CN205978983U - Initiative of symmetry U type hinders pipeline robot more - Google Patents
Initiative of symmetry U type hinders pipeline robot more Download PDFInfo
- Publication number
- CN205978983U CN205978983U CN201620840960.3U CN201620840960U CN205978983U CN 205978983 U CN205978983 U CN 205978983U CN 201620840960 U CN201620840960 U CN 201620840960U CN 205978983 U CN205978983 U CN 205978983U
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- spring
- driving
- shell
- linear electric
- driving leg
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Abstract
The utility model discloses an initiative of symmetry U type hinders pipeline robot more, including four driving leg, regulation pole, spring, spring holder, shell, camera, drive assembly, the front portion at the shell is fixed to the camera, the spring holder is fixed in the shell, the inner symmetry cover of two regulation poles is put in the spring holder to pass through spring coupling, every outer end of adjusting the pole all articulates has two driving leg, still include four linear electric motor, linear electric motor is through articulated driving leg and the shell connected, the last drive assembly that is provided with of driving leg. The utility model discloses a real -time deformation is realized to linear electric motor and spring, and when meetting pit or protruding barrier, linear electric motor guarantees the driving leg gesture, prevents that the drive wheel is absorbed in the pit or strides across the barrier. The spring can make pipeline robot follow pipe size and the automatic angle of adjustment of conicity, under driving force and spring force's effect, can be firm attached on the pipe wall, and it has barriers such as ponding, silt to avoid the pipeline bottom.
Description
Technical field
This utility model belongs to robotics and in particular to one kind symmetrically U-shaped active obstacle detouring pipe robot.
Background technology
Pipe robot is that one kind can carry one or more sensor along pipeline automatically walk, in remote operation or
A series of mechatronics system of pipeline operations can be carried out in extremely rugged environment under computer controls.Each industry is sent out
Reach National Pipe aspect and done numerous studies work, at most, achievement is also for the wherein Japanese personnel being engaged in pipe robot research
Many.Pipe robot mainly has a few class such as wheel type, crawler type, creeping motion type, creeping-type in terms of type of drive.Most pipeline machines
People is to be affixed on duct bottom to creep, poor to pipeline environment adaptability, particularly has under mud environment in duct bottom, existing pipe
Pipeline robot is difficult to creep.In addition, in the case that pipeline has pit and raised barrier, common pipe robot also is difficult to fit
Should.
Content of the invention
The purpose of this utility model is for the deficiencies in the prior art, proposes one kind symmetrically U-shaped active obstacle detouring pipeline machine
People, this pipe robot has the ability of well adapting to, and is adapted to detect for cavitation corrosion, the damaging problem of varying-arca channel.
In order to achieve the above object, the technical scheme that this utility model is adopted is as follows：One kind symmetrically U-shaped active obstacle detouring pipe
Pipeline robot, including four driving legs, adjusting rod, spring, spring base, shell, photographic head, drive component and controller；Described
Photographic head is fixed on the front portion of shell；Described spring base is fixed on inside the shell；The inner of described two adjusting rods is symmetrically nested with
In spring base, and connected by spring；The outer end of each adjusting rod described is all hinged with two driving legs；Also include four straight lines
Motor；One end of described linear electric motors is hinged with driving leg, the other end and housing hinge；It is provided with driving group on described driving leg
Part；Described photographic head, drive component are all connected with controller with linear electric motors.
Further, described drive component includes motor, drive bevel gear, driven wheel of differential, wheel shaft, driving wheel；Described
Motor is installed in driving leg, the output shaft of motor is provided with drive bevel gear, described wheel shaft is hinged with driving leg, described driven
Bevel gear fixation is set on wheel shaft, and with drive bevel gear engaged transmission, described driving wheel is arranged on the two ends of wheel shaft；Described
Motor is connected with controller.
Further, two hinged with the outer end of adjusting rod driving legs take the shape of the letter U arrangement.
Further, described linear electric motors are push-rod electric machine.
This utility model has the advantage that：
1st, this symmetrically U-shaped active obstacle detouring pipe robot real-time deformation is realized by linear electric motors and spring, recessed running into
During the barrier of hole, linear electric motors ensure driving leg attitude, prevent driving wheel to be absorbed in pit.
2nd, when running into raised barrier, driving leg packed up by linear electric motors, across barrier.
3rd, middle spring design can make pipe robot with line size and taper adjust automatically angle, in driving force
In the presence of spring force, this pipe robot can be with applied solid on tube wall, and avoiding duct bottom has hydrops, mud etc.
Barrier.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 passes through pit obstacle attitude figure for this utility model；
Fig. 3 passes through raised obstacle attitude figure for this utility model.
In figure：1st, motor, 2, wheel shaft, 3, driving wheel, 4, driving leg, 5, hinge, 6, adjusting rod, 7, spring, 8, spring base,
9th, shell, 10, linear electric motors, 11, photographic head.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, one kind symmetrically U-shaped active obstacle detouring pipe robot, including four driving legs 4, adjusting rod 6, spring
7th, spring base 8, shell 9, photographic head 11, drive component；Described photographic head 11 is fixed on the front portion of shell 9；Described spring base 7 is solid
It is scheduled in shell 9；The inner of described two adjusting rods 6 is symmetrically nested with spring base 8, and is connected by spring 7；Described each
The outer end of adjusting rod 6 is all hinged with two driving legs 4；It is characterized in that, also include four linear electric motors 10；Described linear electric motors
10 one end is hinged with driving leg 4, and the other end is hinged with shell 9；It is provided with drive component on described driving leg 4；Described shooting
11, drive component is all connected with controller with linear electric motors 10.Described controller is existing technology, for acquisition camera
11 images transmitting, operator, according to image information, manual adjusting controller, realize start and stop and the linear electric motors 10 of motor 1
Flexible.
Described drive component includes motor 1, drive bevel gear, driven wheel of differential, wheel shaft 2, driving wheel 3；Described motor 1 is pacified
Dress driving leg 4 in, the output shaft of motor 1 is provided with drive bevel gear, described wheel shaft 2 is hinged with driving leg 4, described from mantle
Gear fixation is set on wheel shaft 2, and with drive bevel gear engaged transmission, described driving wheel 3 is arranged on the two ends of wheel shaft 2；Institute
State motor 1 to be connected with controller.The two piece driving legs 4 hinged with the outer end of adjusting rod 6 take the shape of the letter U arrangement.Described linear electric motors 10
Using push-rod electric machine.
Operation principle of the present utility model is as follows：
Motor 1 on each driving leg 4 drives drive bevel gear to rotate, the driven wheel of differential band engaging with drive bevel gear
The axis of a movable block 2 rotates, thus driving driving wheel 3 to rotate.Each can around hinge 5 rotate with driving leg 4, and according to pipeline practical situation
Compression spring 7, under spring force, the driving wheel of four drive wheel assemblies is close to tube wall, pipe machine under driving force effect
Device people move ahead along tube wall.The linear electric motors 10 hinged with driving leg 5, according to the difference of barrier, by linear electric motors 11
Shrink and to adjust the angle of driving leg 5, realize keeping away hole and leaping over obstacles, specifically as shown in Figure 2,3.
As shown in Fig. 2 when this pipe robot is creeped in pipeline, if running into pit obstacle, linear electric motors 10 are fixing
Live driving leg 4, prevent driving wheel to be absorbed in pit, moved ahead by other 3 driving wheel 3 driven machine people simultaneously, when after pit,
4 driving wheels 4 simultaneously drive advance.
As shown in figure 3, when this pipe robot is creeped in pipeline, if running into the barrier of projection, linear electric motors 10
Shrink, pack up driving leg 4, across raised barrier, moved ahead by other 3 drive wheel robots, when by convex simultaneously
After the barrier rising, 4 driving wheels 4 simultaneously drive advance.
This pipe robot stretching so that driving leg 4 can be according to the shape of tube wall and taper by linear electric motors 10
Around hinge 5 rotates, the angle of fine setting driving leg 4, and spring 7 also compresses with tube wall and stretching is it is ensured that four driving wheels 3 are close to simultaneously
Tube wall.
Above-described embodiment only represents case of the present utility model, any combination according to technical solutions of the utility model, such as：
Driving wheel increases, and the change of motor position is all interpreted as without departing from protection domain of the present utility model.
Claims (4)
1. one kind symmetrically U-shaped active obstacle detouring pipe robot, including four driving legs (4), adjusting rod (6), spring (7), spring
Seat (8), shell (9), photographic head (11), drive component, controller；Described photographic head (11) is fixed on the front portion of shell (9)；Institute
State spring base (8) to be fixed in shell (9)；The inner of two described adjusting rods (6) is symmetrically nested with spring base (8), and leads to
Cross spring (7) to connect；The outer end of each adjusting rod (6) is all hinged with two driving legs (4)；It is characterized in that, also include four
Linear electric motors (10)；One end of described linear electric motors (10) is hinged with driving leg (4), and the other end is hinged with shell (9)；Described drive
It is provided with drive component on dynamic lower limb (4)；Described photographic head (11), drive component are all connected with controller with linear electric motors (10).
2. symmetrically U-shaped active obstacle detouring pipe robot according to claim 1 is it is characterised in that described drive component bag
Include motor (1), drive bevel gear, driven wheel of differential, wheel shaft (2), driving wheel (3)；Described motor (1) is installed in driving leg (4),
On the output shaft of motor (1), drive bevel gear is installed, described wheel shaft (2) is hinged with driving leg (4), described driven wheel of differential is solid
Surely be set on wheel shaft (2), and with drive bevel gear engaged transmission, described driving wheel (3) is arranged on the two ends of wheel shaft (2)；Institute
State motor (1) to be connected with controller.
3. symmetrically U-shaped active obstacle detouring pipe robot according to claim 1 is it is characterised in that outer with adjusting rod (6)
Hinged two driving legs (4) are held to take the shape of the letter U arrangement.
4. the symmetrically U-shaped active obstacle detouring pipe robot according to any one of claim 1-3 is it is characterised in that described straight
Line motor (10) is push-rod electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620840960.3U CN205978983U (en) | 2016-08-02 | 2016-08-02 | Initiative of symmetry U type hinders pipeline robot more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620840960.3U CN205978983U (en) | 2016-08-02 | 2016-08-02 | Initiative of symmetry U type hinders pipeline robot more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205978983U true CN205978983U (en) | 2017-02-22 |
Family
ID=58030183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620840960.3U Expired - Fee Related CN205978983U (en) | 2016-08-02 | 2016-08-02 | Initiative of symmetry U type hinders pipeline robot more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205978983U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| 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 |
-
2016
- 2016-08-02 CN CN201620840960.3U patent/CN205978983U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| 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 |
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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: 20170222 Termination date: 20170802 |