CN206656074U - A kind of adaptive helical pipe robot of caliber - Google Patents
A kind of adaptive helical pipe robot of caliber Download PDFInfo
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- CN206656074U CN206656074U CN201720358691.1U CN201720358691U CN206656074U CN 206656074 U CN206656074 U CN 206656074U CN 201720358691 U CN201720358691 U CN 201720358691U CN 206656074 U CN206656074 U CN 206656074U
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- planetary reducer
- caliber
- pipe robot
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- ball
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Abstract
A kind of adaptive helical pipe robot of caliber, including planetary reducer, the input of planetary reducer are connected with driving impeller；The output end of planetary reducer is connected with fixed guide mechanism by universal joint, and overload-release clutch is provided between planetary reducer and universal joint；The shell of planetary reducer is cased with pair of nut provided with both ends spiral shell to opposite ball-screw, the both ends of ball-screw, and pair of nut is linked together by tension spring；Pair of nut connects wheeled base by connecting rod, and wheel seat is provided with driving wheel；The output end of planetary reducer and the input of ball-screw are linked together by gear train.The Screw Motion In-pipe Robot of reducing of the present utility model is simple in construction, and processing cost is relatively low, can automatically adjust own dimensions according to obstacle size, be easy to surmount obstacles, without manual adjustment；After surmounting obstacles, the driving wheel can be automatically increased own dimensions again, be easy to advance in pipeline.
Description
Technical field
Pipe robot field is the utility model is related to, specifically a kind of adaptive helical pipe robot of caliber, mainly
For changing in caliber, when obstacle is larger, robot changes own dimensions automatically, is easy to pass through obstacle, carries out
Pipe detection.
Background technology
Pipeline plays great function as main fluid conveyance in human being's production, life.Pipeline is long-term
Use during rupture, blocking etc. occur unavoidably, this requires us regularly pipeline must be reconnoitred and safeguarded,
Pipe robot has advantageous advantage in this respect.Among numerous pipe robots, wheeled pipe robot by
Fast in speed, stable movement, load capacity are strong, are widely used in pipe detection.The change routing method of existing pipe robot
There are spring pre-tightening reducing, worm screw pretension reducing and lift pretension reducing etc..Spring pre-tightening reducing has adaptive in a small range
Should be able to power, but with spring sizes change pretightning force also change, and initial tension of spring it is smaller easily cause it is robotically-driven
Power is too small.Lift pretension diameter changing mechanism is compact in axially and radially structure, is substantially reduced the bulk of robot,
But required motive force is larger when pipe diameter is larger, the requirement to the intensity of mechanism is higher.Worm screw pretension becomes routing method can
To realize reducing, but required driving force is larger in a big way.It is so wheeled for pipe with variable diameter pipeline robot, especially reducing
Pipe robot, lack and preferably carry into execution a plan.
The content of the invention
Technical problem to be solved in the utility model is the deficiency for overcoming above-mentioned prior art, there is provided a kind of structure letter
It is single, the adaptive helical pipe robot of caliber to work well.
The utility model is realized with following technical scheme：A kind of adaptive helical pipe robot of caliber, including row
Star reductor, the input of the planetary reducer are connected with driving impeller；The output end of the planetary reducer passes through universal
Section is connected with fixed guide mechanism, and overload-release clutch is provided between the planetary reducer and universal joint；The planetary reducer
Shell be cased with pair of nut, the pair of nut to opposite ball-screw, the both ends of the ball-screw provided with some both ends spiral shells
Linked together by tension spring；The pair of nut at both ends connects wheeled base by connecting rod, and the wheel seat is provided with rotation
The axially driving wheel not parallel with the axial rotary of planetary reducer；The output end of the planetary reducer and ball-screw it is defeated
Enter end to link together by gear train.
It is further：The fixed guide mechanism is by support frame with guide wheel group into support frame as described above is cross branch
Frame, the directive wheel are arranged on four ends of support frame, compression spring are provided between the end of the directive wheel and support frame.
Plane where support frame as described above is vertical with the axial rotary of planetary reducer.
The axial rotary of the directive wheel is vertical with the axial rotary of planetary reducer.
Compression spring is provided between the driving wheel and wheel seat.
The both sides of the wheel seat are provided with pilot hole, and the planetary reducer is provided with the guiding being used cooperatively with pilot hole
Post.
The gear train is by driving wheel with some driven wheels into the driving wheel is fixed on the output of planetary reducer
End, the input of the driven pulley and ball-screw link together.
The utility model has advantages below：The Screw Motion In-pipe Robot structure letter of reducing of the present utility model
Single, processing cost is relatively low, can automatically adjust own dimensions according to obstacle size, be easy to surmount obstacles, without manual adjustment；Cross
After obstacle, the driving wheel can be automatically increased own dimensions again, be easy to advance in pipeline.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of diameter changing mechanism of the present utility model；
In figure：1st, impeller is driven, 2, planetary reducer, 3, pair of nut, 4, ball-screw, 5, wheel seat, 6, driving wheel, 7, draw
Power spring, 8, connecting rod, 9, gear train, 10, overload-release clutch, 11, universal joint, 12, directive wheel, 13, support frame, 14, lead,
15 pilot holes.
Embodiment
The adaptive helical pipe robot of a kind of caliber as shown in Figure 1 to Figure 2, including planetary reducer 2, the planet
The input of reductor 2 is connected with driving impeller 1；The output end of the planetary reducer 2 is connected with fixation by universal joint 11
Guiding mechanism, overload-release clutch 10 is provided between the planetary reducer 2 and universal joint 11；The shell of the planetary reducer 2
Pair of nut 3 is cased with to opposite ball-screw 4, the both ends of the ball-screw 4 provided with some both ends spiral shells, the pair of nut 3 is logical
Tension spring 7 is crossed to link together；The pair of nut 3 at both ends connects wheeled base 5 by connecting rod 8, and the wheel seat 5 is provided with rotation
Rotating shaft is to the driving wheel 6 not parallel with the axial rotary of planetary reducer 2；The output end and ball wire of the planetary reducer 2
The input of thick stick 4 is linked together by gear train 9.The Screw Motion In-pipe Robot of reducing of the present utility model is by rotating
Drive mechanism, diameter changing mechanism and fixed guide mechanism composition；
Wherein, rotary drive mechanism mainly by driving impeller, planetary reducer and the drive wheel group installed in its outer wall into,
The input of planetary reducer is connected with driving impeller, utilizes the energy for driving fluid in impeller extraction duct, the moment of torsion of output
It is delivered to the input shaft of planetary reducer；The output shaft of planetary reducer is connected to fixation by overload-release clutch, universal joint and led
To in mechanism, fixed guide mechanism can only advance or retreat along pipeline, it is impossible to rotate, so as to ensure that the torsion of planetary reducer
Square can only be exported by shell, and output end is braked by fixed guide mechanism, while the pivot center of driving wheel is deposited with conduit axis
In certain deflection angle, therefore driving wheel does spatially spiral motion in the case where the shell of planetary reducer drives, and drives whole machine
Device people advances in the duct, the driving wheel of the outer wall of planetary reducer at least provided with three directions；
Diameter changing mechanism is made up of ball-screw, pair of nut, tension spring, connecting rod and gear train, ball-screw both ends
Think that anti-the pair of nut at both ends does opposite direction motion under the drive of ball-screw, because ball-screw is non-in screw thread rotation direction
Self-locking, in the presence of tension spring, the pair of nut at both ends does move toward one another；While nut secondary motion, pass through connecting rod band
Driving wheel seat moves, and wheel seat is provided with driving wheel, so as to realize that driving takes turns to the distance change of planetary reducer axis；Gear train connects
The output shaft of planetary reducer and the input of ball-screw are connect, when planetary reducer exports power by output shaft, in gear
Under the drive of system, the rotation of ball-screw is realized.
