CN207005569U - A kind of radially adjustable drive mechanism of pipe robot - Google Patents
A kind of radially adjustable drive mechanism of pipe robot Download PDFInfo
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- CN207005569U CN207005569U CN201720920863.XU CN201720920863U CN207005569U CN 207005569 U CN207005569 U CN 207005569U CN 201720920863 U CN201720920863 U CN 201720920863U CN 207005569 U CN207005569 U CN 207005569U
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- gear
- radially adjustable
- pipe robot
- drive mechanism
- leading screw
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Abstract
It the utility model is related to robotic technology field, more particularly to a kind of radially adjustable drive mechanism of pipe robot, including drive device and diameter changing device, the drive device includes frame, the both ends of frame are respectively arranged with front driving wheel and back front driven wheel, pass through crawler haulage between front driving wheel and back front driven wheel, gear drive group is additionally provided with the outside of frame, gear drive group includes driving gear and driven gear, driving gear and driven gear engaged transmission, driven gear and front driving wheel are coaxially connected, motor is provided with the middle part of frame, the rotating shaft driving driving gear of motor rotates；The diameter changing device includes bar linkage structure, leading screw and stepper motor.The radially adjustable drive mechanism of pipe robot of the present utility model, it is simple in construction, stability is high, cost is low, the pipeline of different bores is can adapt to, and can ensure that pipe robot possesses preferable locomitivity, adapt to that pipeline is unknown and rugged environment.
Description
Technical field
It the utility model is related to robotic technology field, and in particular to a kind of radially adjustable driving machine of pipe robot
Structure.
Background technology
Pipe robot is generally referred to as to walk the mobile platform of work in pipeline internal.Pipe robot needs to have
Autonomous ability, while itself can carry required detection means and the apparatus for work work in specific pipeline space
Make, by being worked under the real-time control of professional or autonomous mode in pipeline, complete such as duct cleaning, install, detection,
The tasks such as transport.
The working space of pipe robot is special and complicated various pipeline environments, and pipeline is had very by material and purposes point
It is a variety of, metal and nonmetallic two class are broadly divided into, is widely used in the infrastructures such as electric power, communication, transport, Civil Aviation Airport neck
Domain.It is common such as applied to wireway and the pvc pipe of blow-off line, the spheroidal graphite pipe of bigbore municipal water supply, applied to sky
Galvanized steel metal plate airduct in tune engineering, ventilation smoke extraction system, the collecting pipe and gas pipeline formed by steel pipe through electric welding connection,
And the steel alloy iron pipe applied to petroleum transportation, commonly used copper pipe and multiple tube in family, and applied to hot water pipe
The ABS pipes in road, PE pipes etc..Simultaneously pipeline shape be also it is diversified, including straight tube, T-shaped pipe, L-type pipe, tipping tube and
The various shapes such as reducer pipe.And pipeline is due to occurring that weld seam, projection etc., and reality are answered during installation and long-term use
Piping network for engineering is all different, and design of the problems above all to pipe robot proposes higher want
Ask.
According to the difference of pipe applications environment, the functional requirement of pipe robot is also each variant.The environment of pipeline is usual
Compare severe and be unknown, the type of pipeline is also varied, and this requires pipe robot can be in different bores
Autokinetic movement in pipeline, unknown rugged environment, possesses preferable locomitivity, therefore the drive device of pipe robot should
Possess higher reliability, environmental suitability.
Utility model content
The utility model proposes a kind of radially adjustable drive mechanism of pipe robot, can ensure that pipe robot possesses
Preferable locomitivity, it can adapt to the pipeline of different bores.
To achieve these goals, the utility model adopts the following technical scheme that：A kind of pipe robot it is radially adjustable
Drive mechanism, including drive device and diameter changing device, the drive device include frame, and the both ends of frame are respectively arranged with forerunner
Driving wheel and back front driven wheel, by crawler haulage between front driving wheel and back front driven wheel, gear drive is additionally provided with the outside of frame
Group, gear drive group include driving gear and driven gear, driving gear and driven gear engaged transmission, driven gear and forerunner
Driving wheel is coaxially connected, and motor is provided with the middle part of frame, and the rotating shaft driving driving gear of motor rotates；The reducing
Device includes bar linkage structure, leading screw and stepper motor, and the rotating shaft of stepper motor is connected with leading screw drives leading screw to rotate, and is set on leading screw
Put by feed screw nut, leading screw, which rotates, can drive feed screw nut horizontal movement, and the both ends of leading screw are provided with axle sleeve, the position of axle sleeve
It is relatively fixed；Bar linkage structure includes first connecting rod, second connecting rod and push rod, gantry base both ends respectively with first connecting rod and second
One end of connecting rod is hinged, and the axle sleeve of the other end of first connecting rod and second connecting rod respectively with leading screw both ends is hinged, one end of push rod
It is hinged with feed screw nut, the middle part of the other end and first connecting rod is hinged.
Further, stepper motor is connected by shaft coupling with leading screw.
Further, when the radially adjustable drive mechanism is arranged in pipe robot, 3 groups are set altogether, and 3 groups radially can
Transfer drive motivation composition is radial to be symmetrically distributed in robot fuselage, and radially adjustable driving machine is in 120 degree of angles between any two.
Further, the front driving wheel and back front driven wheel are gear, crawler belt for respectively with front driving wheel and rear driven
Take turns intermeshing timing belt.
Preferably, the crawler belt uses crawler belt made of elastomeric material.
Preferably, the motor is DC servo motor.
Preferably, the stepper motor selects two-phase hybrid stepping motor.
The radially adjustable drive mechanism of pipe robot of the present utility model, it is simple in construction, stability is high, cost is low, energy
Enough adapt to the pipeline of different bores, and can ensure that pipe robot possesses preferable locomitivity, adapt to pipeline it is unknown and
Rugged environment.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
In above-mentioned figure：1- drive devices；11- front driving wheels；12- crawler belts；13- motors；14- back front driven wheels；15- machines
Frame；16- driving gears；17- driven gears；2- diameter changing devices；21- first connecting rods；22- push rods；23- second connecting rods；24- axles
Set；25- feed screw nuts；26- leading screws；27- stepper motors.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this
Utility model, it is not used to limit the utility model.
The radially adjustable drive mechanism of pipe robot of the present utility model, it is simple in construction, stability is high, cost is low, energy
Enough adapt to the pipeline of different bores.Concrete structure is as shown in figure 1, including drive device 1 and diameter changing device 2, drive device 1 includes
Frame 15, the both ends of frame 15 are respectively arranged with front driving wheel 11 and back front driven wheel 14, front driving wheel 11 and back front driven wheel 14 it
Between be driven by crawler belt 12, the outside of frame 15 is additionally provided with gear drive group, gear drive group include driving gear 16 and from
Moving gear 17, driving gear 16 and driven gear engaged transmission 17, driven gear 16 and front driving wheel 11 are coaxially connected, frame 15
Middle part be provided with motor 13, the rotating shaft driving driving gear 16 of motor 13 rotates；Diameter changing device 2 includes connecting rod knot
Structure, leading screw 26 and stepper motor 27, the rotating shaft of stepper motor 27 is connected by shaft coupling with leading screw 26 drives leading screw 26 to rotate, silk
Set on thick stick 26 by feed screw nut 25, leading screw 26, which rotates, can drive the horizontal movement of feed screw nut 25, the both ends installation of leading screw 26
There is axle sleeve 24, the position of axle sleeve 24 is relatively fixed；Bar linkage structure includes first connecting rod 21, second connecting rod 23 and push rod 22, frame
The one end of 15 base both ends respectively with first connecting rod 21 and second connecting rod 23 is hinged, first connecting rod 21 and second connecting rod 23 it is another
End is be hinged with the axle sleeve 24 at the both ends of leading screw 26 respectively, and one end of push rod 22 and feed screw nut 25 are be hinged, the other end and first connecting rod
21 middle part is hinged.
In the utility model, because pipeline internal environment is complicated and changeable, even if robot be equipped with multiple sensors also without
Method fully understands information in pipe, and the uncertainty that robot moves in pipe is big, therefore the motion mode selection of robot is carried out
Belt, meet stabilization of the pipe robot in pipe by property and the adaptability to pipeline environment, and caterpillar motion mode
Also requirement of the pipe robot to tractive force, obstacle climbing ability and climbing capacity is met.And forerunner's mode is selected, makes machine
People obtains bigger tractive force and small power consumption in the process of moving.Front driving wheel 11 and back front driven wheel 14 are gear, crawler belt 12
To use crawler belt made of elastomeric material with 14 intermeshing timing belt of front driving wheel 11 and back front driven wheel, crawler belt 12 respectively,
Crawler belt is made in elastomeric material, and the flexibility characteristics having make it not damaged to tube wall, there is certain corrosion resistance, can make
Crawler belt contacts uniformly with tube wall in the process of walking for robot, and noiseless.
When the radially adjustable drive mechanism is arranged in pipe robot, 3 groups are set altogether, 3 groups of radially adjustable driving machines
Form it is radial be symmetrically distributed in robot fuselage, radially adjustable driving machine is in 120 degree of angles between any two.Three groups of track drive machines
Form 120 degree of space symmetrs to be distributed in around fuselage, ensure that when robot is in walking in pipe, fuselage axle center and pipeline axle center
Coincidence, each pedrail mechanism of robot is effectively fitted on tube wall, for robot provide good stability and
Adhesive force, prevent robot because an axle or multiaxis leave tube wall produce sideslip or topple.Driving force in drive mechanism is by three
Individual DC servo motor is provided separately, and so can also realize three direct current generators by controlling the PWM of each motor
Differential control, avoid the steering structure of complexity.Robot uses front-wheel robot is being advanced for the design philosophy of driving wheel
The bigger driving force with acquisition during obstacle detouring, while also allow for operating personnel's control.Each direct current generator passes through angular wheel and tooth
Wheel group drives driving wheel, is rotated so as to draw crawler belt, drives trailing wheel.By to the control on three direct current generators steerings and rotating speed
System, to realize the front and rear traveling of robot with turning to.
For adaptability of the enhancing robot in pipeline environment, robot adds diameter changing mechanism to meet robot pipe
The needs of footpath adjustment.The power source of diameter changing mechanism is provided by two-phase hybrid stepping motor, and stepper motor passes through shaft coupling and machine
The leading screw connection of body, so as to drive leading screw to carry out the rotation of both forward and reverse directions, there is the nut on leading screw and advance with retreating two kinds
Traveling mode.Diameter changing mechanism into space symmetr distribution is connected using the frame mode of parallel rod with feed screw nut, so as to
The expansion and contraction of three axles are controlled, adjusts three axle strut angle sizes.So cause pipe robot in the range of pipe diameter determing
Pipeline in walking operations when, both can change the outside dimension of robot by controlling, robot crawler belt can also be adjusted
Normal pressure between inner-walls of duct, improve kinetic characteristic of the robot under different postures.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of the appended claims for the utility model.
Claims (7)
1. the radially adjustable drive mechanism of a kind of pipe robot, it is characterised in that including drive device (1) and diameter changing device
(2), the drive device (1) includes frame (15), and the both ends of frame (15) are respectively arranged with front driving wheel (11) and rear driven
Take turns (14), be driven between front driving wheel (11) and back front driven wheel (14) by crawler belt (12), frame is additionally provided with the outside of (15)
Gear drive group, gear drive group include driving gear (16) and driven gear (17), driving gear (16) and driven gear
(17) engaged transmission, driven gear (16) and front driving wheel (11) are coaxially connected, and frame is provided with motor in the middle part of (15)
(13), the rotating shaft driving driving gear (16) of motor (13) rotates；The diameter changing device (2) includes bar linkage structure, leading screw
(26) drive leading screw (26) is connected with leading screw (26) and is rotated with stepper motor (27), the rotating shaft of stepper motor (27), leading screw (26)
Upper to set by feed screw nut (25), leading screw (26), which rotates, can drive feed screw nut (25) horizontal movement, the both ends of leading screw (26)
Axle sleeve (24) is installed, the position of axle sleeve (24) is relatively fixed；Bar linkage structure include first connecting rod (21), second connecting rod (23) and
Push rod (22), the one end of frame (15) base both ends respectively with first connecting rod (21) and second connecting rod (23) are hinged, first connecting rod
(21) and second connecting rod (23) the other end it is be hinged with the axle sleeve (24) at leading screw (26) both ends respectively, one end of push rod (22) and silk
Thick stick nut (25) is be hinged, and the other end and the middle part of first connecting rod (21) are hinged.
2. the radially adjustable drive mechanism of pipe robot according to claim 1, it is characterised in that：Stepper motor (27)
It is connected by shaft coupling with leading screw (26).
3. the radially adjustable drive mechanism of pipe robot according to claim 1, it is characterised in that：It is described radially adjustable
When drive mechanism is arranged in pipe robot, 3 groups are set altogether, 3 groups of radially adjustable drive mechanisms are symmetrically distributed in into radial
Robot fuselage, radially adjustable driving machine are in 120 degree of angles between any two.
4. the radially adjustable drive mechanism of pipe robot according to claim 1, it is characterised in that：The front driving wheel
(11) and back front driven wheel (14) is gear, and crawler belt (12) is to be intermeshed respectively with front driving wheel (11) and back front driven wheel (14)
Timing belt.
5. the radially adjustable drive mechanism of pipe robot according to claim 4, it is characterised in that：The crawler belt (12)
Using crawler belt made of elastomeric material.
6. the radially adjustable drive mechanism of pipe robot according to claim 1, it is characterised in that：The motor
(13) it is DC servo motor.
7. the radially adjustable drive mechanism of pipe robot according to claim 1, it is characterised in that：The stepper motor
(27) two-phase hybrid stepping motor is selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720920863.XU CN207005569U (en) | 2017-07-27 | 2017-07-27 | A kind of radially adjustable drive mechanism of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720920863.XU CN207005569U (en) | 2017-07-27 | 2017-07-27 | A kind of radially adjustable drive mechanism of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207005569U true CN207005569U (en) | 2018-02-13 |
Family
ID=61457525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720920863.XU Expired - Fee Related CN207005569U (en) | 2017-07-27 | 2017-07-27 | A kind of radially adjustable drive mechanism of pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207005569U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109482399A (en) * | 2018-11-12 | 2019-03-19 | 东莞理工学院 | A kind of spray equipment |
| CN109630805A (en) * | 2018-11-09 | 2019-04-16 | 金华送变电工程有限公司 | A kind of cable channel intelligent robot |
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN110962103A (en) * | 2019-11-14 | 2020-04-07 | 国网山西省电力公司大同供电公司 | Small-size calandria cable pipe robot |
| CN112728291A (en) * | 2021-01-25 | 2021-04-30 | 中国石油大学胜利学院 | Pipeline inner wall flaw detection crawling robot and using method thereof |
-
2017
- 2017-07-27 CN CN201720920863.XU patent/CN207005569U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630805A (en) * | 2018-11-09 | 2019-04-16 | 金华送变电工程有限公司 | A kind of cable channel intelligent robot |
| CN109482399A (en) * | 2018-11-12 | 2019-03-19 | 东莞理工学院 | A kind of spray equipment |
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN110962103A (en) * | 2019-11-14 | 2020-04-07 | 国网山西省电力公司大同供电公司 | Small-size calandria cable pipe robot |
| CN112728291A (en) * | 2021-01-25 | 2021-04-30 | 中国石油大学胜利学院 | Pipeline inner wall flaw detection crawling robot and using method thereof |
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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: 20180213 Termination date: 20180727 |