CN205877587U - Pipeline robot with gesture is from revising - Google Patents
Pipeline robot with gesture is from revising Download PDFInfo
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- CN205877587U CN205877587U CN201620652105.XU CN201620652105U CN205877587U CN 205877587 U CN205877587 U CN 205877587U CN 201620652105 U CN201620652105 U CN 201620652105U CN 205877587 U CN205877587 U CN 205877587U
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- 238000012937 correction Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 101150013030 FAN1 gene Proteins 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 101100394003 Butyrivibrio fibrisolvens end1 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The utility model relates to a pipeline robot with gesture is from revising belongs to the automatic control technology field. The utility model discloses a fuselage, universal wheel balancing unit and fan drive arrangement, universal wheel balancing unit includes the universal wheel, the universal wheel includes connecting rod, axis of rotation (img file='dest_path_image002. TIF'wi='8'he='19' /), wheel support frame and wheel (img file='790981dest_path_image002. TIF'wi='8'he='19' /), connecting rod and pipeline robot's fuselage fixed connection, axis of rotation (img file='708122dest_path_image002. TIF'wi='8'he='19' /) couples together connecting rod and wheel support frame, and 360 degrees rotations can be carried out to axis of rotation (img file='550176dest_path_image002. TIF'wi='8'he='19' /) on the connecting rod, the wheel support frame not only gets up wheel (img file='945385dest_path_image002. TIF'wi='8'he='19' /) fixed stay, and get up axis of rotation (img file='822074dest_path_image002. TIF'wi='8'he='19' /) and wheel (img file='644537dest_path_image002. TIF'wi='8'he='19' /) fixed connection. The utility model is not only simple in structure, the activity is nimble, can solve pipeline robot in addition and be expert at and sail the balance problem of in -process, is difficult for turning on one's side, has improved pipeline robot's balance problem, improves work efficiency, the reduction accident.
Description
Technical field
This utility model relates to a kind of pipe robot with attitude self-correction, belongs to technical field of automatic control.
Background technology
At present, along with the industries such as oil, chemical industry, natural gas and nuclear industry develop rapidly, pipe robot is as one weight
Want instrument, be widely applied.Pipe robot is usually used in the pipe of many engineering pipelines such as oil, chemical industry, nuclear industry, urban construction
Road quality testing, flaw detection, fault diagnosis, clean, spray, weld, numerous aspects such as pipe-line maintenance.Pipe robot is according to movement
Mode is divided into wheeled, crawler type, lower limb formula etc., and wherein wheeled robot has simple in construction, the movable feature such as flexibly is particularly subject to
Favor.As shown in Figure 4, existing wheeled robot includes fuselage 4 and wheel type drive device, and wheel type drive device includes driving wheel18, drive shaft19, driving wheel20, driving wheel III 21, live axle22, driving wheel IV 23, four driving wheels are respectively mounted
Below fuselage 4, the most each two driving wheels, and fuselage 4 above two driving wheels, i.e. driving wheel III 21 and driving wheel IV 23,
By drive shaft23 connect；Two driving wheels, i.e. driving wheels next18 and driving wheel20, by drive shaft19 connect.When this takes turns
When formula pipe robot moves in pipe curved surface pipeline 3, if driving wheel III 21 movement locus deflects, in drive shaft23
Under the active force produced, driving wheel IV 23 movement locus also begins to the deflection identical with driving wheel III 21, then, driving wheel18 and driving wheel20 also ensue deflection, thus cause the deviation of this wheeled pipe robot to run track, and side even occurs
Turning over etc. dangerous, when pipe robot axially travels in pipe curved surface pipeline, or it is convex to meet welding, corrosion in the process of moving
During the unstable road conditions such as bag or pit, pipe robot can deviate operation track, is also easy to easily occur the phenomenons such as rollover.
For pipe robot when pipeline moves axially, the phenomenons such as rollover easily occur, the utility model proposes one
Plant the pipe robot device with attitude self-correction, to improve the equilibrium problem of pipe robot, improve work efficiency, reduce
Accident.
Summary of the invention
The technical problems to be solved in the utility model is: this utility model provides a kind of pipe machine with attitude self-correction
Device people, for improving the problem of attitude self-correction when pipe robot axially travels, it is to avoid pipe robot generation rollover etc. are existing
As.
Technical solutions of the utility model are: a kind of pipe robot with attitude self-correction, including fuselage 4, universal wheel
Bascule and fan drive device；Universal wheel bascule includes that universal wheel, described universal wheel include connecting rod 7, rotary shaft
9, wheel support frame 17 and wheel8；Connecting rod 7 is fixing with the fuselage 4 of pipe robot to be connected；Rotary shaft9 by connecting rod 7 He
Wheel support frame 17 couples together, and rotary shaft9 can carry out 360 degree of rotations in connecting rod 7；Wheel support frame 17 not only will
Wheel8 fixing support, and by rotary shaft9 and wheel8 are fixedly connected with.
Preferably, described universal wheel is arranged on the lower section of fuselage 4, each two universal wheels before and after fuselage 4, and fuselage 4 front
Two universal wheels and two, rear universal wheel are separately mounted to fuselage 4 both sides.
Preferably, described fan drive device is made up of two fans, and before and after being separately mounted to pipe robot fuselage 4
The motor at two ends2 motors On 5, motor2 motors 5 respectively with fan1 and fan 6 are connected.
Operation principle of the present utility model is:
The mounting structure of four universal wheels makes pipe robot can keep poised state.Two, front universal wheel is travelling
During can carry out attitude self-correction, two, rear universal wheel the direction of two universal wheels in front guide under review one's lessons by oneself pros
To, thus adjust the attitude of pipe robot so that it is smooth ride.
Four connecting rods in universal wheel bascule make the fuselage 4 of pipe robot and pipeline 3 keep certain between
Away from, and provide interface for the installation of universal wheel.Two rotary shafts in fuselage 4 front, i.e. rotary shaft III 13 and rotary shaft IV
15, the rotation of 360 degree can be carried out.Rotary shaft III 13 is provided with wheel III 12 by connecting rod 7, and rotary shaft IV 15 is by connecting
Bar 7 is provided with wheel IV 14.When wheel III 12 is under the rotation of rotary shaft III 13, when beginning to deviate from wheel movement locus 16, wheel
Son IV 14 produces lateral deviation power, and wheel III 12 is under the traction of this lateral deviation power, by the rotation of rotary shaft III 13 so that it is return to
Balance.And wheel8 and wheel11 at 4 two front-wheels of fuselage, i.e. under the traction of wheel III 12 and wheel IV 14, by rotating
The rotary shaft of its correspondence9 and rotary shaft10 return to statokinetic, return on wheel movement locus 16.
Motor2 motors 5 are respectively fan1 and fan 6 provide power, make fan rotate.Pipe robot travels
During, pipe robot can utilize fan drive device to provide driving force for it.When pipe robot travels, pipeline machine
The fan of people's tail end6 at its motorUnder the support of 5, fan can be made6 rotate, thus provide for pipe robot and drive
Power.In like manner, when pipe robot backward going, the fan of tube used for bottom pouring pipeline robot front end1, at its motorThe support of 2
Under so that it is provide driving force for pipe robot.
When pipe robot travels in pipe curved surface pipeline, or meet welding, corrosion convex closure in the process of moving
Or during the unstable road conditions such as pit, pipe robot can deviate operation track, and now pipe robot can be by universal wheel
Bascule adjusts rapidly himself attitude, thus passes through smoothly, it is to avoid make the danger such as pipe robot generation rollover.Pipeline
In the process of moving, pipe robot can utilize fan drive device to provide driving force for it in robot.When pipe robot row
When sailing, the fan of pipe robot tail end, under the support of its motor, can make fan rotate, thus provides for pipe robot
Driving force.In like manner, when pipe robot backward going, can be with the fan of tube used for bottom pouring pipeline robot front end so that it is for pipe machine
Device people provide driving force.
The beneficial effects of the utility model are: this utility model is not only simple in structure, activity flexibly, and can solve pipe
Pipeline robot equilibrium problem in the process of moving, is difficult to rollover, improves the equilibrium problem of pipe robot, improves work effect
Rate, reduction accident.
Accompanying drawing explanation
Fig. 1 is this utility model front view；
Fig. 2 is this utility model top view；
Fig. 3 is this utility model Universal wheel structure schematic diagram；
Fig. 4 is this utility model in-wheel driving structural representation.
As Figure 1-4,1-fan, 2-motor, 3-pipeline, 4-fuselage, 5-motor, 6-fan, 7-connecting rod,
8-wheel, 9-rotary shaft, 10-rotary shaft, 11-wheel, 12-wheel III, 13-rotary shaft III, 14-wheel IV, 15-turn
Moving axis IV, 16-wheel movement locus, 17-wheel support frame, 18-driving wheel, 19-drive shaft, 20-driving wheel, 21-drives
Driving wheel III, 22-live axle, 23-driving wheel IV.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment 1: as Figure 1-4, a kind of pipe robot with attitude self-correction, put down including fuselage 4, universal wheel
Weighing apparatus device and fan drive device；Universal wheel bascule includes that universal wheel, described universal wheel include connecting rod 7, rotary shaft9、
Wheel support frame 17 and wheel8；Connecting rod 7 is fixing with the fuselage 4 of pipe robot to be connected；Rotary shaft9 by connecting rod 7 and wheel
Sub-bracing frame 17 couples together, and rotary shaft9 can carry out 360 degree of rotations in connecting rod 7；Wheel support frame 17 not only will wheel
Son8 fixing support, and by rotary shaft9 and wheel8 are fixedly connected with.
Preferably, described universal wheel is arranged on the lower section of fuselage 4, each two universal wheels before and after fuselage 4, and fuselage 4 front
Two universal wheels and two, rear universal wheel are separately mounted to fuselage 4 both sides.
Preferably, described fan drive device is made up of two fans, and before and after being separately mounted to pipe robot fuselage 4
The motor at two ends2 motors On 5, motor2 motors 5 respectively with fan1 and fan 6 are connected.
Two, fuselage 4 front universal wheel, the structure of universal wheel is identical, and one of them includes wheel IV 14, rotary shaft IV 15,
Rotary shaft IV 15 is provided with wheel IV 14 by connecting rod 7；Another includes wheel III 12, rotary shaft III 13, rotary shaft III 13
By connecting rod 7, wheel III 12 is installed；Two, fuselage 4 rear universal wheel, one of them includes rotary shaft10, wheel11,
Another includes wheel8, rotary shaft9；
Pipe robot is at fanWhen travelling under 6 driving forces produced, two wheels in fuselage 4 front, i.e. wheel III
12 and wheel IV 14, axially can travel towards wheel proper exercise track 16 under the restraining function power that it is mutual.Fuselage 4 rear
Two wheels, i.e. wheels8 and wheel11, with their two mutual leading under the traction of two wheels in fuselage 4 front
Under making firmly, axially travel towards wheel movement locus 16.So pipe robot can keep posture balancing to move.
When pipe robot is at fanWhen travelling under 6 driving forces produced, wheel III 12 is in the rotation of rotary shaft III 13
Under, begin to deviate from wheel movement locus 16, now wheel IV 14 produces lateral deviation power, and wheel III 12 is in the traction of this lateral deviation power
Under, by the rotation of rotary shaft III 13 so that it is return to balance.And wheel8 and wheel11, at 4 two front-wheels of fuselage, i.e. take turns
Under the traction of son III 12 and wheel IV 14, by rotating the rotary shaft of its correspondence9 and rotary shaft10 return to balance appearance
State, returns on wheel movement locus 16.
Above in conjunction with accompanying drawing, specific embodiment of the utility model is explained in detail, but this utility model does not limit
In above-described embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible to without departing from this utility model
On the premise of objective, various changes can be made.
Claims (3)
1. a pipe robot with attitude self-correction, it is characterised in that: include fuselage (4), universal wheel bascule and
Fan drive device；Universal wheel bascule includes that universal wheel, described universal wheel include connecting rod (7), rotary shaft(9), wheel
Bracing frame (17) and wheel(8)；Connecting rod (7) is fixing with the fuselage (4) of pipe robot to be connected；Rotary shaft(9) will connect
Bar (7) and wheel support frame (17) couple together, and rotary shaft(9) 360 degree of rotations can be carried out in connecting rod (7)；Wheel props up
Support (17) is not only by wheel(8) fixing support, and by rotary shaftAnd wheel (9)(8) it is fixedly connected with.
The pipe robot with attitude self-correction the most according to claim 1, it is characterised in that: described universal wheel is installed
In the lower section of fuselage (4), each two universal wheels before and after fuselage (4), and two, fuselage (4) front universal wheel and two, rear universal
Wheel is separately mounted to fuselage (4) both sides.
The pipe robot with attitude self-correction the most according to claim 1, it is characterised in that: described fans drive fills
Put and be made up of two fans, and be separately mounted to the motor of pipe robot fuselage (4) rear and front end(2) motor (5) on,
Motor(2) motor (5) respectively with fanAnd fan (1) (6) it is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620652105.XU CN205877587U (en) | 2016-06-28 | 2016-06-28 | Pipeline robot with gesture is from revising |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620652105.XU CN205877587U (en) | 2016-06-28 | 2016-06-28 | Pipeline robot with gesture is from revising |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205877587U true CN205877587U (en) | 2017-01-11 |
Family
ID=57694428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620652105.XU Expired - Fee Related CN205877587U (en) | 2016-06-28 | 2016-06-28 | Pipeline robot with gesture is from revising |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205877587U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109611642A (en) * | 2019-01-29 | 2019-04-12 | 陕西理工大学 | A kind of power self-support formula pipeline is interior from walking robot |
| CN110726035A (en) * | 2019-10-16 | 2020-01-24 | 浙江越新检测技术有限公司 | Pipeline magnetic leakage detector fixing device |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
-
2016
- 2016-06-28 CN CN201620652105.XU patent/CN205877587U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109611642A (en) * | 2019-01-29 | 2019-04-12 | 陕西理工大学 | A kind of power self-support formula pipeline is interior from walking robot |
| CN110726035A (en) * | 2019-10-16 | 2020-01-24 | 浙江越新检测技术有限公司 | Pipeline magnetic leakage detector fixing device |
| CN110726035B (en) * | 2019-10-16 | 2021-07-06 | 浙江越新检测技术有限公司 | Pipeline magnetic leakage detector fixing device |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
| CN111022826B (en) * | 2019-12-10 | 2020-11-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20180628 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |