CN205504343U - Pipeline walking robot - Google Patents
Pipeline walking robot Download PDFInfo
- Publication number
- CN205504343U CN205504343U CN201620311972.7U CN201620311972U CN205504343U CN 205504343 U CN205504343 U CN 205504343U CN 201620311972 U CN201620311972 U CN 201620311972U CN 205504343 U CN205504343 U CN 205504343U
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- China
- Prior art keywords
- support
- support arm
- contiguous block
- road wheel
- walking robot
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Abstract
The utility model provides a pipeline walking robot, have install the down travelling wheel of first support bottom with install the travelling wheel that goes upward at second support top, have good luck at the pipeline bank of china, go upward the travelling wheel and prop respectively at the different positions of pipeline inside wall with down travelling wheel, pipe inner wall to the travelling wheel goes upward, down travelling wheel produces zhi fanli and frictional force makes pipeline robot remain stable in the pipeline and keep balance, be equipped with first support arm and second support arm between first support and the second support, first support arm and second support arm are installed on lead screw and guide bar through first connecting block and second connecting block respectively, and the lead screw rotation enables first connecting block and is close to each other or keeps away from with the second connecting block to it rises or descends to drive the second support, just so enable to go upward the distance increase between travelling wheel and the down travelling wheel or reduce to adaptation internal diameter of the pipeline's change is in order to walk in the pipeline becoming the pipe diameter.
Description
Technical field
This utility model relates to a kind of pipe walking robot.
Background technology
Pipeline is detected, the operation such as maintenance time, sometimes, due to the size limitation of pipeline, staff cannot
Enter in pipeline and carry out operation；Sometimes, the danger such as poisoning that suffocate are had during staff enters pipeline；In these cases,
It is accomplished by using pipe walking robot to enter operation in pipeline.Pipe walking robot is that one can be along the automatic row of pipe interior
Walk, carry one or more sensors and operation machinery, under the remote manipulation or computer controlled automatic of staff, carry out
Mechanical, electrical, the instrument integral system of a series of pipeline operations.
Current pipe robot can only be walked mostly in the consistent pipeline of internal diameter of the pipeline, for complicated crooked pipeline
Or the pipeline that internal diameter differs, pipe robot can not adjust pose automatically to adapt to the internal diameter size of pipeline, so cannot be
Such pipeline carries out operation.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of pipe walking machine
People, it is possible to walk in the pipeline of internal diameter of the pipeline change.
For achieving the above object and other relevant purposes, this utility model provides a kind of pipe walking robot, uses such as
Lower technical scheme: a kind of pipe walking robot, including the first support, the bottom of the first support is provided with lower road wheel, and first
The top of support is provided with the leading screw and guide post being parallel to each other；Leading screw and guide post are provided with the first contiguous block and second
Contiguous block, the first contiguous block is provided with the first motion thread hole and the first pilot hole, and the first motion thread hole is joined with threads of lead screw
Closing, the first pilot hole is slidably matched with guide post；Be connected on first contiguous block and the second contiguous block the first support arm and
Second support arm, the lower end of the first support arm and the second support arm is respectively hinged on the first contiguous block and the second contiguous block；The
The upper end thereof of one support arm and the second support arm is together；The upper end of the first support arm and the second support arm is supported with second
Frame, the top of the second support is provided with road wheel；Rotational lead screw can make the first contiguous block and the second contiguous block is close to each other or
Person away from, thus drive second support rise or decline.
Preferably, the second contiguous block is fixedly installed relative to the first support.
Preferably, described leading screw is provided with the first thread segment and the second thread segment, the first thread segment and the second thread segment spiral shell
Revolve in opposite direction；Second contiguous block is provided with the second motion thread hole and the second pilot hole；Described first motion thread hole and the
One thread segment matches, and matches with the second thread segment in described second motion thread hole；Described second pilot hole is sliding with guide post
Dynamic cooperation.
Preferably, described first support arm and the second support arm length are equal.
Preferably, described first support being provided with distance-adjusting motor, leading screw is in transmission connection with distance-adjusting motor.
Preferably, the two ends of described leading screw are bearing in the first cradle top by bearing.
Further, a lower road wheel it is respectively arranged at the two ends with before and after the first support；Before and after second support, two ends respectively set
There is a upper road wheel.
Further, described second support is provided with a hinge hole, the upper end of the first support arm and the second support arm all with
Hinge hole is hinged.
Further, the first frame bottom is provided with lower bogie, and lower road wheel is arranged on lower bogie, lower bogie
It is connected with lower steer motor；Second cradle top is provided with bogie, and upper road wheel is arranged on bogie, above turns to
Frame is connected with upper steer motor.
Further, described lower bogie is provided with the lower movable motor of the lower road wheel of driving；On described upper bogie
The upper movable motor driving upper road wheel is installed.
Further, it is provided with pressure transducer between described upper bogie and the second support.
As it has been described above, a kind of pipe walking robot of the present utility model, have the advantages that of the present utility model
Pipe walking robot has the lower road wheel being arranged on the first frame bottom and the upper road wheel being arranged on the second cradle top,
When walking in the duct, upper road wheel and lower road wheel support the different parts at insides of pipes wall respectively, and inner-walls of duct is to up
Travelling wheel, lower road wheel produce support reaction and frictional force makes pipe robot keep stable and balance in the duct；First support and
The first support arm and the second support arm, the first support arm and the second support arm it is provided with respectively by the first connection between second support
Block and the second contiguous block are arranged on leading screw and guide post, and screw turns can make the first contiguous block and the second contiguous block close to each other
Or away from, thus drive the second support to rise or decline；Thus can make the distance between road wheel and lower road wheel
Increase or reduce, thus adapt to the change of internal diameter of the pipeline, to walk in the pipeline becoming caliber.
Accompanying drawing explanation
Fig. 1 is shown as the front view of pipe walking robot of the present utility model.
Fig. 2 is shown as the three-dimensional view of pipe walking robot of the present utility model.
Piece mark explanation
1 first support 15 second support
Road wheel on 2 times road wheels 16
3 leading screw 17 sensors
4 guide post 18 bearings
5 first contiguous block 19 distance-adjusting motors
Movable motor under 6 first motion thread hole 20a
Steer motor under 7 first pilot hole 21a
Bogie under 8 second contiguous block 22a
Movable motor on 9 second motion thread hole 20b
Steer motor on 10 second pilot hole 21b
Bogie on 11 first support arm 22b
12 second support arm 23 bent plates
Crotch 24 shaft coupling on 13
14 times crotch
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages of the present utility model and effect easily.This utility model can also be by additionally
Different detailed description of the invention is carried out or applies, the every details in this specification can also based on different viewpoints with should
With, under without departing from spirit of the present utility model, carry out various modification or change.
Fig. 1 is shown as the front view of pipe walking robot of the present utility model, and Fig. 2 is shown as pipeline of the present utility model
The three-dimensional view of walking robot；As depicted in figs. 1 and 2, this utility model provides a kind of pipe walking robot, including first
Support 1, the bottom of the first support 1 is provided with lower road wheel 2, and the top of the first support 1 is provided with the leading screw 3 being parallel to each other and leads
To bar 4；Being provided with the first contiguous block 5 and the second contiguous block 8 on leading screw 3 and guide post 4, the first contiguous block 5 is provided with first
Motion thread hole 6 and the first pilot hole 7, the first motion thread hole 6 and leading screw 3 threaded engagement, the first pilot hole 7 and guide post 4
It is slidably matched；The first support arm 11 and the second support arm 12 it is connected on first contiguous block 5 and the second contiguous block 8, first
The lower end of support arm 11 and the second support arm 12 is respectively hinged on the first contiguous block 5 and the second contiguous block 8；First support arm 11
Together with the upper end thereof of the second support arm 12；The upper end of the first support arm 11 and the second support arm 12 is supported with the second support
15, the top of the second support 15 is provided with road wheel 16；Rotational lead screw 3 can make the first contiguous block 5 mutual with the second contiguous block 8
Near or away from, thus drive the second support 15 to rise or decline.Pipe walking robot of the present utility model is at pipeline
During middle walking, upper road wheel 16 and lower road wheel 2 support the different parts at insides of pipes wall respectively, and inner-walls of duct is to upper road wheel
16, lower road wheel 2 produces support reaction and frictional force makes pipe robot keep stable and balance in the duct；Diameter when pipeline
When becoming big, rotational lead screw 3 makes the first contiguous block 5 close to each other with the second contiguous block 8 and drives the second support 15 to rise, so that
Distance between upper road wheel 16 and lower road wheel 2 increases with the change adapting to internal diameter of the pipeline；When the diameter of pipeline diminishes, turn
Movable wire thick stick 3 makes the first contiguous block 5 be located remotely from each other with the second contiguous block 8 and drive the second support 15 to decline, so that upper road wheel
Distance between 16 and lower road wheel 2 reduces with the change adapting to internal diameter of the pipeline.Thus, pipe walking machine of the present utility model
People can adapt to the operating mode of internal diameter of the pipeline change, has excellent conformability.
As depicted in figs. 1 and 2, in the technical scheme of pipe walking robot of the present utility model, the first support arm 11
It is provided with a upper crotch 13 with the upper end of the second support arm 12；Second support 15 is provided with a hinge hole (in figure
Do not mark), the upper crotch 13 of the first support arm 11 and the second support arm 12 upper end is all hinged with the hinge hole of the second support 15, hinge
A bearing pin it is provided with by hinged for the upper crotch 13 of the first support arm 11 and the second support arm 12 in connecing hole.First support arm
11 and second support arm 12 lower end be equipped with a lower crotch 14, the first contiguous block 5 and the second contiguous block 8 are respectively equipped with one
Individual hinge hole (does not marks in figure), and the lower crotch 14 of the first support arm 11 lower end passes through a hinge at the first contiguous block 5
Hinge hole in, the lower crotch of the second support arm 12 lower end 14 by a hinge in the hinge hole of the second contiguous block 8.
So, by changing the distance between the first contiguous block 5 and the second contiguous block 8, the first support arm 11 and second can be made to support
Second support 15 is upwards propped up or declines by arm 12, thus changes upper distance between road wheel 16 and lower road wheel 2.Permissible
Being arranged with being relatively fixed with the first support 1 by second contiguous block 8, when rotational lead screw 3, leading screw 3 drives the first guide pad towards
Two contiguous blocks 8 near or away from so that the second support 15 rises or declines.First spiral shell can also be set on leading screw 3
Stricture of vagina section and the second thread segment, the first thread segment and the second thread segment hand of spiral are contrary；By the first transmission spiral shell of the first contiguous block 5
Pit 6 matches with the first thread segment, arranges the second motion thread hole 9 and the second pilot hole 10 on the second contiguous block 8, and will
Matching with the second thread segment in second motion thread hole 9, the second pilot hole 10 is slidably matched with guide post 4；So, when leading screw 3
During rotation, the first contiguous block 5 and the second contiguous block 8 are all driven by the first thread segment and the second thread segment, and the first thread segment and
The second thread segment hand of spiral is contrary, so the direction of motion of the first contiguous block 5 and the second contiguous block 8 is contrary, and the first contiguous block 5
Close to each other with the second contiguous block 8 or away from so that the second support 15 rises or declines.In order to make the structure of entirety relatively
For coordinating, the length that can make the first support arm 11 and the second support arm 12 is equal, and so-called first support arm 11 and second supports
Arm 12 length is equal, refers to the distance between the hinge hole at the first support arm about 11 two ends and the second support arm about 12 two
Distance between the hinge hole of end is equal.
The parts such as the first support and the second support are upper road wheel, lower road wheel, leading screw and guide post provide installs base
Plinth, the concrete shape of the first support and the second support does not limits, for the ease of manufacturing and installing, as depicted in figs. 1 and 2, first
Frame 1 is that a long narrow flat board, leading screw 3 and guide post 4 along the length direction extension of the first support 1 and are parallel to the first support 1
Upper surface；Second support 15 can also be arranged to long narrow platy structure, can be parallel with the first support 1 by the second support 15
Arrange, two lower road wheels 2 are set in the bottom of the first support 1, before two lower road wheels 2 are separately mounted to the first support 1
Rear two ends, road wheel 16 on the top of the second support 15 installs two, two upper road wheels 16 are arranged on the second support 15
Rear and front end.So, in the duct during operation, it is relative that upper road wheel 16 is respectively supported at insides of pipes wall with lower road wheel 2
Both sides and keep balance.
In the technical scheme of pipe walking robot of the present utility model, leading screw drives the first contiguous block or drives simultaneously
Dynamic first contiguous block and the second contiguous block, as in figure 2 it is shown, for the ease of driving leading screw 3 to rotate, can pacify on the first support 1
Filling a distance-adjusting motor 19, leading screw 3 is in transmission connection with distance-adjusting motor 19, at one shaft coupling 24 of one section of installation of leading screw 3, roll adjustment
Motor 19 is connected with shaft coupling 24, can install 18, two bearings at the first support 1 top, be provided with axle in 18, bearing
Holding 18, the two ends of leading screw 3 are bearing in the first support 1 top by bearing 18.Guide post 4 is the first contiguous block 5 and the second contiguous block 8
Thering is provided supporting and guide, being provided with two bent plates 23 at the top of the first support 1, bent plate 23 is provided with support holes, the two of guide post 4
End is bearing in the support holes of bent plate 23 respectively.
When robot walks in the duct, it is sometimes desirable to turn to adjust attitude, run into the situation of pipe bending sometimes,
In these cases, pipe robot is needed to have turning function.In order to realize turning function, as depicted in figs. 1 and 2,
In the technical scheme of pipe walking robot of the present utility model, lower bogie 22a is installed bottom the first support 1, descending
Travelling wheel 2 is arranged on lower bogie 22a, and lower bogie 22a includes a U-lag frame (not marking in figure), and lower road wheel 2 is arranged on
Between the two side of the U-lag frame of lower bogie 22a, one can be arranged upwards at the top of the U-lag frame of lower bogie 22a
Through the steering spindle (not shown) of the first support 1, the first support 1 is provided with lower steer motor 21a, lower bogie
The steering spindle of 22a is connected with lower steer motor 21a, so, lower steer motor 21a can drive lower bogie 22a rotate and
Lower road wheel 2 is made to turn to；In order to drive lower road wheel 2 to rotate, a descending leakage of electricity can be installed in each of the lower on bogie 22a
Machine 20a, lower movable motor 20a may be mounted at the side of lower bogie 22a, and are in transmission connection with lower road wheel 2, drive descending
Travelling wheel 2 rotates.Similar to the mounting means of lower road wheel 2, at the second support 15 top, bogie 22b, upper walking are installed
Wheel 16 is arranged on bogie 22b, and upper bogie 22b includes a U-lag frame (not marking in figure), and upper road wheel 16 is arranged on
Between the two side of the U-lag frame of upper bogie 22b, one can be arranged bottom the U-lag frame of upper bogie 22b and wear downwards
Cross the steering spindle of the second support 15, the second support 15 be provided with steer motor 21b, the steering spindle of upper bogie 22b with
Upper steer motor 21b connects, and so, upper steer motor 21b can drive bogie 22b to rotate and make road wheel 16 turns
To；In order to drive upper road wheel 16 to rotate, can movable motor 20b, upper walking in installation one on bogie 22b on each
Motor 20b may be mounted at the side of bogie 22b, and is in transmission connection with upper road wheel 16, and in driving, road wheel 16 rotates.
When pipe walking robot needs to turn to, make upper bogie 22b rotate by controlling upper steer motor 21b, and control lower turn
Make lower bogie 22a synchronously rotate to motor 21a, thus can adjust the direction of travel of pipe walking robot.In order to examine
Survey the support force on the second support 15, pressure can be provided with between upper bogie 22b and upper bogie 22b and the second support 15
Sensor 17, by the change of pressure transducer 17 output pressure value, can know the change of internal diameter of the pipeline, thus regulate in time
Distance between upper road wheel 16 and lower road wheel 2, in order to adapt to the change of internal diameter of the pipeline.Can be by distance-adjusting motor 19, walking
Motor and steer motor are connected (can be wired connection or wireless connections) with controller, control roll adjustment electricity by controller
The motion of machine 19, movable motor and steer motor, can arrange bluetooth in distance-adjusting motor 19, movable motor and steer motor and lead to
News device, the equipment with mobile phone etc. with blue tooth communication function remotely controls distance-adjusting motor 19, movable motor and turns to electricity
The motion of machine.
Technical scheme based on above-described embodiment, pipe walking robot of the present utility model can adapt to internal diameter of the pipeline
Change, walks in the pipeline becoming caliber, but also has turning function, it is possible to road wheel, the walking of lower road wheel in adjustment
Direction, is adapted to the working condition of crooked pipeline.
Above-described embodiment only illustrative principle of the present utility model and effect thereof are new not for limiting this practicality
Type.Above-described embodiment all can be carried out by any person skilled in the art under spirit and the scope of the present utility model
Modify or change.Therefore, art has usually intellectual such as without departing from the essence disclosed in this utility model
All equivalences completed under god and technological thought are modified or change, and must be contained by claim of the present utility model.
Claims (11)
1. a pipe walking robot, is characterized in that:
Including the first support (1), the bottom of the first support (1) is provided with lower road wheel (2), and the top of the first support (1) is arranged
There is the leading screw (3) and guide post (4) being parallel to each other；Leading screw (3) and guide post (4) are provided with the first contiguous block (5) and
Two contiguous blocks (8), the first contiguous block (5) is provided with the first motion thread hole (6) and the first pilot hole (7), the first motion thread
Hole (6) and leading screw (3) threaded engagement, the first pilot hole (7) is slidably matched with guide post (4)；
The first support arm (11) and the second support arm (12) it is connected on first contiguous block (5) and the second contiguous block (8), the
The lower end of one support arm (11) and the second support arm (12) is respectively hinged on the first contiguous block (5) and the second contiguous block (8)；The
The upper end thereof of one support arm (11) and the second support arm (12) is together；
The upper end of the first support arm (11) and the second support arm (12) is supported with the second support (15), the top of the second support (15)
Road wheel (16) is installed；
Rotational lead screw (3) the first contiguous block (5) and the second contiguous block (8) can be made close to each other or away from, thus drive second
Support (15) rises or declines.
2. pipe walking robot as claimed in claim 1, is characterized in that:
Second contiguous block (8) is fixedly installed relative to the first support (1).
3. pipe walking robot as claimed in claim 1, is characterized in that:
Described leading screw (3) is provided with the first thread segment and the second thread segment, the first thread segment and the second thread segment hand of spiral phase
Instead；Second contiguous block (8) is provided with the second motion thread hole (9) and the second pilot hole (10)；Described first motion thread hole (6)
Matching with the first thread segment, matches with the second thread segment in described second motion thread hole (9)；Described second pilot hole (10)
It is slidably matched with guide post (4).
4. pipe walking robot as claimed in claim 1, is characterized in that:
Described first support arm (11) is equal with the second support arm (12) length.
5. pipe walking robot as claimed in claim 1, is characterized in that:
Being provided with distance-adjusting motor (19) on described first support (1), leading screw (3) is in transmission connection with distance-adjusting motor (19).
6. pipe walking robot as claimed in claim 1, is characterized in that:
The two ends of described leading screw (3) are bearing in the first support (1) top by bearing (18).
7. pipe walking robot as claimed in claim 1, is characterized in that:
A lower road wheel (2) it is respectively arranged at the two ends with before and after first support (1)；
A upper road wheel (16) it is respectively arranged at the two ends with before and after second support (15).
8. pipe walking robot as claimed in claim 1, is characterized in that:
Described second support (15) is provided with a hinge hole, the upper end of the first support arm (11) and the second support arm (12) all with hinge
Connect hole hinged.
9. pipe walking robot as claimed in claim 1, is characterized in that:
First support (1) bottom is provided with lower bogie (22a), and lower road wheel (2) is arranged on lower bogie (22a), lower turn
It is connected with lower steer motor (21a) to frame (22a)；
Second support (15) top is provided with bogie (22b), and upper road wheel (16) is arranged on bogie (22b), on
Bogie (22b) is connected with upper steer motor (21b).
10. pipe walking robot as claimed in claim 9, is characterized in that:
The lower movable motor (20a) driving lower road wheel (2) is installed on described lower bogie (22a)；
The upper movable motor (20b) driving upper road wheel (16) is installed on described upper bogie (22b).
11. pipe walking robots as claimed in claim 9, is characterized in that:
It is provided with pressure transducer (17) between described upper bogie (22b) and the second support (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620311972.7U CN205504343U (en) | 2016-04-14 | 2016-04-14 | Pipeline walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620311972.7U CN205504343U (en) | 2016-04-14 | 2016-04-14 | Pipeline walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205504343U true CN205504343U (en) | 2016-08-24 |
Family
ID=56715350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620311972.7U Expired - Fee Related CN205504343U (en) | 2016-04-14 | 2016-04-14 | Pipeline walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205504343U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105697928A (en) * | 2016-04-14 | 2016-06-22 | 上海江南长兴重工有限责任公司 | Pipeline walking robot |
| CN108087661A (en) * | 2017-12-14 | 2018-05-29 | 江苏科技大学 | A kind of stepping type pipeline trolley |
| CN109630805A (en) * | 2018-11-09 | 2019-04-16 | 金华送变电工程有限公司 | A kind of cable channel intelligent robot |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth welding robot |
-
2016
- 2016-04-14 CN CN201620311972.7U patent/CN205504343U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105697928A (en) * | 2016-04-14 | 2016-06-22 | 上海江南长兴重工有限责任公司 | Pipeline walking robot |
| CN108087661A (en) * | 2017-12-14 | 2018-05-29 | 江苏科技大学 | A kind of stepping type pipeline trolley |
| CN108087661B (en) * | 2017-12-14 | 2019-09-03 | 江苏科技大学 | A kind of stepping type pipeline trolley |
| CN109630805A (en) * | 2018-11-09 | 2019-04-16 | 金华送变电工程有限公司 | A kind of cable channel intelligent robot |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181221 Address after: 201913 No. 988 Changxing Jiangnan Avenue, Chongming District, Shanghai Patentee after: Jiannan Shipbuilding (Group) Co., Ltd. Address before: 201913 1888 Jiangnan Avenue, Changxing Township, Chongming County, Shanghai Patentee before: Shanghai Jiangnan Changxing Heavy Industry Co.,Ltd. |
|
| 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: 20160824 Termination date: 20190414 |