CN207213498U - Stepped pipe pipeline robot - Google Patents
Stepped pipe pipeline robot Download PDFInfo
- Publication number
- CN207213498U CN207213498U CN201721157918.2U CN201721157918U CN207213498U CN 207213498 U CN207213498 U CN 207213498U CN 201721157918 U CN201721157918 U CN 201721157918U CN 207213498 U CN207213498 U CN 207213498U
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- China
- Prior art keywords
- body portion
- support
- walking
- pipe pipeline
- pipeline robot
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Abstract
The utility model provides a kind of stepped pipe pipeline robot, it includes the first body portion and the second body portion, the support meanss for being used for alternately supporting tube wall are provided with the first body portion and the second body portion, the running gear for being used for changing distance between the first body portion and the second body portion is provided between the first body portion and the second body portion.Pass through the structure of two body portions of setting, support quadrangular mechanism and the running gear for changing distance between two body portions, realize step-by-step movement walking of the pipe robot in pipeline, the running on wheels of the structure compared with the prior art, have walking relatively reliable, by the less advantage of the influence of topography.Using the walking scheme, it is also beneficial to simplify overall structure.
Description
Technical field
A kind of pipe robot is the utility model is related to, particularly a kind of stepped pipe pipeline robot.
Background technology
In the modern times, pipeline is because its convenience, economy occupy critical role in daily life, in every field all
There is crisscross pipeline, and the monitoring for these complicated pipelines then seems particularly important with safeguarding.But residing for pipeline
Environment be often manpower limit or human hand less than, maintenance difficulty it is big, thus pipe robot become in order to one kind conveniently have
The detection instrument of effect.In order to adapt to the various pipes of complexity, it is desirable to design it is a kind of it is simple in construction, drive efficiency is high, is easy to control
System and the robot with very strongly-adaptive ability.
The A of Chinese patent literature CN 102691856 describe a kind of single motor, wheeled and variable speed screw formula combination drive
Pipe robot, including spiral drive device, wheel type drive device and motor power output device；Spiral driving dress
Put including rotary body, rotary body is provided with spur gear, and a set of angle wheel is respectively equipped with equally distributed three holes on rotary body
Group, angle wheel group are connected with incidence regulating mechanism；Wheel type drive device includes supporter, and three sets are evenly distributed with supporter
Drive wheel group, supporter is interior to be provided with linkage structure；Motor power output device includes cramping body, and sliding point is provided with cramping body
Axle is flowed, the centre for sliding shunt shaft is provided with second gear, and second gear engages with motor spur gear, motor spur gear and motor
Output end is connected, and the other end of motor is connected with supporter, and supporter is provided with electromagnet assembly.The robot, which has, advances surely
The characteristics of fixed, speed regulation space is greatly, driving force condition of compatibility is wide.But the structure of the robot is extremely complex, produces and add
Work difficulty is higher.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of stepped pipe pipeline robot, can reliably realize
Walking in pipeline, and structure is relatively simple, is easy to produce and processes.
In order to solve the above technical problems, technical scheme is used by the utility model：A kind of stepped pipe pipeline robot,
It includes the first body portion and the second body portion, is provided with the first body portion and the second body portion and is used for the support dress for alternately supporting tube wall
Put, the running gear for being used for changing distance between the first body portion and the second body portion is provided between the first body portion and the second body portion.
In preferable scheme, the sensing for being used for gathering external environment condition data is provided with the outer wall in the first body portion or the second body portion
Device.
In preferable scheme, in described running gear, movable motor is fixedly mounted on the first body portion, movable motor and row
Screw rod is walked to be fixedly connected；
Walking nut is fixedly mounted on the second body portion, and walking screw rod is connected with walking nut thread.
In preferable scheme, universal joint is installed on described walking screw rod；
Or/and the first ring body is installed with the end face in the second body portion, the first ring body passes through two the first rotational pins and position
In the second ring body connection in the first ring body, the second ring body is connected by two the second rotational pins with plate portion, walk nut and plate
Portion is fixedly connected；
First rotational pin and the second rotational pin are circumferentially at a distance of 90 °.
In preferable scheme, motor is fixedly mounted on the first body portion, and motor is connected by transmission mechanism with gear；
Tooth form bar is fixedly mounted on the second body portion, and gear engages connection with tooth form bar.
In preferable scheme, multiple slide bar bearings are provided with the first body portion, are provided with multiple slide bars in the second body portion, slide bar and
Slide bar bearing sliding connects.
In preferable scheme, described slide bar bearing is by supporting rotating shaft and the housing in the first body portion to be connected.
In preferable scheme, in described support meanss, it is provided with the housing exterior walls in the first body portion and the second body portion multiple
Support quadrangular mechanism, circle distribution of multiple support quadrangular mechanisms along housing exterior walls；
Motor is supported to be fixedly mounted, support motor is fixedly connected with studdle, and holding nut connects with studdle screw thread
Connect, holding nut is connected by support link with support quadrangular mechanism.
In preferable scheme, in described support meanss, it is provided with the housing exterior walls in the first body portion and the second body portion multiple
Support quadrangular mechanism, circle distribution of multiple support quadrangular mechanisms along housing exterior walls；
The first electromagnet and the second electromagnet are installed with the housing in the first body portion and the second body portion；
Through hole is provided with the first electromagnet and the second electromagnet；
The both ends of permanent magnets are provided with the body of rod, and the body of rod is slidably mounted in through hole；
One end of permanent magnets and support link is hinged, the other end and the oscillating rod in support quadrangular mechanism of support link
It is be hinged.
In preferable scheme, the incline direction of the support quadrangular mechanism in the first body portion and the second body portion on the contrary, to
Direction away from each other tilts；
Frictional layer is provided with the position that support quadrangular mechanism contacts with inner-walls of duct.
A kind of stepped pipe pipeline robot provided by the utility model, pass through the structure of two body portions of setting, support four
Bian Xing mechanisms and the running gear for changing distance between two body portions, realize step-by-step movement row of the pipe robot in pipeline
Walk, the running on wheels of the structure compared with the prior art, have walking relatively reliable, by the less advantage of the influence of topography.Using this
Walking scheme, it is also beneficial to simplify overall structure.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is another preferred structure schematic diagram of the present utility model.
Fig. 3 is another preferred structure schematic diagram of the present utility model.
Fig. 4 is the second body end face structural representation in the utility model.
Fig. 5 is cross-sectional structure schematic diagram of the present utility model.
Fig. 6 is the structural representation of slide bar bearing in the utility model.
Fig. 7 is the structural representation of electromagnet support meanss in the utility model.
In figure, the first body portion 1, the second body portion 2, the first ring body 21, the first rotational pin 22, the second ring body 23, plate portion 24, the
Two rotational pins 25, sensor 3, motor 4 is supported, studdle 5, holding nut 6, support link 7, supports quadrangular mechanism 8, it is sliding
Rod bearing 9, slide bar 10, movable motor 11, screw rod 12 of walking, nut 13 of walking, the first electromagnet 14, magnetic slider 15, the body of rod
151, permanent magnets 152, universal joint 16, support rotating shaft 17, the second electromagnet 18.
Embodiment
In Fig. 1 ~ 7, a kind of stepped pipe pipeline robot, it includes the first body portion 1 and the second body portion 2, in the first body portion 1
The support meanss for being used for alternately supporting tube wall are provided with the second body portion 2, is provided with and uses between the first body portion 1 and the second body portion 2
The running gear of distance between the first body portion 1 that changes and the second body portion 2.Thus structure, when the first body portion 1 and the second body portion 2
Support meanss be alternately supported on the inwall of pipeline, pass through the spacing that running gear changes the first body portion 1 and the second body portion 2
From, you can realize the walking of whole robot.
In preferable scheme such as Fig. 1 ~ 3, it is provided with the outer wall in the first body portion 1 or the second body portion 2 and is used to gather external environment condition
The sensor 3 of data.Such as temperature sensor, humidity sensor, infrared sensor, gyroscope and camera.
In preferable scheme such as Fig. 1, in described running gear, movable motor 11 is fixedly mounted on the first body portion 1, walking
Motor 11 is fixedly connected with walking screw rod 12；
Walking nut 13 is fixedly mounted on the second body portion 2, and walking screw rod 12 is threadedly coupled with walking nut 13.Pass through walking
The rotation of motor 11, walking nut 13 moves along walking screw rod 12, so as to change between the first body portion 1 and the second body portion 2
Distance.
In preferable scheme such as Fig. 3, in preferable scheme, universal joint 16 is installed on described walking screw rod 12；
Or/and the first ring body 21 is installed with the end face in the second body portion 2, the first ring body 21 passes through two the first rotational pins
22 are connected with the second ring body 23 in the first ring body 21, and the second ring body 23 is connected by two the second rotational pins 25 with plate portion 24
Connect, walking nut 13 is fixedly connected with plate portion 24；
First rotational pin 22 and the second rotational pin 25 are circumferentially at a distance of 90 °.As shown in Figure 4, by above-mentioned structure, energy
Enough realize in pipeline inside turn.
In preferable scheme such as Fig. 2, motor is fixedly mounted on the first body portion 1, and motor is connected by transmission mechanism with gear；
Tooth form bar is fixedly mounted on the second body portion 2, and gear engages connection with tooth form bar.Thus structure, with screw rod 12 of walking
Scheme compare, it is possible to increase the speed of travel of robot, conduct oneself with dignity little structure suitable for robot.The structure can also be kept away
Exempt to reverse mutually between the first body portion 1 and the second body portion 2.
