CN206159742U - A explore robot for small pipeline - Google Patents
A explore robot for small pipeline Download PDFInfo
- Publication number
- CN206159742U CN206159742U CN201621201342.0U CN201621201342U CN206159742U CN 206159742 U CN206159742 U CN 206159742U CN 201621201342 U CN201621201342 U CN 201621201342U CN 206159742 U CN206159742 U CN 206159742U
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- China
- Prior art keywords
- shaped
- support block
- driver part
- microtubule
- enlarger
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Abstract
The utility model relates to an explore robot for small pipeline, including the supporting shoe, the both ends of supporting shoe all are connected with the one way movement part, one way movement part and pipe inner wall contact, and the supporting shoe is connected with universal coupling, and universal coupling is connected with and explores ware and driver part, explores the both sides that ware and driver part are located the supporting shoe respectively. The utility model discloses be used for exploreing the condition such as pipe blockage, water pollution dye, its deformation is little, output is big, translation rate is fast, the flexibility is good, the operation is reliable, and simple structure, easily processing preparation, low cost.
Description
Technical field
The utility model belongs to the technical field of robot, and in particular to the pipeline that a kind of piezoelectric stack drives detects machine
People, is mainly used in detecting for microtubule.
Background technology
With the raising of city size and living standards of the people, government proposes five water and controls altogether, for urban domestic wastewater
Strictly detected with industrial wastewater discharge, controlled to river, the pollution level in lake.During sewage transport, generally adopt
Use pipeline.During prolonged use, thicker sludge is deposited on inner-walls of duct so as to reduce pipeline run, the lighter
Pollution severe one makes line clogging.On the other hand because pipeline is generally placed at subsurface, for the aspects such as detecting in pipeline are deposited
The problems such as complex operation engineering is larger.Therefore need periodically to carrying out detecting detection in pipeline, can effectively in time to pipe
Road carries out work of removing contamination.
Have based on this, propose the utility model.
Utility model content
For the above-mentioned technical problem of prior art, the purpose of this utility model is to provide a kind of spy for microtubule
Robot is looked into, situations such as to detect line clogging, water pollution, its little, output power of deformation, translational speed are fast, flexibility
It is good, reliable, and simple structure, it is easy to processing and fabricating, it is with low cost.
To reach above-mentioned purpose, the utility model is achieved through the following technical solutions：
A kind of exploring robot for microtubule, including support block, the two ends of the support block are respectively connected with unidirectionally
Moving parts, described unidirectional moving parts is contacted with inner-walls of duct, and described support block is connected with joint coupling, described
Joint coupling is connected with explorer and driver part, and described explorer and driver part is located at respectively the both sides of support block.
Described unidirectional moving parts includes U-shaped mechanism, and described U-shaped mechanism contacts with inner-walls of duct, and U-shaped mechanism passes through
Connecting rod one is connected with contiguous block, and described contiguous block is connected with support block.
Described joint coupling includes the connecting rod two being connected with each other and outer half ear structure, and described connecting rod two is passed through and propped up
Bracer is connected with explorer, and described outer half ear structure is connected with driver part.
Described driver part includes body, and described body is provided with interior half ear structure, described interior half ear knot
Structure is matched with outer half ear structure, and described sheet is provided with vivo piezoelectric stack, and the upper/lower terminal of the piezoelectric stack is equipped with soft
Property hinge, four angles of piezoelectric stack are equipped with the second L-shaped enlarger, and the side of the second L-shaped enlarger is provided with
One L-shaped enlarger, the first described L-shaped enlarger is adjacent with the inwall of body.
Described support block is provided with hole, and described connecting rod two passes through hole and is bolted.
Described support block is 3, and 3 support blocks form two confined spaces, and drive is respectively connected with each confined space
Dynamic component.
Exploring robot for microtubule of the present utility model, has the advantages that compared with prior art：
1st, the utility model tandem drive, driving force is strong, and the work that cooperates of two piezoelectric stacks can obtain good drive
Occur a driver part failure in kinetic force and efficiency, and running still can be driven using another driver part
Robot movement is advanced, and reliability is high.
2nd, using two piezoelectric stack tandem drive robots, output is big, translational speed is high；Two L-shaped enlarger energy
It is enough to amplify piezoelectric stack displacement variable.
3rd, driver part and joint coupling are integrated, and small volume, output energy are big, multi-direction movement, can be used as independent mark
Quasi-component application, can apply and Precision digital stepper drive and location control.
Description of the drawings
Fig. 1 is cross-sectional view of the present utility model；
Fig. 2 is the structural representation of the unidirectional moving parts in the utility model；
Fig. 3 is the structural representation of the joint coupling in the utility model；
Fig. 4 is the structural representation of the driver part in the utility model；
Fig. 5 is that the piezoelectric stack in the utility model drives procedure structure schematic diagram；
Wherein, 1 be explorer, 2 be pipeline, 3 be unidirectional moving parts, 31 be U-shaped mechanism, 32 be connecting rod one, 33 for connect
Connect block, 4 be joint coupling, 41 be connecting rod two, 42 be outer half ear structure, 5 be driver part, 51 be interior half ear structure,
52 be the first L-shaped enlarger, 53 be flexible hinge, 54 be the second L-shaped enlarger, 55 be piezoelectric stack, 56 be body, 6
For support block, 7 be bolt, a be the first joint, b be second joint.
Specific embodiment
The utility model is further described with reference to specific embodiment, but protection domain of the present utility model is simultaneously
Not limited to this.
As Figure 1-5, the exploring robot for microtubule of the present utility model, including support block 6, support block 6
Two ends be respectively connected with unidirectional moving parts 3, unidirectional moving parts 3 includes U-shaped mechanism 31, and U-shaped mechanism 31 connects with the inwall of pipeline 2
Touch, U-shaped mechanism 31 is connected with contiguous block 33 by connecting rod 1, and contiguous block 33 is connected with support block 6.Support block 6 is connected with ten thousand
To connector 4, joint coupling 4 is connected with explorer 1 and driver part 5, and explorer 1 and driver part 5 are located at support respectively
The both sides of block 6.Joint coupling 4 includes the connecting rod 2 41 being connected with each other and outer half ear structure 42, and support block 6 is provided with hole, even
Bar 2 41 is fixed through hole by bolt 7, and is connected with explorer 1.Driver part 5 includes body 56, and body 56 is provided with interior
Half ear structure 51, interior half ear structure 51 is matched with outer half ear structure 42, and in body 56 piezoelectric stack 55, piezo stack are provided with
The upper/lower terminal of heap 55 is equipped with flexible hinge 53, and the connection of flexible hinge 53 can make the micro- change under driven by power of piezoelectric stack 55
Shape is more preferably exported by the displacement of the first L-shaped enlarger 52 and the second L-shaped enlarger 54 and outer wall is produced more
Few deformation, according to the different and requirement using material, can select different flexible so as to produce considerable influence to driver part 5
Connected mode.Four angles of piezoelectric stack 55 are equipped with the second L-shaped enlarger 54, and the side of the second L-shaped enlarger 54 sets
There is the first L-shaped enlarger 52, the first L-shaped enlarger 52 is adjacent with the inwall of body 56.
Used as preferred, the support block 6 in the utility model is 3, and 3 support blocks 6 form two confined spaces, each
Driver part 5 is respectively connected with confined space.
During operation, piezoelectric stack 55 produces vertical deformation under outside driven by power, through the He of the first L-shaped enlarger 52
The displacement equations of the second L-shaped enlarger 54, will produce lateral thrust；Mainly there are 3 processes during work as shown in figure 5, first
Process is that the first joint a shrinks and second joint b shrinks, and the second process is that the first joint a elongations and second joint b shrink, the
Three processes are that the first joint a shrinks and second joint b elongations.
As shown in Fig. 2 when robot is moved, due to the presence of unidirectional moving parts 3, exploring robot can only be towards one
Move in direction；When driver part 5 is subject to voltage to act on so that the first joint a extends, the ShangUXing mechanisms 31 of unidirectional moving parts 3
The first half be adjacent to the inwall of pipeline 2, when the first joint a shrinks, the first half of U-shaped mechanism 31 is away from the inwall of pipeline 2, lower half
The inwall of pipeline 2 is adjacent to, so as to promote robot to left movement.
Under in working order, explorer 1 is in open mode and can pass through built-in wireless senser by the image of explorer 1
It is sent to extraneous connection computer.
According to the operation principle of robot described in the utility model, when robot travels forward and the inwall of pipeline 2 between
Frictional force is that the resonant frequency of piezoelectric stack 55 is, in formula：It is the friction of robot and inner-walls of duct for the gross mass of robot
Coefficient, is the quality of piezoelectric stack 55, is the rigidity of piezoelectric stack 55, is the equivalent mass of piezoelectric stack 55（Generally piezoelectric stack
The 1/2 of 55 mass）, it is additional mass.
Situations such as the utility model is to detect line clogging, water pollution, its little, output power of deformation, translational speed
Hurry up, flexibility it is good, reliable, and simple structure, it is easy to processing and fabricating is with low cost.
Above-described embodiment is only used for illustrating inventive concept of the present utility model, rather than to the utility model rights protection
Restriction, it is all that the change of unsubstantiality is carried out to the utility model using this design, protection model of the present utility model all should be fallen into
Enclose.
Claims (6)
1. a kind of exploring robot for microtubule, it is characterised in that：Including support block, the two ends of the support block connect
Unidirectional moving parts is connected to, described unidirectional moving parts is contacted with inner-walls of duct, and described support block is connected with universal connection
Device, described joint coupling is connected with explorer and driver part, and described explorer and driver part is located at supports respectively
The both sides of block.
2. the exploring robot of microtubule is used for as claimed in claim 1, it is characterised in that：Described unidirectional moving parts
Including U-shaped mechanism, described U-shaped mechanism contacts with inner-walls of duct, and U-shaped mechanism is connected with contiguous block by connecting rod one, described
Contiguous block is connected with support block.
3. the exploring robot of microtubule is used for as claimed in claim 1, it is characterised in that：Described joint coupling bag
The connecting rod two and outer half ear structure being connected with each other is included, described connecting rod two is connected through support block with explorer, described is outer
Half ear structure is connected with driver part.
4. the exploring robot of microtubule is used for as claimed in claim 3, it is characterised in that：Described driver part includes
Body, described body is provided with interior half ear structure, and described interior half ear structure is matched with outer half ear structure, described
This is provided with vivo piezoelectric stack, and the upper/lower terminal of the piezoelectric stack is equipped with flexible hinge, and four angles of piezoelectric stack are all provided with
The side for having the second L-shaped enlarger, the second L-shaped enlarger is provided with the first L-shaped enlarger, the first described L-shaped
Enlarger is adjacent with the inwall of body.
5. the exploring robot of microtubule is used for as claimed in claim 3, it is characterised in that：Described support block is provided with
Hole, described connecting rod two passes through hole and is bolted.
6. the exploring robot for microtubule as described in claim 1-5 any claim, it is characterised in that：It is described
Support block be 3,3 support blocks form two confined spaces, and in each confined space driver part is respectively connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621201342.0U CN206159742U (en) | 2016-11-08 | 2016-11-08 | A explore robot for small pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621201342.0U CN206159742U (en) | 2016-11-08 | 2016-11-08 | A explore robot for small pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206159742U true CN206159742U (en) | 2017-05-10 |
Family
ID=58658950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621201342.0U Expired - Fee Related CN206159742U (en) | 2016-11-08 | 2016-11-08 | A explore robot for small pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206159742U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106402578A (en) * | 2016-11-08 | 2017-02-15 | 绍兴职业技术学院 | Probing robot for micro pipeline |
| CN108758161A (en) * | 2018-05-30 | 2018-11-06 | 苏州热工研究院有限公司 | A kind of pipe inner repairing apparatus and its repair method |
-
2016
- 2016-11-08 CN CN201621201342.0U patent/CN206159742U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106402578A (en) * | 2016-11-08 | 2017-02-15 | 绍兴职业技术学院 | Probing robot for micro pipeline |
| CN108758161A (en) * | 2018-05-30 | 2018-11-06 | 苏州热工研究院有限公司 | A kind of pipe inner repairing apparatus and its repair method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170510 Termination date: 20201108 |