CN206234551U - A kind of pipe robot of self adaptation caliber - Google Patents
A kind of pipe robot of self adaptation caliber Download PDFInfo
- Publication number
- CN206234551U CN206234551U CN201621373889.9U CN201621373889U CN206234551U CN 206234551 U CN206234551 U CN 206234551U CN 201621373889 U CN201621373889 U CN 201621373889U CN 206234551 U CN206234551 U CN 206234551U
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- CN
- China
- Prior art keywords
- bevel gear
- expansion link
- self adaptation
- pipe robot
- wheel
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Abstract
The utility model proposes a kind of pipe robot of self adaptation caliber.Including：Housing, control section, expansion link, walking mechanism；The housing is located at center, and inwall is embedded in supporting plate and coordinates, installation control component in supporting plate；The control section, including control box, servomotor, decelerator, gyroscope and accelerometer.The expansion link includes gear drive and screw-driven, realizes length adjustment；The walking mechanism includes travel wheel, bevel gear, fixed cover, and fixed cover ensures that intermeshing a pair of gears can keep engagement stabilization, and in the case where expansion link changes as caliber changes, pitch wheel is not separated.The pipe robot of the utility model self adaptation caliber, the device is used for the pipeline of different tube diameters, and can carry detection means carries out position coordinates collection, in information process is gathered, it is ensured that detection means is constantly in pipeline axial line error allowed band.
Description
Technical field
The utility model is related to robot field.Specifically a kind of pipe robot of self-adapting pipe caliber.
Background technology
Paces with modernization and urbanization are accelerated, and pipeline extensively should as a kind of important material mode of movement
With because urban Underground pipeline spatial depiction is extremely complex, in such kind of area, the risk and difficulty of construction are increasing, due to applying
The security incident that the indefinite underground piping of work process is distributed and causes is of common occurrence, therefore, specify the distribution situation of underground piping
It is particularly important.In view of the limitation of pipeline internal working volume, manual work's intensity is big, therefore needs pipe robot to carry detection
Device is walked in pipeline internal, pipeline distribution three-dimensional coordinate information is gathered by detection means and recorded, so as to understand underground piping
Distribution situation.
Existing pipe robot mainly has flow-type, wheeled, crawler type, creeping motion type, walking, snakelike etc., or along wallflow
Walk, or in duct bottom walking, or reducing is unable to, for carrying detection means and being allowed to allow model in pipeline axial line error
The pipe robot of interior position is enclosed, also without Related product.
The content of the invention
The utility model aims to provide a kind of self adaptation caliber pipe robot, the pipe robot both can with reducing, and
The pipeline axle center line position that entrained detection means is in error allowed band can be ensured.
A kind of self adaptation caliber pipe robot, including housing, control section, expansion link, walking mechanism.Housing is whole
Device plays the fixed effect of support, and control section ensures that whole device realizes required function, and expansion link is in whole device
Roll adjustment and gearing are played, walking mechanism provides power by servomotor.
The housing is located at the center of whole device, inner walls insertion supporting plate, on the supporting plate connection control
Part；Comprising control in the control section, including control box, servomotor, decelerator, gyroscope and accelerometer, control box
Circuit processed, gyroscope and accelerometer are used cooperatively and judge ramp angle；The expansion link includes gear drive and screw-driven,
Distance regulation is realized, and transmits power to walking mechanism；The walking mechanism includes 12 travel wheels, bevel gear, fixed covers, Gu
Fixed set ensures that intermeshing a pair of gears can keep engagement stabilization, in the situation that expansion link changes as caliber changes
Under, pitch wheel is not separated, and transmission is not influenceed；Described travel wheel 12 is divided to two groups, i.e., forward and backward travel wheel group, often
Group 6 is separated into three groups according to being separated by 120 degree, and every group of two wheels are placed in the both sides of bevel gear by axial symmetry；With the cone
Another bevel gear that gear is meshed is connected with expansion link, one of cone of the other end of expansion link and another bevel-gear sett
Gear is connected, and the bevel gear being engaged with is connected by the decelerator of control section with servomotor, in this way, being uniformly distributed in three
Individual direction.
The self adaptation caliber pipe robot, also including the detection means for detecting pipeline three-dimensional coordinate.
The Telescopic rod structure includes：Spur gear, gear shaft, screw, tapped geared sleeve, not tapped tooth
Wheel case, with externally threaded cylinder thin-wall construction, pitch is corresponding with tapped geared sleeve, and the transmission of expansion link internal gear is by electricity
Machine is driven so as to drive outer gear sleeve, is also driven by motor with externally threaded thin wall cylindrical structure, and roll adjustment is realized in the two cooperation.
The travel wheel is rubber wheel, and the frictional force between increase travel wheel and inner-walls of duct, hub material selects quality
Lighter aluminum alloy material, reduces the weight of single unit system.
The decelerator being connected between servomotor and bevel gear is planetary reduction gear or straight-tooth wheel decelerator.
The bevel gear being connected on the countershaft of pair of tyres, its outside diameter is necessarily less than diameter of tyres；With the tooth
Wheel meshed gears outside diameter is necessarily less than the distance between travel wheel for being symmetrically distributed in the bevel gear both sides, first, keeping away
Exempt from bevel gear to be rubbed with ground or tire, secondly, it is to avoid fit dimension is unreasonable to cause motion failures, and other sizes are also
So.
The expansion link is as power transmission shaft and has the effect for adjusting distance, and used as power transmission shaft, transmission torque actuated is advanced
Mechanism completes motion, and roll adjustment ensures that device adapts to caliber change.
The utility model is different with the emphasis of other pipe robots, and most of pipe robot is used to overhaul,
Cleaning, fault detect etc., design specifically designed for the maintenance of pipeline itself, and the utility model lays particular emphasis on carrying detection means and guarantor
Card detection means is in the pipeline axle center line position in error allowed band, carries it according to pipe robot by detection means and walks
The path detection crossed goes out three-dimensional coordinate and records.
The utility model uses expansion link, in its structure tapped geared sleeve with externally threaded cylinder thin-walled machine
Structure is used cooperatively, and gear drive sliding tooth wheel case is rotated, screw-driven drive belt helicitic texture motion, by two motors to tooth
Wheel and the control of the relative rotation speed with externally threaded cylinder thin-wall construction, realize the holding and change of distance.
The utility model has 2 kinds of measurement pipe routing methods：1) found range by ultrasonic wave module；2) changed by length of telescopic bar
Amount and whole device related hardware Size calculation go out caliber value.
Travel wheel uses rubber wheel, the advantage is that the friction between increase pipeline and wheel, it is ensured that travel wheel is non-slip, has
Enough frictional force is provided during beneficial to climbing, wheel hub uses aluminum alloy material, the advantage is that alleviator weight in itself, improved
Flexibility.
The utility model travel wheel exists in pairs, is advanced relative to independent wheel, the advantage is that enhancing pipe robot
Stability.
The utility model use 120 degree distributed frames, the advantage is that stably, and can distractive load, bear larger
Power.
The microcontroller that the utility model is used need to meet power supply voltage range requirement wide, because pipe robot exists
Expansion link voltage has declined in the case that load is greatly or walking distance is long, is to ensure microcontroller normal work, and this is just needed
Itself there is the supply voltage of relative broad range, such as STM32 microcontrollers possess the advantage.
The Bevel Gear Transmission that the utility model is used, to the advantage is that and change transmission direction using bevel gear.
Brief description of the drawings
It is as shown in Figure 1 self adaptation caliber pipe robot overall structure diagram.
It is illustrated in figure 2 self adaptation caliber pipe robot overall structure front view.
It is illustrated in figure 3 sectional view of the self adaptation caliber pipe robot front view along A-A directions.
It is illustrated in figure 4 self adaptation caliber pipe robot expansion link schematic diagram.
It is illustrated in figure 5 self adaptation caliber pipe robot Telescopic rod structure figure.
It is illustrated in figure 6 self adaptation caliber pipe robot walking mechanism structure chart.
In figure：The part of total score four：1st, walking mechanism, 2, expansion link, 3, housing, 4, control section.Correspondence is per part：101、
Bevel gear A, 102, axletree, 103, fixed cover, 104, bevel gear B, 105, wheel；201st, motor internal, 202, connector,
203rd, tapped external teeth wheel case, 204, with externally threaded cylinder thin-wall construction, 205, gear shaft, 206, screw, 207,
Spur gear, 208, key, 209, not threaded external teeth wheel case；301st, shell body, 302, supporting plate；401st, control box, 402,
Connecting pole, 403, underlying 120 degree of motor box, 404, bevel gear D, 405, bevel gear C, 406, servomotor, 407, supporting table.
Specific embodiment
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 5, shown in Fig. 6, a kind of pipe robot of self adaptation caliber, including housing 3, it is whole
Device provides the supporting construction of stabilization, including shell body 301 and supporting plate 302, shell, and 301 is cylinder thin-wall construction, supporting plate
Three-dimensional detection device can be carried on 302 to be detected.It is separated by 120 degree of each distributions, 3 circular holes before and after the shell body 301 successively, totally 6
It is individual.Circular hole effect is through expansion link 2, expansion link 2 connection control section 4 and travel wheel group 1.The inwall of shell body 301 is embedded in
One piece of supporting plate 302, above puts control box 401, is positioned by connecting pole 402 and assembled, underlying 120 degree of motor box 403, for installing
120 degree of distribution motors, install servomotor 406, the connection bevel gear D404 of servomotor 406, with bevel gear in supporting plate 407
The externally threaded cylinder thin-wall construction 204 of band of the bevel gear C405 connection expansion links 2 of D404 engagements, with externally threaded cylinder thin-walled
Structure 204 connects tapped external teeth wheel case 203 by screw-driven, and not threaded external teeth wheel case passes through screw
207 are connected with 203, and the geared sleeve being made up of 203 and 204 is connected by gear drive with spur gear 207,207 by key 208 with
Gear shaft 205 is connected.Motor internal 201 and gear shaft 205 are connected by connector 202, and connector 202 functions as shaft coupling
Device, the different axle of two diameters of connection, transmitting torque.The not threaded external teeth wheel case of expansion link 2 is by connector and cone
Gear B 104 is connected, and the bevel gear A101 engaged with bevel gear B104 is connected by axletree 102 with pair of wheels 105, purpose
It is to ensure stable movement, the stabilization of wheel 105 is walked along inner-walls of duct using Bevel Gear Transmission.Axletree 102 and expansion link 2
Not threaded external teeth wheel case is connected set 103, and fixed cover 103 is cuboid thin-wall construction, it is ensured that two is intermeshing
Bevel gear B104 and bevel gear A101 do not shift, and maintain stable drive.Pressure is installed between wheel 105 and axletree 102
Signal is fed back to control section 4 by force snesor, the change according to pressure, and the length of expansion link 2 is controlled to adjust by control box 401
Degree change, under being driven while two motor 201 and 406, expansion link 2 realizes roll adjustment function.
When pipe robot is normally walked in caliber identical pipeline, control the motor 406 of whole expansion link and stretch
Contracting bar 201 rotating speeds of motor internal are identical, to avoid because relative motion changes the length of expansion link caused by screw-driven so that
Equal in error allowed band in 120 degree of distributed each length of telescopic bar, caliber does not change normal walking situation
Under, the pressure of walking mechanism 1 keeps stabilization, and when caliber changes, the pressure signal that pressure sensor will be detected becomes
Change feeds back to control section 4, controls the motor 406 of whole expansion link 2, different from the rotating speed of expansion link motor internal 201, according to pipe
Footpath change size, thread rotary orientation and pitch determine the relative rotation speed size of two motors to realize the change of the length of expansion link 2, reach
To the purpose of self adaptation caliber.
Claims (8)
1. a kind of self adaptation caliber pipe robot, it is characterised in that：Including housing, control section, expansion link, walking mechanism,
Housing plays the fixed effect of support for whole device, and control section ensures that whole device realizes required function, and expansion link exists
Roll adjustment effect is played in whole device, walking mechanism provides power by servomotor, and the housing is located at the center of whole device
Position, inner walls insertion supporting plate, connects control section on the supporting plate；The control section, including control box, servo electricity
Comprising control circuit in machine, decelerator, gyroscope and accelerometer, control box, gyroscope and accelerometer are used for judging climbing
Angle；The expansion link includes gear drive and screw-driven, realizes distance regulation；The walking mechanism includes 12 travelings
Wheel, bevel gear, fixed cover, fixed cover ensure that intermeshing a pair of gears can keep engagement stabilization, in expansion link with pipe
Footpath changes and in the case of change, pitch wheel is not separated, and transmission is not influenceed；Described travel wheel 12 is divided to two groups,
I.e. forward and backward travel wheel group, every group 6 are separated into three groups according to being separated by 120 degree, and every group of two wheels are placed in cone by axial symmetry
The both sides of gear；It is connected with expansion link with another bevel gear that the bevel gear is meshed, the other end of expansion link is right with another
One of bevel gear connection of bevel gear, decelerator and servomotor phase that the bevel gear being engaged with passes through control section
Even, in this way, being uniformly distributed in three directions.
2. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：Also include for detecting pipeline
The detection means of three-dimensional coordinate.
3. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：The Telescopic rod structure bag
Include：Spur gear, gear shaft, tapped geared sleeve, not tapped geared sleeve, with externally threaded cylinder thin-wall construction,
Pitch is corresponding with tapped geared sleeve.
4. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：The travel wheel is rubber
Wheel, aluminum alloy material of the hub material from lighter weight.
5. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：It is described to be connected to servomotor
Decelerator and bevel gear between is planetary reduction gear or straight-tooth wheel decelerator.
6. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：It is described in one wheel pairs
Between bevel gear, its outside diameter is necessarily less than diameter of tyres；The bevel gear outside diameter engaged with the bevel gear is necessarily less than
It is symmetrically distributed in the distance between travel wheel of the bevel gear both sides.
7. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：The expansion link is in addition to roll adjustment
Also it is used as power transmission shaft.
8. a kind of self adaptation caliber pipe robot as claimed in claim 1, it is characterised in that：Installed between travel wheel and axle
Pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373889.9U CN206234551U (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of self adaptation caliber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373889.9U CN206234551U (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of self adaptation caliber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206234551U true CN206234551U (en) | 2017-06-09 |
Family
ID=58991974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621373889.9U Withdrawn - After Issue CN206234551U (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of self adaptation caliber |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206234551U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439387A (en) * | 2016-12-07 | 2017-02-22 | 中国计量大学 | Pipeline robot capable of self-adapting to pipe diameter |
| CN108374945A (en) * | 2018-03-29 | 2018-08-07 | 杭州杭睿科技有限公司 | A kind of pipeline climbing robot of move mode Suresh Kumar |
| CN110186321A (en) * | 2019-05-15 | 2019-08-30 | 天津大学 | Gun barrel robot crawling drive system |
| CN113532933A (en) * | 2021-08-03 | 2021-10-22 | 南京鸿恺环保科技有限公司 | Water quality monitoring analysis sampling device |
-
2016
- 2016-12-07 CN CN201621373889.9U patent/CN206234551U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439387A (en) * | 2016-12-07 | 2017-02-22 | 中国计量大学 | Pipeline robot capable of self-adapting to pipe diameter |
| CN108374945A (en) * | 2018-03-29 | 2018-08-07 | 杭州杭睿科技有限公司 | A kind of pipeline climbing robot of move mode Suresh Kumar |
| CN110186321A (en) * | 2019-05-15 | 2019-08-30 | 天津大学 | Gun barrel robot crawling drive system |
| CN113532933A (en) * | 2021-08-03 | 2021-10-22 | 南京鸿恺环保科技有限公司 | Water quality monitoring analysis sampling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170609 Effective date of abandoning: 20180810 |
|
| AV01 | Patent right actively abandoned |