When robot normally advances, because moment of torsion is exported by the shell of planetary reducer, planetary reducer
Output shaft caused by moment of torsion very little.When running into obstacle blocking during robot advance, planetary reducer shell blocks
Motionless, the moment of torsion increase of now output shaft output, more than the value of overload-release clutch setting, overload-release clutch will separate idle running.
The rotating band moving teeth train rotation of planetary reducer output shaft, so as to drive ball-screw to rotate, causes the distance of two pair of nut
Increase, wheel seat decline, and the size of whole robot diminishes, can smoothly surmounted obstacles therewith；After obstacle detouring, because ball-screw is non-
Self-locking, in the presence of tension spring, the distance of two pair of nut is gradually reduced again, and wheel seat rises, and robot size increases therewith,
Driving wheel compresses tube wall, and enough power is provided for the advance of robot.
The adaptive helical pipe robot of a kind of caliber as shown in Figure 1 to Figure 2, the fixed guide mechanism is by support frame
13 and directive wheel 12 form, support frame as described above 13 is cross support, and the directive wheel 12 is arranged on four ends of support frame 13
Portion, compression spring is provided between the end of the directive wheel 12 and support frame 13.Plane and planet where support frame as described above 13
The axial rotary of reductor 2 is vertical.The axial rotary of the directive wheel 12 is vertical with the axial rotary of planetary reducer 2.This reality
Mainly play a part of to support and be oriented to new fixed guide mechanism, by support frame and be mounted thereon four groups in symmetrical point
The directive wheel of cloth is formed, and therebetween provided with compression spring, is directed to wheel and is pressed onto tube wall, the pivot center and pipeline of directive wheel
Central axis is mutually perpendicular to.Rotary drive mechanism is connected with fixed guide mechanism by universal joint, and overload-release clutch is housed, installation
It is vertical with conduit axis in the rotation axis of the directive wheel on support frame so that whole fixed guide mechanism can only be along before pipeline
Enter or retreat, it is impossible to rotate, so as to ensure that the moment of torsion of planetary reducer can only be exported by shell.
The adaptive helical pipe robot of a kind of caliber as shown in Figure 1 to Figure 2, sets between the driving wheel 6 and wheel seat 5
There is compression spring.Compression spring is housed between driving wheel and wheel seat of the present utility model, is installed on planetary reducer shell
Three groups of driving wheels are close to tube wall because the pretension of spring acts on, therefore three groups of driving wheels can be because of tube wall when planetary reducer rotates
The frictional force rotation of offer, because the rotation axis of driving wheel and the rotation axis of planetary reducer have certain angle, therefore drive
The movement locus of driving wheel is the spatially spiral line along conduit axis, so as to drive whole robot to be walked along conduit axis.
The adaptive helical pipe robot of a kind of caliber as shown in Figure 1 to Figure 2, the both sides of the wheel seat 5, which are provided with, to be oriented to
Hole 15, the planetary reducer 2 are provided with the lead 14 being used cooperatively with pilot hole 15.Wheel seat and planet of the present utility model
Guider, the lead being respectively arranged on shell are provided between the shell of reductor, and is arranged on wheel seat and guiding
The pilot hole that post is used cooperatively, ensure the stationarity that wheel seat moves in opposite shell, improve the overall performance of robot.
The adaptive helical pipe robot of a kind of caliber as shown in Figure 1 to Figure 2, the gear train is by driving wheel and some
Driven wheels are into the driving wheel is fixed on the output end of planetary reducer 2, the input of the driven pulley and ball-screw 4
Link together.Gear train of the present utility model is by driving wheel and driven wheels into the output of driving gear and planetary reducer
Axle is fixed together, and when the shell of planetary reducer is braked, and during by output shaft passing power, driving wheel rotates, and drives peace
The driven pulley of dress and ball-screw input rotates, and so as to the motion of ball-screw and pair of nut, realizes that diameter changing mechanism reduces half
The function in footpath.
Claims (7)
- A kind of 1. adaptive helical pipe robot of caliber, it is characterised in that：Including planetary reducer（2）, the planetary reduction gear Machine（2）Input be connected with driving impeller（1）；The planetary reducer（2）Output end pass through universal joint（11）It is connected with Fixed guide mechanism, the planetary reducer（2）With universal joint（11）Between be provided with overload-release clutch（10）；The planetary reduction gear Machine（2）Shell be provided with some both ends spiral shells to opposite ball-screw（4）, the ball-screw（4）Both ends be cased with pair of nut （3）, the pair of nut（3）Pass through tension spring（7）Link together；The pair of nut at both ends（3）Pass through connecting rod（8）Connection Wheeled base（5）, the wheel seat（5）It is provided with axial rotary and planetary reducer（2）The not parallel driving wheel of axial rotary （6）；The planetary reducer（2）Output end and ball-screw（4）Input pass through gear train（9）Link together.
- A kind of 2. adaptive helical pipe robot of caliber as claimed in claim 1, it is characterised in that：The fixed guide machine Structure is by support frame（13）And directive wheel（12）Composition, support frame as described above（13）For cross support, the directive wheel（12）Set In support frame（13）Four ends, the directive wheel（12）With support frame（13）End between be provided with compression spring.
- A kind of 3. adaptive helical pipe robot of caliber as claimed in claim 2, it is characterised in that：Support frame as described above（13） The plane and planetary reducer at place（2）Axial rotary it is vertical.
- A kind of 4. adaptive helical pipe robot of caliber as claimed in claim 2, it is characterised in that：The directive wheel（12） Axial rotary and planetary reducer（2）Axial rotary it is vertical.
- A kind of 5. adaptive helical pipe robot of caliber as claimed in claim 1, it is characterised in that：The driving wheel（6） With wheel seat（5）Between be provided with compression spring.
- A kind of 6. adaptive helical pipe robot of caliber as claimed in claim 1, it is characterised in that：The wheel seat（5）'s Both sides are provided with pilot hole（15）, the planetary reducer（2）It is provided with and pilot hole（15）The lead being used cooperatively（14）.
- A kind of 7. adaptive helical pipe robot of caliber as claimed in claim 1, it is characterised in that：The gear train is by leading Driving wheel and some driven wheels are into the driving wheel is fixed on planetary reducer（2）Output end, the driven pulley and ball wire Thick stick（4）Input link together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358691.1U CN206656074U (en) | 2017-04-07 | 2017-04-07 | A kind of adaptive helical pipe robot of caliber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358691.1U CN206656074U (en) | 2017-04-07 | 2017-04-07 | A kind of adaptive helical pipe robot of caliber |
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| Publication Number | Publication Date |
|---|---|
| CN206656074U true CN206656074U (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720358691.1U Active CN206656074U (en) | 2017-04-07 | 2017-04-07 | A kind of adaptive helical pipe robot of caliber |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106838541A (en) * | 2017-04-07 | 2017-06-13 | 中国石油化工股份有限公司 | Caliber self adaptation helical pipe robot |
-
2017
- 2017-04-07 CN CN201720358691.1U patent/CN206656074U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106838541A (en) * | 2017-04-07 | 2017-06-13 | 中国石油化工股份有限公司 | Caliber self adaptation helical pipe robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 22, Chaoyangmen North Street, Chaoyang District, Beijing 100728 Patentee after: CHINA PETROLEUM & CHEMICAL Corp. Patentee after: Pipe network group (Xuzhou) pipeline inspection and Testing Co.,Ltd. Patentee after: State pipe network group east crude oil storage and Transportation Co.,Ltd. Address before: No. 22, Chaoyangmen North Street, Chaoyang District, Beijing 100728 Patentee before: CHINA PETROLEUM & CHEMICAL Corp. Patentee before: SINOPEC LONG DISTANCE OIL AND GAS PIPELINES DETECTION Co.,Ltd. Patentee before: CHINA SINOPEC PIPELINE STORAGE AND TRANSPORTATION Co.,Ltd. |