CN207814757U - Multi-pose pipe with variable diameter pipeline robot - Google Patents
Multi-pose pipe with variable diameter pipeline robot Download PDFInfo
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- CN207814757U CN207814757U CN201721900006.XU CN201721900006U CN207814757U CN 207814757 U CN207814757 U CN 207814757U CN 201721900006 U CN201721900006 U CN 201721900006U CN 207814757 U CN207814757 U CN 207814757U
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- master control
- pipe
- storehouse
- control storehouse
- motor
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Abstract
The utility model is related to a kind of multi-pose pipe with variable diameter pipeline robots, including wheel, motor, master control storehouse, pedipulator and camera, master control position in storehouse is hemisphere structure in robot center, master control storehouse shell, and in master control storehouse, upper edge is centrosymmetric is equipped with several pedipulators；Pedipulator includes the link being connected in the shell hemisphere structure of master control storehouse, and the link other end connects movable block, and movable block is connected with the control block of wheel center, is equipped with the motor of control vehicle wheel rotation on a control block；Shaft coupling is equipped between movable block and control block；Two connection structures arranged side by side of connecting rod and spring are equipped between link and movable block；Steering engine is equipped in connecting rod, steering engine is connected with the motor on wheel；Steering engine and motor are connect by the circuit in link and connecting rod with master control storehouse, and the control chip of processor and driving is equipped in master control storehouse.The pipe robot of the utility model has autonomous differential characteristic and adaptive reducing characteristic.
Description
Technical field
The present invention relates to pipe robot fields, and in particular to a kind of multi-pose pipe with variable diameter pipeline robot.
Background technology
Pipeline robot technique slowly rose since the last century 50's, and pipe robot research is specialized robot
One of research branch, be operate in pipeline particular space there are many sensor (such as ccd sensor, infrared sensor),
Detection device (such as ultrasound measuring instrument, eddy current testing instrument, laser scanner, thermal infrared imager, manipulator) and apparatus for work is (such as
Spray gun, welding gun etc.), under the remote control of operating personnel or the manipulation of robot own computer control system, for completing
The tasks such as reparation in the coating of defects detection, corrosion-inhibiting coating, the cleaning of tube wall, pipe inside pipeline.
It studies and designs the pipe robot with Practical Project application value and can greatly improve in pipe and detect
With the accuracy and reliability of intraductal operation, working efficiency is improved so that people using non-excavating and can tear all kinds of pipelines open
Point mode detected and repaired.Since the space inside pipeline is limited, structural environment is complex, therefore pipeline machine
Reducing ability, obstacle climbing ability and the driving capability of people itself becomes the important indicator for influencing robot comprehensive performance, is machine
Can people be applicable in different external environments inside pipeline, complete the key point of each task.Design reducing range is big, environment is suitable
Ying Xingqiang, the structure that flexibility is good, obstacle climbing ability is strong are the necessary conditions for realizing high-efficient homework in robot pipe.Robot exists
Pipeline internal operation can there are many motion modes, main Types wheeled, crawler type, creeping motion type, helical driving type, walking
The types such as formula, medium differential pressure formula, snakelike formula.
In order to allow the robot to possess longer operation distance, it is desirable that designed pipe robot has following property
Energy：1. adaptive capacity to environment is good；2. drive efficiency is high；3. compact-sized；Power to volume ratio is big；4. movement speed is very fast；5. transporting
Row is steady.Cylindrical pipeline is applied the most generally in pipeline transportation, wherein adapting to the robot motion side of cylindrical pipe
Formula is mostly based on wheeled, crawler type and revolvingly driven type these three types, wherein again with wheeled most commonly seen.
Invention content
In order to realize efficient traveling of the robot inside pipeline, driven using single motor the present invention provides a kind of
And with the pipe robot of autonomous differential characteristic and adaptive reducing characteristic.When the robot advances in bend pipe, Ke Yijing
By differential attachment from the rotating speed of each driving wheel of main regulation, and then eliminate the opposite sliding between driving wheel and tube wall；Work as machine
When people meets with caliber size variation in pipeline internal operation, robot can adapt to changing for external environment using diameter changing mechanism
Become, and then improves robot reliability of operation in the duct.
To achieve the above object, technical solution provided by the invention is：
A kind of multi-pose pipe with variable diameter pipeline robot, including wheel, motor, master control storehouse, pedipulator and camera, the master
Position in storehouse is controlled in robot center, master control storehouse shell is hemisphere structure, and upper edge is centrosymmetric in the master control storehouse is equipped with
Several pedipulators；The pedipulator includes the link being connected in the shell hemisphere structure of master control storehouse, and the link is another
End connection movable block, the movable block are connected with the control block of wheel center, and control vehicle wheel rotation is equipped in the control block
Motor；Shaft coupling is equipped between the movable block and control block；Connecting rod and bullet are equipped between the link and movable block
Two connection structures arranged side by side of spring；Steering engine is equipped in the connecting rod, the steering engine is connected with the motor on wheel；The steering engine
It is connect with master control storehouse by the circuit in link and connecting rod with the motor, processor and driving is equipped in the master control storehouse
Control chip.
Further, the chip carrying in the master control storehouse has Steam32 and Raspberry Pi as processor.
Further, camera and sensor are equipped on the master control storehouse.
Further, the connecting rod is the rod piece composition for two equal lengths that middle part has bent joint.
Further, the wheel has the tire of concave-convex surface enhancing frictional force.
In the present invention, the signal by sensor feedback that drive control chip is given according to processor adjusts turning for motor
Speed, while the output of feedback signal can control chip by center and pass to steering engine simultaneously, in the case of steering engine implementation varying environment
Regulation and control.The rotation of steering engine can drive the angle of motor to adjust to complete to control wheel angle by shaft coupling.Simultaneously
The rotation of steering engine can be such that movable block moves in a straight line by rotary motion by link mechanism, to increase the feasibility of reducing.
Steering engine is put in the rod piece of gearing, and mechanical leg section entire to the stretching of spring realizes the control of length, pedipulator
Control also need the frictional force of tire as support simultaneously.The compression of spring can shorten mechanical leg length, while spring
The pressure increasing friction force that corresponding elastic force is used as robot tire to duct wall can be provided according to deformation.
Advantageous effect：
The pipe robot of the present invention is made that improvement and innovation in the mechanical structure of robot, by pedipulator and electricity
The improvement of the connection type of machine changes motor-driven direction and angle to realize robot certainly with the mode of spiral using steering engine
Main vertical pipe rises：Steering engine is gone into specified angle, the power of clamping tube wall is further increased by spring, when ensuring machine
It can start to climb when the complete clamping of people.If it was found that robot, which fast moves (tenesmus) and just immediately goes to steering engine angle, makes electricity
Machine level is braked by force, and mobile and skid-resistant equalization point is being searched out by gradually discharging steering engine differences in angle after stablizing.Together
Shi Ziti rotates and the design of spring also takes into account and solves：Robot is adapted to the pipeline of multi-pipe-diameter, is encountered in pipeline big
Type dirt can not cross the problem of causing robot to stagnate service work.The design main purpose of spring is to make up existing pipeline
Robot is to the deficiency in terms of pipe diameter size adaptation, and pipe robot cannot be introduced into mostly with fixed frame mode at present
Than its own in small pipeline, the collocation of spring and steering engine realizes the deficiency on stress, is more advantageous to reaches in this way
The purpose of the pipe walking mode of multi-pose.
Description of the drawings
Fig. 1：The principle of the present invention schematic diagram.
Fig. 2：The structural schematic diagram of multi-pose pipe with variable diameter pipeline robot.
Fig. 3：The overlooking structure diagram of multi-pose pipe with variable diameter pipeline robot.
Fig. 4：Schematic enlarged-scale view at wheel.
Fig. 5：Schematic enlarged-scale view at connecting rod.
In figure：1- wheels, 2- shaft couplings, 3- springs, 4- motors, 5- master controls storehouse, 6- connecting rods, 7- steering engines, 8- pedipulators, 9-
Camera, 10- links, 11- control blocks, 12- movable blocks.
Specific implementation mode
The present invention is further explained in the light of specific embodiments.
A kind of multi-pose pipe with variable diameter pipeline robot, including wheel 1, motor 4, master control storehouse 5, pedipulator 8 and camera 9,
The master control storehouse 5 is located at robot center, and 5 shell of master control storehouse is hemisphere structure, at 5 upper edge center pair of the master control storehouse
What is claimed is equipped with several pedipulators 8.
The pedipulator 8 includes the link 10 being connected in 5 shell hemisphere structure of master control storehouse, and the link 10 is another
One end connects movable block 12, and the movable block 12 is connected with the control block 11 at 1 center of wheel, and control is equipped in the control block 11
The motor 4 that wheel 1 processed rotates.
Shaft coupling 2 is equipped between the movable block 12 and control block 11；It is set between the link 10 and movable block 12
There are 3 two connection structures arranged side by side of connecting rod 6 and spring；Be equipped with steering engine 7 in the connecting rod 6, the steering engine 7 on wheel 1
Motor 4 is connected.
The steering engine 7 and the motor 4 are connect by the circuit in link 10 and connecting rod 6 with master control storehouse 5, the master control
The control chip of processor and driving is equipped in storehouse 5.
The master control storehouse 5 is singlechip chip, equipped with Steam32 and Raspberry Pi as processor.In the master control
Storehouse 5 is equipped with camera 9 and sensor.The master control storehouse 5 can pass through wireless signal attachment device and PC machine or other intelligence
Terminal connects.
The connecting rod 6 is the rod piece composition for two equal lengths that middle part has bent joint.
The wheel 1 has the tire of concave-convex surface enhancing frictional force.
In the present invention, the signal by sensor feedback that drive control chip is given according to processor adjusts turning for motor 4
Speed, while the output of feedback signal can control chip by center and pass to steering engine 7 simultaneously, implement varying environment situation to steering engine 7
Under regulation and control.
The rotation of steering engine 7 can drive the angle of motor 4 to adjust to complete to control 1 angle of wheel by shaft coupling 2.
The rotation of steering engine 7 can be such that movable block moves in a straight line by rotary motion by 6 structure of connecting rod simultaneously, to increase the feasible of reducing
Property.
Steering engine 7 is put in the rod piece 6 of gearing, and mechanical leg section entire to the stretching of spring 3 realizes the control of length, machinery
The control of leg also needs the frictional force of tire 1 as support simultaneously.The compression of spring 3 can shorten mechanical leg length, while bullet
Spring 3 can also provide the pressure increasing friction force that corresponding elastic force is used as robot tire 1 to duct wall according to deformation.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, any ripe
Professional and technical personnel is known, without departing from the scope of the present invention, according to the technical essence of the invention, to above real
Apply any simple modification, equivalent replacement and improvement etc. made by example, still fall within technical solution of the present invention protection domain it
It is interior.
Claims (5)
1. a kind of multi-pose pipe with variable diameter pipeline robot, it is characterised in that：Including wheel (1), motor (4), master control storehouse (5), machine
Tool leg (8) and camera (9), the master control storehouse (5) are located at robot center, and master control storehouse (5) shell is hemisphere structure,
It is centrosymmetric equipped with several pedipulators (8) in master control storehouse (5) upper edge；The pedipulator (8) includes being connected to master control storehouse
(5) link (10) in shell hemisphere structure, link (10) other end connection movable block (12), the movable block
(12) it is connected with the control block (11) at wheel (1) center, the motor that control wheel (1) rotates is equipped in the control block (11)
(4)；Shaft coupling (2) is equipped between the movable block (12) and control block (11)；The link (10) and movable block (12)
Between be equipped with (3) two connection structures arranged side by side of connecting rod (6) and spring；Steering engine (7), the rudder are equipped in the connecting rod (6)
Machine (7) is connected with the motor (4) on wheel (1)；The steering engine (7) and the motor (4) pass through link (10) and connecting rod (6)
Interior circuit is connect with master control storehouse (5), and the control chip of processor and driving is equipped in the master control storehouse (5).
2. multi-pose pipe with variable diameter pipeline robot according to claim 1, it is characterised in that：The core of the master control storehouse (5)
Piece is equipped with Steam32 and Raspberry Pi as processor.
3. multi-pose pipe with variable diameter pipeline robot according to claim 1, it is characterised in that：On the master control storehouse (5)
Equipped with camera (9) and sensor.
4. multi-pose pipe with variable diameter pipeline robot according to claim 1, it is characterised in that：The connecting rod (6) is middle part
The rod piece of two equal lengths with bent joint forms.
5. multi-pose pipe with variable diameter pipeline robot according to claim 1, it is characterised in that：The wheel (1) has table
The tire of face bumps enhancing frictional force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900006.XU CN207814757U (en) | 2017-12-29 | 2017-12-29 | Multi-pose pipe with variable diameter pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900006.XU CN207814757U (en) | 2017-12-29 | 2017-12-29 | Multi-pose pipe with variable diameter pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207814757U true CN207814757U (en) | 2018-09-04 |
Family
ID=63328603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721900006.XU Expired - Fee Related CN207814757U (en) | 2017-12-29 | 2017-12-29 | Multi-pose pipe with variable diameter pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207814757U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN114713986A (en) * | 2022-06-08 | 2022-07-08 | 中铁城建集团第一工程有限公司 | Automatic welding equipment in steel pipe |
-
2017
- 2017-12-29 CN CN201721900006.XU patent/CN207814757U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN107990085B (en) * | 2017-12-29 | 2023-11-03 | 南京工程学院 | Multi-gesture variable-diameter pipeline robot |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN114713986A (en) * | 2022-06-08 | 2022-07-08 | 中铁城建集团第一工程有限公司 | Automatic welding equipment in steel pipe |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180904 Termination date: 20211229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |