CN207430832U - Umbrella shape climbing robot in pipe - Google Patents
Umbrella shape climbing robot in pipe Download PDFInfo
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- CN207430832U CN207430832U CN201721244429.0U CN201721244429U CN207430832U CN 207430832 U CN207430832 U CN 207430832U CN 201721244429 U CN201721244429 U CN 201721244429U CN 207430832 U CN207430832 U CN 207430832U
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Abstract
The utility model discloses umbrella shape climbing robots in a kind of pipe, are related to robot field.Umbrella shape climbing robot in the pipe, including robot body, the opposite end of robot body is equiped with probe and several rotary nozzles, and robot body is close to the high-pressure water pipe of one connection rotary nozzle of one end of rotary nozzle connection；Robot body is respectively equipped with a umbrella rib structure along the opposite sides of its axial direction, each umbrella rib structure includes fixed frame, umbrella frame, retractable support lever and pulley, fixed frame is mounted on robot body, umbrella frame distinguishes Connection Bracket and pulley, retractable support lever connect robot body and umbrella frame respectively；Robot body further includes driving mechanism and transmission mechanism close to the one side of rotary nozzle, and the pulley close to rotary nozzle connects driving mechanism by transmission mechanism.Umbrella shape climbing robot not only avoids harm of the nuclear radiation to human body in the pipe of the utility model, moreover it is possible to efficiently remove incrustation in cleaning pipe and observe elimination effect.
Description
Technical field
The utility model is related to robot fields, and in particular to umbrella shape climbing robot in a kind of pipe.
Background technology
Nuclear power plant is a kind of high-energy, the power plant of few feed consumption.By taking a generated energy is 1,000,000 kilowatts of power plant as an example, such as
Fruit burns coal, need to consume 7000~8000 tons or so of coal daily, to consume within 1 year more than 200 ten thousand tons.It is annual only to consume if using nuclear power plant instead
1.5 tons of fissioning uraniums or plutonium, once reloading can continuously be run 1 year with full power.The transport and storage of Power Plant Fuel can be greatly reduced
Send one's regards to topic.Therefore, within considerably long one period from now on, nuclear power plant will be as the main energy sources of power industry.And nuclear power plant exists
During nuclear energy is converted into thermal energy, cooling system plays a very important role.
It is completed, there is no automatic by manually completely when existing nuclear power plant is purged cooling water pipe inner surface attachment
Cleaning technique causes cleaning efficiency low, and cleaning quality is poor, and nuclear radiation has human body certain harm.
Utility model content
In view of the above-mentioned problems, it is necessary to provide umbrella shape climbing robot in a kind of pipe, in the pipe, umbrella shape climbing robot is not
Only avoid harm of the nuclear radiation to human body, and can also high-efficient cleaning except incrustation in cooling tube and elimination effect is seen in due course
It examines.
To achieve these goals, the technical solution adopted in the utility model is as follows：
Umbrella shape climbing robot in a kind of pipe, including robot body, the opposite end of the robot body fills respectively
Equipped with probe and several rotary nozzles, the robot body is close to the one connection rotation of one end of rotary nozzle connection
The high-pressure water pipe of nozzle；The robot body is respectively equipped with a umbrella rib structure, Mei Yisuo along the opposite sides of its axial direction
Stating umbrella rib structure includes equivalent fixed frame, umbrella frame, retractable support lever and the pulley of several numbers, several fixed frame circumference
Be evenly arranged on the robot body, each described umbrella frame one end be fixed on the fixed frame and with the robot sheet
The bodily form is at an angle, and each umbrella frame other end connects the pulley, the opposite end point of each retractable support lever
The robot body and the umbrella frame are not connected；The robot body further includes driving close to the one side of the rotary nozzle
Mechanism and transmission mechanism, the pulley close to the rotary nozzle connect the driving mechanism by the transmission mechanism.
Preferably, the transmission mechanism includes belt pulley, belt, driven wheel, driven wheel support, driven shaft, universal joint, rotation
Shaft and bevel gear, the belt pulley be mounted on the driving mechanism output shaft on, and with the center of the robot body
Axis co-axial, the driven wheel are mounted on the lower section of the fixed frame and pass through the belt and connect by the driven wheel support
The belt pulley, the driven wheel are set on the driven shaft, the rotation axis be located at below the driven shaft and parallel to
The umbrella frame, described rotation axis one end connect the driven shaft by the universal joint, and the rotation axis other end passes through described
Bevel gear connection is positioned at the pulley of the umbrella frame end.
Preferably, the umbrella rib structure close to described probe one end includes five umbrella frames, close to the rotation spray
The umbrella rib structure at first end includes three umbrella frames.
Preferably, each fixed frame includes two fixed plates and a bolt, and two fixed plates are respectively mounted
Perforation is offered on the robot body and all, each umbrella frame is offered close to one end of the robot body
Jack, and the umbrella frame is located between two fixed plates close to one end of the robot body and passes through the bolt and lives
It is dynamic to be connected on the robot body.
Preferably, further include and be rotatably installed on the robot body and away from the rotating disk of described probe one end, if
The rotary nozzle is done to be mounted in the rotating disk.
Preferably, the rotary nozzle includes two or four, and the rotary nozzle is made of alloy steel material.
Preferably, the robot body includes the upper and lower part being connected, and the upper and lower part is respectively equipped with one
The umbrella rib structure, the probe are mounted on the one end of the top away from the lower part；The driving mechanism and transmission mechanism
Mounted on the lower part close to the one end on the top, and the motor shaft of the driving mechanism is rotationally connected with the top, institute
Rotary nozzle is stated mounted on the one end of the lower part away from the top.
Preferably, a diameter of 0.3~3m of the stretching, extension of the umbrella rib structure.
Due to the adoption of the above technical scheme, the utility model has the advantages that：
Umbrella shape climbing robot in pipe provided by the utility model, retractable support lever retractable, pulley can lead to
It crosses retractable support lever to keep being bonded the cooling inside pipe walls of different inner diameters, to ensure in the pipe that umbrella shape climbing robot can be
It is creeped in cooling tube by so as to remove all dirts in cooling tube.Driving mechanism is driven by transmission mechanism close to rotation
The pulley rotation of nozzle so that umbrella shape climbing robot crawls in cooling tube in the pipe, and is supplied by high-pressure water pipe
Water is so that rotary nozzle sprays water with high pressure to be purged the dirt in pipe.Further, it is also possible to by detecting in cooling tube
Situation, and the degree of impairment of cooling tube is detected after remove.
Umbrella shape climbing robot in pipe provided by the utility model, the pulley of each close rotary nozzle all connect driver
Structure, therefore, the pulley of each close rotary nozzle can be transferred through transmission mechanism advanced in unison under the driving of driving mechanism, so that
Umbrella shape climbing robot is creeped advance in cooling tube in the pipe.The design of universal joint causes rotation axis more to work freely,
So that umbrella frame is upheld freely.Rotary nozzle is installed on the rotating pan, and rotating disk generates rotation by the jet power of high pressure water, so that
Rotary nozzle in rotating disk can generate rotation cavitation jet, and with multi-faceted the dirt in cooling tube is efficiently sprayed
It removes, greatly improves effectively strike area.
In conclusion umbrella shape climbing robot in pipe provided by the utility model, voluntarily to the dirt in nuclear power plant's cooling tube
Dirt is efficiently removed, and not only avoids harm of the nuclear radiation to human body, and can also high-efficient cleaning remove in cooling tube incrustation and right
Elimination effect is observed in due course.
Description of the drawings
Fig. 1 is the structure diagram of umbrella shape climbing robot in the pipe of the utility model embodiment offer；
Fig. 2 is the structure amplification of the driving mechanism in umbrella shape climbing robot in the pipe of the utility model embodiment offer
Figure.
In attached drawing, 1- robot bodies, 2- tops, 3- lower parts, 4- probes, 5- rotary nozzles, 6- high-pressure water pipes, 7- umbrella frames
Structure, 71- fixed frames, 711- fixed plates, 712- bolts, 72 umbrella frames, 73- retractable support levers, 74- pulleys, 741- first are slided
Wheel, 742- second pulleys, 8- driving mechanisms, 9- transmission mechanisms, 91- belt pulleys, 92- belts, 93- driven wheels, 94- driven wheel branch
Frame, 95- driven shafts, 96- universal joints, 97- rotation axis, 98- bevel gears, 10- rotating disks.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model
The normally understood meaning of technical staff in domain is identical.It is simply in the term used in the description of the utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
The arbitrary and all combination of one or more relevant Listed Items.
Please referring also to Fig. 1 and Fig. 2, the utility model embodiment provide umbrella shape climbing robot in a kind of pipe, including
Robot body 1, robot body 1 include the top 2 being connected and lower part 3.The opposite end of robot body 1 is installed respectively
There are probe 4 and several rotary nozzles 5, probe 4 is mounted on the one end of top 2 away from lower part 3, and it is remote that rotary nozzle 5 is mounted on lower part 3
One end from top 2.Robot body 1 is close to the high-pressure water pipe 6 of one connection rotary nozzle 5 of one end of rotary nozzle 5 connection.Machine
On device human body 1 and one end away from probe 4 is also rotatablely equipped with a rotating disk 10, and several rotary nozzles 5 are mounted on rotating disk
On 10.Several rotary nozzles 5 include two or four.In the present embodiment, rotary nozzle 5 is two, and rotary nozzle 5 is by closing
Golden Steel material is made.
The opposite sides of robot body 1 along its axial direction is respectively equipped with a umbrella rib structure 7, i.e. top 2 and lower part 3 is each
There are one umbrella rib structures 7 for installation.Each umbrella rib structure 7 includes the equivalent fixed frame 71 of several numbers, umbrella frame 72, retractable supports
Bar 73 and pulley 74.Several 71 even circumferentials of fixed frame are arranged on robot body 1, and each fixed frame 71 includes two admittedly
Fixed board 711 and a bolt 712.Two fixed plates 711 are installed on robot body 1 and all offer perforation and (do not mark
Show), each umbrella frame 72 offers jack (not indicating) close to one end of robot body 1, and umbrella frame 72 is close to robot sheet
One end of body 1, which is located between two fixed plates 711 and passes through bolt 712, to be movably connected on robot body 1.Each umbrella frame 72
One end is fixed on fixed frame 71 and, each umbrella frame 72 other end connection pulley 74 at an angle with 1 shape of robot body.It is close
Pop one's head in 4 one end umbrella rib structure 7 include five umbrella frames 72, close to 5 one end of rotary nozzle umbrella rib structure 7 include three umbrella frames
72.The opposite end of each retractable support lever 73 connects robot body 1 and umbrella frame 72 respectively.Retractable support lever 73 can be with
It freely stretches in the pipeline of different inner diameters, so that pulley 74 can be kept by retractable support lever 73 to different inner diameters
Inside pipe wall fitting is cooled down, is passed through with ensureing in the pipe that umbrella shape climbing robot can creep in cooling tube.In present embodiment
In, the pulley 74 close to probe 4 is first pulley 741, and the pulley 74 close to rotary nozzle 5 is second pulley 742.
Robot body 1 further includes driving mechanism 8 and transmission mechanism 9 close to the one side of rotary nozzle 5.8 He of driving mechanism
Transmission mechanism 9 is mounted on lower part 3 close to the one end on top 2, and the motor shaft of driving mechanism 8 is rotationally connected with top 2.Close to rotation
The pulley 742 for turning nozzle 5 connects driving mechanism 8 by transmission mechanism 9.In the present embodiment, transmission mechanism 9 includes belt pulley
91st, belt 92, driven wheel 93, driven wheel support 94, driven shaft 95, universal joint 96, rotation axis 97 and bevel gear 98.Belt pulley 91
On the output shaft of driving mechanism 9, and it is coaxial with the central axis of robot body 1.Driven wheel 93 passes through driven wheel branch
Frame 94, which is mounted on the lower section of fixed frame 71 and passes through belt 92, connects belt pulley 91.Rotation axis 97 is located at 95 lower section of driven shaft and puts down
Row is in umbrella frame 72.Driven wheel 93 is set on driven shaft 95.97 one end of rotation axis connects driven shaft 95, rotation by universal joint 96
97 other end of axis is by the connection of bevel gear 98 positioned at the pulley 742 of 72 end of umbrella frame.
In the present embodiment, a diameter of 0.3~3m of the stretching, extension of umbrella rib structure 7, so that umbrella shape crawling machine in the pipe
People can be the pipe of 0.3~3m by caliber.
Umbrella shape climbing robot when in use, starts driving mechanism 8,8 turns of driving mechanism first in the pipe of the utility model
Dynamic that belt pulley 91 is driven to rotate, belt pulley 91 drives driven wheel 93 to rotate by belt 92, and then driven shaft 95 is driven to rotate, from
Moving axis 95, which rotates, drives universal joint 96 to rotate, and universal joint 96, which rotates, drives rotation axis 97 to rotate, and rotation axis 97 rotates to pass through
Bevel gear 98 drives the second pulley 742 close to rotary nozzle 5 to rotate, so that umbrella shape climbing robot is in pipe in the pipe
It creeps advance；Meanwhile bevel gear 98 can change close to the side between the second pulley 742 of rotary nozzle 5 and rotation axis 97
To so that line direction before umbrella shape climbing robot changes in the pipe.When probe 4 detects dirt in pipe, driving is closed
Mechanism 8, second pulley 742 stops operating so that the stopping of umbrella shape climbing robot is creeped in the pipe, while by scalable
Five first pulleys 741 that freely stretch to of supporting rod 73 are stuck on inside pipe wall to secure the above umbrella shape crawling machine in pipe
People, since retractable support lever 73 is flexible, when compression, is inwardly compressed, and when no external force outwards upholds, elastic retractable supports
Bar 73 adjusts outer diameter according to the big freedom in minor affairs of caliber；Afterwards, high-pressure water pipe 6 supplies water to two rotary nozzles 5, so that two rotations
Nozzle 5 generates cavitation jet, while rotating disk 10 generates rotation by the jet power of high pressure water, is hit with generating rotation cavitation jet
The inner wall of cooling tube is beaten, effectively strike area can be improved, efficiently to be removed to dirt in pipe.Spy can be passed through after removing
First 4 check the degree of impairment of elimination effect and cooling tube.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the equal variation or modification completed under the technical spirit suggested by all the utility model
Change, should all belong to the utility model and cover the scope of the claims.
Claims (8)
1. a kind of umbrella shape climbing robot in pipe, including robot body, it is characterised in that：Opposite the two of the robot body
End is equiped with probe and several rotary nozzles respectively, and the robot body is close to one connection of one end of rotary nozzle connection
The high-pressure water pipe of the rotary nozzle；The opposite sides of the robot body along its axial direction is respectively equipped with a umbrella frame knot
Structure, each umbrella rib structure includes equivalent fixed frame, umbrella frame, retractable support lever and the pulley of several numbers, several described
Fixed frame even circumferential is arranged on the robot body, each described umbrella frame one end be fixed on the fixed frame and with institute
It is at an angle to state robot body shape, each umbrella frame other end connects the pulley, each retractable support lever
Opposite end connects the robot body and the umbrella frame respectively；The robot body is close to the one side of the rotary nozzle
Driving mechanism and transmission mechanism are further included, the pulley close to the rotary nozzle connects the driving machine by the transmission mechanism
Structure.
2. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：The transmission mechanism include belt pulley,
Belt, driven wheel, driven wheel support, driven shaft, universal joint, rotation axis and bevel gear, the belt pulley are mounted on the driving
On the output shaft of mechanism, and it is coaxial with the central axis of the robot body, and the driven wheel passes through the driven wheel support
Mounted on the lower section of the fixed frame and pass through the belt connection belt pulley, the driven wheel is set in the driven shaft
On, the rotation axis is located at below the driven shaft and parallel to the umbrella frame, and described rotation axis one end passes through the universal joint
The driven shaft is connected, the rotation axis other end is by bevel gear connection positioned at the pulley of the umbrella frame end.
3. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：The umbrella close to described probe one end
Bone structure includes five umbrella frames, and the umbrella rib structure close to described rotary nozzle one end includes three umbrella frames.
4. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：Each fixed frame includes two
Fixed plate and a bolt, two fixed plates are installed on the robot body and all offer perforation, Mei Yisuo
It states umbrella frame and offers jack close to one end of the robot body, and the umbrella frame is close to one end of the robot body
Between two fixed plates and pass through the bolt and be movably connected on the robot body.
5. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：It further includes and is rotatably installed in the machine
Human body is upper and away from the rotating disk of described probe one end, and several rotary nozzles are mounted in the rotating disk.
6. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：The rotary nozzle includes two or four
A, the rotary nozzle is made of alloy steel material.
7. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：The robot body includes being connected
Upper and lower part, the upper and lower part is respectively equipped with a umbrella rib structure, and it is separate that the probe is mounted on the top
One end of the lower part；The driving mechanism and transmission mechanism are mounted on the lower part close to the one end on the top, and described
The motor shaft of driving mechanism is rotationally connected with the top, and the rotary nozzle is mounted on one of the lower part away from the top
End.
8. umbrella shape climbing robot in pipe as described in claim 1, it is characterised in that：The stretching, extension of the umbrella rib structure is a diameter of
0.3~3m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721244429.0U CN207430832U (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721244429.0U CN207430832U (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
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| Publication Number | Publication Date |
|---|---|
| CN207430832U true CN207430832U (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721244429.0U Active CN207430832U (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486449A (en) * | 2017-09-26 | 2017-12-19 | 桂林净美机电有限公司 | Umbrella shape climbing robot in pipe |
| CN111215407A (en) * | 2020-03-06 | 2020-06-02 | 王心悦 | Fresh air system pipeline cleaning robot device with rotary cleaning arm |
-
2017
- 2017-09-26 CN CN201721244429.0U patent/CN207430832U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486449A (en) * | 2017-09-26 | 2017-12-19 | 桂林净美机电有限公司 | Umbrella shape climbing robot in pipe |
| CN111215407A (en) * | 2020-03-06 | 2020-06-02 | 王心悦 | Fresh air system pipeline cleaning robot device with rotary cleaning arm |
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Legal Events
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190715 Address after: 518000 Yinglong Exhibition Building 1113-1115, 6025 Shennan Avenue, Tian'an Community, Shatou Street, Futian District, Shenzhen City, Guangdong Province Patentee after: Guotong Jingmei Technology Service Co., Ltd. Address before: 541004 No. 3 Pioneering Road, Qixing District, Guilin City, Guangxi Zhuang Autonomous Region Patentee before: Guilin net mechanical & Electrical Co., Ltd. |