In preferable scheme such as Fig. 1 ~ 3,6, multiple slide bar bearings 9 are provided with the first body portion 1, are provided with the second body portion 2 more
Individual slide bar 10, slide bar 10 are slidably connected with slide bar bearing 9.Thus structure, the motion between the first body portion 1 and the second body portion 2 is made
Smoothly.And it can avoid reversing mutually between the first body portion 1 and the second body portion 2.
In preferable scheme, described slide bar bearing 9 is by supporting rotating shaft 17 and the housing in the first body portion 1 to be connected.Thus
Structure, conveniently adapt to turn.
In preferable scheme such as Fig. 1, in described support meanss, the housing exterior walls in the first body portion 1 and the second body portion 2 are set
There are multiple support quadrangular mechanisms 8, circle distribution of multiple support quadrangular mechanisms 8 along housing exterior walls；
Support motor 4 is fixedly mounted, and support motor 4 is fixedly connected with studdle 5, holding nut 6 and the spiral shell of studdle 5
Line is connected, and holding nut 6 is connected by support link 7 with support quadrangular mechanism 8.Thus structure, by supporting the motor of motor 4
Rotation, drive holding nut 6 walked along studdle 5, holding nut 6 makes support quadrangular mechanism 8 by support link 7
Deformation, props up or puts down.
In preferable scheme such as Fig. 2,3, in described support meanss, the housing exterior walls in the first body portion 1 and the second body portion 2
Provided with multiple support quadrangular mechanisms 8, circle distribution of multiple support quadrangular mechanisms 8 along housing exterior walls；
The first electromagnet 14 and the second electromagnet 18 are installed with the housing in the first body portion 1 and the second body portion 2；
Through hole is provided with the first electromagnet 14 and the second electromagnet 18；
The both ends of permanent magnets 152 are provided with the body of rod 151, and the body of rod 151 is slidably mounted in through hole；
One end of permanent magnets 152 and support link 7 is hinged, and the other end of support link 7 is with supporting in quadrangular mechanism 8
Oscillating rod is hinged.Thus structure, the electric current of different directions is passed through by the first electromagnet 14 and the second electromagnet 18, makes the two
Magnetic field is on the contrary, then one of electromagnet produces repulsion, and another electromagnet produces suction, makes the stroke of permanent magnets 152 increase,
It is enough to drive support quadrangular mechanism 8 to strut or put down.The present invention compares screw mechanism using the support meanss of solenoid actuated
The support meanss of driving can greatly improve the speed of service.After being combined with gear with the scheme of tooth form bar engagement connection driving, fortune
Scanning frequency degree improves 3 ~ 5 times.
In preferable scheme, the incline direction of the support quadrangular mechanism 8 in the first body portion 1 and the second body portion 2 is on the contrary,
Tilted to direction away from each other；
Frictional layer is provided with the position that support quadrangular mechanism 8 contacts with inner-walls of duct.Thus structure, there is provided preferably by
Power.It can ensure that support is reliable using the support motor and electromagnet of smaller power.
In use, the support quadrangular mechanism 8 in the first body portion 1 struts, the inwall of pipeline is propped up, the motor of running gear turns
Dynamic, making the second body portion 2, after reaching running stroke, the support quadrangular mechanism 8 in the second body portion 2 struts away from the first body portion 1, the
The support quadrangular mechanism 8 in integral portion 1 is packed up, and the motor of running gear rotates backward, and makes the first body portion 1 close to the second body portion 2,
Thus alternate run, that is, the step-by-step movement walking of robot is realized.In the process of walking, sensor 3 collects related data.
The above embodiments are only optimal technical scheme of the present utility model, and are not construed as limit of the present utility model
Make, the feature in embodiment and embodiment in the application can be mutually combined in the case where not conflicting.This practicality is new
Technical characteristic in the technical scheme that the protection domain of type should be recorded with claim, including the technical scheme of claim record
Equivalents are protection domain.Equivalent substitution i.e. within this range is improved, also the scope of protection of the utility model it
It is interior.
Claims (10)
1. a kind of stepped pipe pipeline robot, it is characterized in that：It includes the first body portion（1）With the second body portion（2）, in the first body portion
（1）With the second body portion（2）Provided with the support meanss for alternately supporting tube wall, in the first body portion（1）With the second body portion（2）It
Between be provided be used for change the first body portion（1）With the second body portion（2）Between distance running gear.
2. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：In the first body portion（1）Or second body
Portion（2）Outer wall be provided with and be used to gather the sensors of external environment condition data（3）.
3. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：In described running gear, walking
Motor（11）It is fixedly mounted on the first body portion（1）, movable motor（11）With screw rod of walking（12）It is fixedly connected；
Walking nut（13）It is fixedly mounted on the second body portion（2）, screw rod of walking（12）With nut of walking（13）Threaded connection.
4. a kind of stepped pipe pipeline robot according to claim 3, it is characterized in that：Described walking screw rod（12）Upper peace
Equipped with universal joint（16）；
Or/and in the second body portion（2）End face be installed with the first ring body（21）, the first ring body（21）Pass through two first rotations
Pin（22）With positioned at the first ring body（21）The second interior ring body（23）Connection, the second ring body（23）Pass through two the second rotational pins
（25）With plate portion（24）Connection, nut of walking（13）With plate portion（24）It is fixedly connected；
First rotational pin（22）With the second rotational pin（25）Circumferentially at a distance of 90 °.
5. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：Motor is fixedly mounted on the first body portion
（1）, motor is connected by transmission mechanism with gear；
Tooth form bar is fixedly mounted on the second body portion（2）, gear engages connection with tooth form bar.
6. a kind of stepped pipe pipeline robot according to claim 4 or 5, it is characterized in that：In the first body portion（1）Provided with more
Individual slide bar bearing（9）, in the second body portion（2）Provided with multiple slide bars（10）, slide bar（10）With slide bar bearing（9）It is slidably connected.
7. a kind of stepped pipe pipeline robot according to claim 6, it is characterized in that：Described slide bar bearing（9）Pass through
Support rotating shaft（17）With the first body portion（1）Housing connection.
8. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：In described support meanss,
Integral portion（1）With the second body portion（2）Housing exterior walls be provided with multiple support quadrangular mechanisms（8）, multiple support quadrangular mechanisms
（8）Along the circle distribution of housing exterior walls；
Support motor（4）It is fixedly mounted, supports motor（4）With studdle（5）It is fixedly connected, holding nut（6）With supporting spiral shell
Bar（5）Threaded connection, holding nut（6）Pass through support link（7）With supporting quadrangular mechanism（8）Connection.
9. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：In described support meanss,
Integral portion（1）With the second body portion（2）Housing exterior walls be provided with multiple support quadrangular mechanisms（8）, multiple support quadrangular mechanisms
（8）Along the circle distribution of housing exterior walls；
First body portion（1）With the second body portion（2）Housing in be installed with the first electromagnet（14）With the second electromagnet
（18）；
In the first electromagnet（14）With the second electromagnet（18）It is provided with through hole；
Permanent magnets（152）Both ends be provided with the body of rod（151）, the body of rod（151）It is slidably mounted in through hole；
Permanent magnets（152）With support link（7）One end be hinged, support link（7）The other end with support quadrangular mechanism（8）
In oscillating rod be hinged.
10. a kind of stepped pipe pipeline robot according to claim 1, it is characterized in that：First body portion（1）With the second body portion
（2）On support quadrangular mechanism（8）Incline direction on the contrary, to away from each other direction tilt；
In support quadrangular mechanism（8）The position contacted with inner-walls of duct is provided with frictional layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721157918.2U CN207213498U (en) | 2017-09-11 | 2017-09-11 | Stepped pipe pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721157918.2U CN207213498U (en) | 2017-09-11 | 2017-09-11 | Stepped pipe pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207213498U true CN207213498U (en) | 2018-04-10 |
Family
ID=61824018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721157918.2U Expired - Fee Related CN207213498U (en) | 2017-09-11 | 2017-09-11 | Stepped pipe pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207213498U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107489856A (en) * | 2017-09-11 | 2017-12-19 | 三峡大学 | Stepped pipe pipeline robot |
| CN110395273A (en) * | 2019-07-31 | 2019-11-01 | 张启辉 | A kind of step-by-step movement rail vehicle and its movement technique |
| CN110425428A (en) * | 2019-06-24 | 2019-11-08 | 泉州市燃气有限公司 | A kind of portable leak detecting device of natural gas line maintenance based on ultrasound |
| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
-
2017
- 2017-09-11 CN CN201721157918.2U patent/CN207213498U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107489856A (en) * | 2017-09-11 | 2017-12-19 | 三峡大学 | Stepped pipe pipeline robot |
| CN110425428A (en) * | 2019-06-24 | 2019-11-08 | 泉州市燃气有限公司 | A kind of portable leak detecting device of natural gas line maintenance based on ultrasound |
| CN110395273A (en) * | 2019-07-31 | 2019-11-01 | 张启辉 | A kind of step-by-step movement rail vehicle and its movement technique |
| CN110395273B (en) * | 2019-07-31 | 2021-11-09 | 张启辉 | Stepping type rail carrier and movement method thereof |
| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
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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 |
Granted publication date: 20180410 Termination date: 20180911 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |