of people.Go through the development of over half a century, robotics is in multiple fields such as commercial production, marine exploration, space flight and space probation, national defence, medical treatment and nursing, home services, particularly at some special environment, such as deep-sea, narrow pipe interior, there is the working environment etc. of radioprotective, achieve tremendous development, be with a wide range of applications and social need.
In development of modern industry, pipeline has become as a kind of indispensable means of transport.Pipe interior can be detected and keep in repair by pipe robot in the presence of a harsh environment, carries out further research for pipe robot extremely urgent.Mostly the in-pipe robot developed at present is the increase in pipeline within the straight tube for level and inclination 30 °, but the research on tapered pipeline, bend pipe is the most at the early-stage, and versatility is poor.Therefore it is designed to stablize, by the climbing robot of pipe interior, there is important practical significance.Pipe robot can pass through pipe bent position smoothly, it is critical only that size geometrical constraint and design organization are reasonable.Following a few class is mainly divided currently for the robot pretension supporting mechanism with adaptive performance of pipe interior:
1, spring pre-tightening supporting mechanism
Spring pre-tightening reducing mode belongs to passive regulation method, is changed with caliber by spring sizes and changes and regulate the radial distance supporting wheel, reaches to adapt to the purpose of different tube diameters.The advantage of this method maximum is to need not additionaling power source, has adaptive ability in little scope, and shortcoming is that excursion is little, and along with spring sizes change pretightning force also changes.
2, worm and gear pretension supporting mechanism
Worm screw pretension reducing mode belongs to actively regulation method, its operation principle is that motor drives connected worm screw, worm drive worm gear wheel, owing to connecting rod one end and worm gear rigidly fix hinged, the other end and live axle are hinged, thus the drive driving wheel that rotates of worm gear struts or tightens the purpose reaching to adapt to different tube diameters.The method can realize reducing in a big way, but required driving force is relatively big, general less use.
3, elevator pretension supporting mechanism
The operation principle of elevator pretension reducing mode is that the power acting on a certain size and direction in connecting rod one end makes elevator mechanism rise or falls after rise, so that driving wheel also and then rises or falls after rise to reach to adapt to the purpose of different tube diameters.The advantage using elevator pretension supporting mechanism maximum is compact at axially and radially structure comparison, makes the bulk of robot be substantially reduced, and its shortcoming is that the motive force required when pipe diameter is bigger is relatively big, and the requirement to the intensity of mechanism is higher.
4, feed screw nut pretension supporting mechanism
Screw pair pretension reducing mode belongs to active regulative mode, its operation principle is that pretightning force regulation motor drives screw turns, feed screw nut and pretightning force sensor and axle sleeve are bolted together, one end and the live axle of connecting rod AB are hinged, the other end is hinged at fixed pivot A, push rod CD and connecting rod AB is hinged on D point, the other end is hinged on C point on axle sleeve, axle sleeve is relatively fixed at circumferencial direction, therefore drive feed screw nut is slidably reciprocated on ball-screw by the rotation of ball-screw in the axial direction, thus drive pushrod movement, and then promote connecting rod AB to rotate around fulcrum A, make driving wheel strut or tighten the purpose reaching to adapt to different tube diameters.The method spatial arrangement structure is simple, and required driving force is less, but whether shortcoming be the most or not the compactest.
Utility model content
This utility model overcomes the deficiency that prior art exists, solve the problem that prior art exists, aim to provide self adaptation crawling device in a kind of pipe taking turns brace type based on six, self adaptation crawling device highly versatile, good stability in the pipe of brace type should be taken turns based on six, can change by self adaptation caliber, simple to operate, it is simple to manufacture.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is: self adaptation crawling device in a kind of pipe taking turns brace type based on six, including cylinder, actuating unit and reducing gear are installed in cylinder, actuating unit is connected by reducing gear the active governor motion of feed screw nut, the other end of actuating unit connects spring pre-tightening supporting mechanism, and the active governor motion of feed screw nut and spring pre-tightening supporting mechanism are mounted on multiple crank connecting link supporting mechanism；
Crank connecting link supporting mechanism includes short crank, and short crank connects long crank, and the other end of long crank connects small crank, and the tail end of small crank is provided with wheel by bearing, and wheel is provided with pressure transducer.
Preferably, described actuating unit includes the motor being arranged on cylinder interior, and the main shaft of motor is connected with reducing gear by elastic dowel pin shaft coupling and is driven its work.
Preferably, described reducing gear includes the cylinder pinion shaft being connected with elastic dowel pin shaft coupling, it is set with small Spur gear on cylinder pinion shaft, small Spur gear is engaged with the first travelling gear, it is set with driving gearshaft in the middle part of first travelling gear, being set with the second travelling gear rotated with it on driving gearshaft, the second travelling gear is engaged with large straight gear, is provided with cylinder Large Gear Shaft in the middle part of large straight gear.
Preferably, the two ends of described cylinder pinion shaft, driving gearshaft and cylinder Large Gear Shaft are all arranged on decelerator back-up ring by deep groove ball bearing, and decelerator back-up ring is arranged on cylinder interior.
Preferably, the active governor motion of feed screw nut includes being connected, with cylinder Large Gear Shaft, the leading screw rotated with it, and leading screw is set with ferrule nut, and ferrule nut is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.
Preferably, the outside of described leading screw is provided with leading screw back-up ring.
Preferably, described spring pre-tightening supporting mechanism includes the expansion link being connected with dynamic structure, the outer sheath of expansion link is equipped with spring, it is cased with sleeve outside spring and is arranged on expansion link, the outside of sleeve is provided with the collar, and the collar is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.
Preferably, described crank connecting link supporting mechanism quantity is six, and the active governor motion of described feed screw nut and spring pre-tightening supporting mechanism are separately installed with three.
This utility model is compared with prior art and is had the beneficial effect that this utility model highly versatile, it is possible to self adaptation caliber changes, and during work, stability is strong, simple to operate, easy to make.
Accompanying drawing explanation
The utility model is described in more detail below in conjunction with the accompanying drawings.
Fig. 1 is six to take turns the overall setup figure of climbing robot in brace type pipe.
Fig. 2 is the structural representation of actuating unit.
Fig. 3 is the structural representation of reducing gear.
Fig. 4 is the structural representation of the active governor motion of feed screw nut.
Fig. 5 is the structural representation of crank connecting link supporting mechanism.
Fig. 6 is the structural representation of spring pre-tightening supporting mechanism.
In figure: 1 is leading screw back-up ring, 2 is leading screw, and 3 is ferrule nut, 4 is large straight gear, and 5 is small Spur gear, and 6 is elastic dowel pin shaft coupling, 7 is motor, and 8 is expansion link, and 9 is wheel, 10 is bearing, and 11 is small crank, and 12 is nut, 13 is long crank, and 14 is bolt, and 15 is short crank, 16 is the collar, and 17 is sleeve, and 18 is spring, 19 is decelerator back-up ring, 20 is cylinder pinion shaft, and 21 is cylinder Large Gear Shaft, and 22 is deep groove ball bearing, 23 is cylinder, 24 is the first travelling gear, and 25 is driving gearshaft, and 26 is the second travelling gear.
Detailed description of the invention
Understandable for enabling the purpose of this utility model, feature and advantage to become apparent from, below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in detail.
As shown in figs 1 to 6, self adaptation crawling device in a kind of pipe taking turns brace type based on six, including cylinder 23, actuating unit and reducing gear are installed in cylinder 23, actuating unit is connected by reducing gear the active governor motion of feed screw nut, the other end of actuating unit connects spring pre-tightening supporting mechanism, and the active governor motion of feed screw nut and spring pre-tightening supporting mechanism are mounted on multiple crank connecting link supporting mechanism.
Crank connecting link supporting mechanism quantity is six, and the active governor motion of feed screw nut and spring pre-tightening supporting mechanism are separately installed with three.Crank connecting link supporting mechanism includes short crank 15, connect on short crank 15 and have long crank 13, the other end of long crank 13 connects small crank 11, connected by bolt 14 and nut 12 between short crank 15, long crank 13 and small crank 11, the tail end of small crank 11 is provided with wheel 9 by bearing 10, and wheel 9 is provided with pressure transducer.
Actuating unit includes the motor 7 being arranged within cylinder 23, and the main shaft of motor 7 is connected with reducing gear by elastic dowel pin shaft coupling 6 and drives its work.In order to reduce gear shaft rotating speed, make to regulate more accurately with steady, reducing gear can be increased, reducing gear includes the cylinder pinion shaft 20 being connected with elastic dowel pin shaft coupling 6, small Spur gear 5 it is set with on cylinder pinion shaft 20, small Spur gear 5 is engaged with the first travelling gear 24, it is set with driving gearshaft 25 in the middle part of first travelling gear 24, the second travelling gear 26 rotated with it it is set with on driving gearshaft 25, second travelling gear 26 is engaged with large straight gear 4, is provided with cylinder Large Gear Shaft 21 in the middle part of large straight gear 4.
In order to reduce frictional force, the two ends of cylinder pinion shaft 20, driving gearshaft 25 and cylinder Large Gear Shaft 21 are all arranged on decelerator back-up ring 19 by deep groove ball bearing 22, and it is internal that decelerator back-up ring 19 is arranged on cylinder 23.
The active governor motion of feed screw nut includes being connected the leading screw 2 rotated with it with cylinder Large Gear Shaft 21, and leading screw 2 is set with ferrule nut 3, and ferrule nut 3 is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.The outside of leading screw 2 is provided with leading screw back-up ring 1.Leading screw back-up ring 1 can prevent ferrule nut 3 from surprisingly coming off when moving on leading screw 2.
Spring pre-tightening supporting mechanism includes the expansion link 8 being connected with dynamic structure, the outer sheath of expansion link 8 is equipped with spring 18, it is cased with sleeve 17 outside spring 18 and is arranged on expansion link 8, the outside of sleeve 17 is provided with the collar 16, and the collar 16 is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.
Specific works process of the present utility model is: when the pipe interior of straight tube or bend pipe starts to leak, and in this pipe, climbing robot carries detection and plugging device enters pipe interior.When internal diameter of the pipeline changes or Pipeline Curvature radius changes, pressure transducer on this climbing robot wheel 9 can transmit the pressure signal between wheel 9 and pipeline, arrive motor 7, and transfer power to cylinder pinion shaft 20 by elastic dowel pin shaft coupling 6, drive small Spur gear the 5, first travelling gear the 24, second travelling gear 26 and large straight gear 4 to rotate, and then drive cylinder Large Gear Shaft 21 to rotate.The power come from reducing gear transmission drives connected leading screw 2 to rotate, make ferrule nut 3 movable on leading screw 2 simultaneously, thus driving the short crank 15 being attached thereto, long crank 13 and small crank 11 move, and reach to regulate the purpose of the pressure between wheel 9 and pipeline.Drive and short crank 15 in ferrule nut 3, while long crank 13 and small crank 11 motion, climbing robot trailing wheel leg section (spring pre-tightening supporting mechanism and crank connecting link supporting mechanism) spring 18 can carry out telescopic variation according to the pressure between crank connecting link supporting mechanism and pipeline, to adapt to the change of internal diameter of the pipeline and radius of curvature.
Above in conjunction with accompanying drawing, embodiment of the present utility model is explained in detail, but this utility model is not limited to above-described embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible on the premise of without departing from this utility model objective, various changes can be made.
Claims (8)
1. self adaptation crawling device in the pipe taking turns brace type based on six, it is characterized in that: include cylinder (23), cylinder is provided with actuating unit and reducing gear in (23), actuating unit is connected by reducing gear the active governor motion of feed screw nut, the other end of actuating unit connects spring pre-tightening supporting mechanism, and the active governor motion of feed screw nut and spring pre-tightening supporting mechanism are mounted on multiple crank connecting link supporting mechanism；
Crank connecting link supporting mechanism includes short crank (15), the upper connection of short crank (15) has long crank (13), the other end of long crank (13) connects small crank (11), the tail end of small crank (11) is provided with wheel (9) by bearing (10), and wheel is provided with pressure transducer on (9).
Self adaptation crawling device in a kind of pipe taking turns brace type based on six the most according to claim 1, it is characterized in that: described actuating unit includes being arranged on the motor (7) that cylinder (23) is internal, and the main shaft of motor (7) is connected with reducing gear by elastic dowel pin shaft coupling (6) and is driven its work.
Self adaptation crawling device in a kind of pipe taking turns brace type based on six the most according to claim 2, it is characterized in that: described reducing gear includes the cylinder pinion shaft (20) being connected with elastic dowel pin shaft coupling (6), small Spur gear (5) it is set with on cylinder pinion shaft (20), small Spur gear (5) is engaged with the first travelling gear (24), first travelling gear (24) middle part is set with driving gearshaft (25), the second travelling gear (26) rotated with it it is set with on driving gearshaft (25), second travelling gear (26) is engaged with large straight gear (4), large straight gear (4) middle part is provided with cylinder Large Gear Shaft (21).
Self adaptation crawling device in a kind of pipe taking turns brace type based on six the most according to claim 3, it is characterized in that: the two ends of described cylinder pinion shaft (20), driving gearshaft (25) and cylinder Large Gear Shaft (21) are all arranged on decelerator back-up ring (19) by deep groove ball bearing (22), it is internal that decelerator back-up ring (19) is arranged on cylinder (23).
5. according to self adaptation crawling device in a kind of pipe taking turns brace type based on six described in Claims 2 or 3, it is characterized in that: the active governor motion of feed screw nut includes being connected the leading screw (2) rotated with it with cylinder Large Gear Shaft (21), it is set with ferrule nut (3) on leading screw (2), ferrule nut (3) is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.
Self adaptation crawling device in a kind of pipe taking turns brace type based on six the most according to claim 5, it is characterised in that: the outside of described leading screw (2) is provided with leading screw back-up ring (1).
7. according to self adaptation crawling device in a kind of pipe taking turns brace type based on six described in Claims 2 or 3, it is characterized in that: described spring pre-tightening supporting mechanism includes the expansion link (8) being connected with dynamic structure, the outer sheath of expansion link (8) is equipped with spring (18), spring (18) outside is cased with sleeve (17) and is arranged on expansion link (8), the outside of sleeve (17) is provided with the collar (16), and the collar (16) is preset with multiple installing hole for connecting crank linkage rod supporting mechanism.
Self adaptation crawling device in a kind of pipe taking turns brace type based on six the most according to claim 1, it is characterized in that: described crank connecting link supporting mechanism quantity is six, and the active governor motion of described feed screw nut and spring pre-tightening supporting mechanism are separately installed with three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620091584.2U CN205479972U (en) | 2016-01-29 | 2016-01-29 | Intraductal self -adaptation device of crawling based on six rounds of support formulas |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620091584.2U CN205479972U (en) | 2016-01-29 | 2016-01-29 | Intraductal self -adaptation device of crawling based on six rounds of support formulas |
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| Publication Number | Publication Date |
|---|---|
| CN205479972U true CN205479972U (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620091584.2U Expired - Fee Related CN205479972U (en) | 2016-01-29 | 2016-01-29 | Intraductal self -adaptation device of crawling based on six rounds of support formulas |
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| Country | Link |
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| CN (1) | CN205479972U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105570609A (en) * | 2016-01-29 | 2016-05-11 | 中北大学 | Six-wheel supported type self-adaptation creeping device in pipeline |
-
2016
- 2016-01-29 CN CN201620091584.2U patent/CN205479972U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105570609A (en) * | 2016-01-29 | 2016-05-11 | 中北大学 | Six-wheel supported type self-adaptation creeping device in pipeline |
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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: 20160817 Termination date: 20210129 |