CN208011159U - The wheeled T-type pipe robot of big reducing - Google Patents
The wheeled T-type pipe robot of big reducing Download PDFInfo
- Publication number
- CN208011159U CN208011159U CN201820120322.3U CN201820120322U CN208011159U CN 208011159 U CN208011159 U CN 208011159U CN 201820120322 U CN201820120322 U CN 201820120322U CN 208011159 U CN208011159 U CN 208011159U
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- reducing
- motor
- driven
- bevel gear
- shift fork
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Abstract
The utility model discloses a kind of big wheeled T-type pipe robots of reducing, including screwdriven mechanism, front driving mechanism and Working mechanism；Screwdriven mechanism includes rotation riser, there are two reducing cylinders I for installation on the front end face of rotation riser, steering engine I there are one being respectively mounted on the output shaft of each reducing cylinder I, it is respectively mounted on the output shaft of each steering engine I there are one traction wheel, two traction wheels are arranged along same vertical lines；Rear end face and the front roll bar for rotating riser are affixed, front roll bar is connect using dual cardan type U-joint with rear swing rod, swing rod is driven using motor I afterwards, swing set is set on front roll bar, set is swung to be driven using shift fork, shift fork is located at the front end of dual cardan type U-joint, and shift fork is driven by bevel gear transmission I, is driven by motor II.The utility model can be by straight tube, bend pipe and T-type pipe, and has the characteristics that small, reducing is big, at low cost, and reducing range is big compared with existing pipe robot.
Description
Technical field
The utility model belongs to pipe robot field more particularly to big reducing may be implemented in one kind, and can pass through T
The robot of type pipeline.
Background technology
Currently, pipeline is as a kind of effective means of transport of materials, in industry, nuclear facilities, oil, natural gas and army
The fields such as thing equipment are widely used.But due to the space requirement of pipeline, people hardly enters work in pipeline, and is similar to core
Pipeline it is this than relatively rugged environment when, the advantage of robot is more apparent.But pipe robot currently on the market, greatly
Mostly can not reducing or reducing range it is smaller.And most pipe robot is mostly to walk straight tube in operation in the market, is partly walked
Bend pipe.The T-type pipe robot that even straight tube, bend pipe, T-type pipe can work, which can be walked, to be developed, while a robot
Big reducing problem be also problem, a series is made by robot mostly at present, but cost greatly improves.
In conclusion problem of the existing technology is：Existing pipe robot is mostly can not reducing or reducing
Range is smaller, and the robot that can turn T-type pipe is fewer and fewer, and when requiring reducing range big, cost is higher, therefore urgent
It needs a small, reducing range greatly and the robot of T-type pipe can be turned.
Invention content
The utility model provides a kind of wheeled T-type pipe machine of big reducing to solve technical problem present in known technology
Device people, which can be by straight tube, bend pipe and T-type pipe, and has the spy small, reducing range is big and at low cost
Point.
The utility model is adopted the technical scheme that solve technical problem present in known technology：A kind of big reducing
Wheeled T-type pipe robot, including screwdriven mechanism, front driving mechanism and Working mechanism；The screwdriven mechanism includes
Riser is rotated, there are two reducing cylinder I, the outputs of one of reducing cylinder I for installation on the front end face of the rotation riser
Upward, the output shaft of another reducing cylinder I downward, is respectively mounted on the output shaft of each reducing cylinder I there are one steering engine axis
I, it is respectively mounted on the output shaft of each steering engine I there are one traction wheel, two traction wheels are set along same vertical lines
It sets；The rear end face of the rotation riser and the front end of front roll bar are affixed, the rear end of the front roll bar using dual cardan type U-joint with
The rear end of the front end connection of swing rod afterwards, the rear swing rod is connect with the output end of Spur Gear Driving mechanism, the Spur Gear Driving
Mechanism is driven using motor I, and the front roll bar is vertical with the rotation riser, and swing set, institute are set on the front roll bar
It states the front end for swinging and covering to connect with the front end of the front roll bar by bearing, be equipped with along perpendicular in the rear end for swinging set
To the shift fork of extension, the shift fork is fastened on the both sides for swinging set, before the shift fork is located at the dual cardan type U-joint
At end, the shift fork is fixed on the output end of bevel gear transmission I, and the bevel gear transmission I is driven using motor II
Dynamic, the motor I, the motor II, the Spur Gear Driving mechanism and the bevel gear transmission I are installed in a shell
In vivo；The front driving mechanism includes upper and lower two hulls I, and a support wheel, rear end peace are mounted in the front end of each hull I
Equipped with driving wheel I, the driving wheel I is driven by bevel gear transmission II, and the bevel gear transmission II is driven by motor III
Dynamic, the motor III is mounted on the corresponding hull I；It is all provided in each disk of the hull I far from inner wall of the pipe
Have a perpendicular reducing cylinder II, the installation of reducing cylinder II on the housing, the rear end of the shell be equipped with
Its affixed link；The Working mechanism includes the vehicle body equipped with roller I, equipped with implement, institute on the vehicle body
Vehicle body is stated to connect by bellows I with the link.
The robot further includes rear drive mechanism, and the rear drive mechanism includes upper and lower two hulls II, in each hull
II front end is equipped with roller II, and rear end is equipped with driving wheel II, and the driving wheel II is driven by bevel gear transmission III, institute
It states bevel gear transmission III to be driven by motor IV, the motor IV is mounted on the corresponding hull II；Each described
Hull II is equipped with perpendicular reducing cylinder III in the disk far from inner wall of the pipe, the reducing cylinder III is mounted on rear-guard
On frame body, the rear-guard frame body is connect with the vehicle body by bellows II.
The implement is dust catcher, and the dust catcher is mounted on the output shaft of linear motor, the linear motor
On the output shaft of steering engine II, the steering engine II is mounted on the vehicle body.
The utility model has the advantages and positive effects of：Can be by straight tube, bend pipe and T-type pipe, and there is body
The feature that product is small, reducing is big, at low cost, and reducing range is big compared with existing pipe robot.
Description of the drawings
Fig. 1 is robot overall appearance structural representation provided by the utility model；
Fig. 2 is the structural schematic diagram of screwdriven mechanism provided by the utility model；
Fig. 3 is the in-house structure chart of screwdriven provided by the utility model；
Fig. 4 is that screwdriven mechanism provided by the utility model swings schematic diagram；
Fig. 5 is Working mechanism outside drawing provided by the utility model；
Fig. 6 is front driving structure outside drawing provided by the utility model；
Fig. 7 is front driving structure schematic diagram provided by the utility model；
Fig. 8 is rear drive configuration outside drawing provided by the utility model；
Fig. 9 is rear drive configuration schematic diagram provided by the utility model；
Figure 10 is structure chart of the robot provided by the utility model when crossing T-type pipe.
In figure：1- screwdrivens mechanism；2- front driving mechanisms；3- Working mechanisms；4- rear drive configurations；501- bellowss I；
502- bellowss II；
101- reducings cylinder I；102- steering engines I；103- traction wheels；104- swings set；105- rotates riser；106- shift forks；
107- shells；108- motors I；109- motors II；110- bevel gear transmissions I；111- Spur Gear Drivings mechanism；It is put after 112-
Bar；113- dual cardan type U-joints；114- front roll bars；
201- hulls I；202- reducings cylinder II；203- driving wheels I；204- motors III；205- bevel gear transmissions II；
206- links；207- support wheels；
301- roller Is；302- dust catchers；303- linear motors；304- steering engines II；305- vehicle bodies；
401- hulls II；402- driving wheels II；403- reducings cylinder III；404- rear-guard frame bodies；405- motors IV；406- is bored
Gear drive III；407- roller IIs.
Specific implementation mode
For that can further appreciate that the invention, features and effects of the utility model, the following examples are hereby given, and coordinates
Detailed description are as follows for attached drawing：
Please refer to Fig.1~Figure 10, a kind of big wheeled T-type pipe robot of reducing, including screwdriven mechanism 1, preceding driving
Mechanism 2 and Working mechanism 3.
The screwdriven mechanism 1 includes rotation riser 105, and two are equipped on the front end face of the rotation riser 105
A reducing cylinder I 101, the output shaft of one of reducing cylinder I 101 upward, the output shaft court of another reducing cylinder I 101
Under, it is respectively mounted on the output shaft of each reducing cylinder I 101 there are one steering engine I 102, in the output of each steering engine I 102
It is respectively mounted on axis there are one traction wheel 103, two traction wheels 103 are arranged along same vertical lines；The rotation riser 105
Rear end face and front roll bar 114 front end it is affixed, the rear end of the front roll bar 114 is using dual cardan type U-joint 113 and rear swing rod
The rear end of 112 front end connection, the rear swing rod 112 is connect with the output end of Spur Gear Driving mechanism 111, and the spur gear passes
Motivation structure 111 is driven using motor I 108, and the front roll bar 114 is vertical with the rotation riser 105, in the front roll bar 114
On be set with swing set 104, it is described swing set 104 front end connect with the front end of the front roll bar 114 by bearing,
The rear end for swinging set 104 is equipped with vertically extending shift fork 106, and the shift fork 106 is fastened on described swing and covers 104
Both sides, the shift fork 106 are located at the front end of the dual cardan type U-joint 113, and the shift fork 106 is fixed on Bevel Gear Transmission machine
On the output end of structure I 110, the bevel gear transmission I 110 is driven using motor II 109, the motor I 108, the electricity
Machine II 109, the Spur Gear Driving mechanism 111 and the bevel gear transmission I 110 are installed in a shell 107.
The front driving mechanism includes upper and lower two hulls I 201, and a support is mounted in the front end of each hull I 201
Wheel 207, rear end are equipped with driving wheel I 203, and the driving wheel I 203 is driven by bevel gear transmission II 205, the bevel gear
Transmission mechanism II 205 is driven by motor III 204, and the motor III 204 is mounted on the corresponding hull I 201；In each institute
It states and is equipped with perpendicular reducing cylinder II 202 in disk of the hull I 201 far from inner wall of the pipe, the reducing cylinder II 202
On the shell 107, the link 206 affixed with it is equipped in the rear end of the shell 107.
The Working mechanism 3 includes the vehicle body 305 equipped with roller I 301, equipped with implement on the vehicle body 305,
The vehicle body 305 is connect with the link 206 by bellows I 501.
Above-mentioned implement can be dust catcher 302, refer to Fig. 5, and the dust catcher 302 is mounted on linear motor 303
Output shaft on, the linear motor 303 be mounted on steering engine II 304 output shaft on, the steering engine II 304 be mounted on the vehicle
On body 305.Above-mentioned implement may be sander, rolling clean type manipulator, Temperature Humidity Sensor and camera etc..
In the present embodiment, in order to increase driving force, meet the needs of vertical T-type pipe, which drives after further including
Mechanism 4, the rear drive mechanism 4 include upper and lower two hulls II 401, and roller II is equipped in the front end of each hull II 401
407, rear end is equipped with driving wheel II 402, and the driving wheel II 402 is driven by bevel gear transmission III 406, the bevel gear
Transmission mechanism III 406 is driven by motor IV 405, and the motor IV 405 is mounted on the corresponding hull II 401；Each
The hull II 401 is equipped with perpendicular reducing cylinder III 403, the reducing cylinder III in the disk far from inner wall of the pipe
403 are mounted on rear-guard frame body 404, and the rear-guard frame body 404 is connect with the vehicle body 305 by bellows II 502.
The operation principle of the utility model：
When above-mentioned robot moves in straight tube and bend pipe, so that reducing cylinder I 101 is in contraction state, draw at this time
Wheel 103 is detached from inner wall of the pipe, and reducing cylinder II 202 and reducing cylinder III 403 stretch out, and make driving wheel I 203 and driving wheel II
402 contact with inner wall of the pipe, drive robot to advance in the duct by motor III 204 and motor IV 405.
Figure 10 is referred to, when by T-type pipeline, the head of screwdriven mechanism 1 is first leant out T-type pipe by robot, so
Control motor II 109 works afterwards, drives shift fork 106 to rotate by bevel gear transmission I 110, and shift fork 106, which drives, swings set
104 realize that 90 ゜ are swung, and swing 90 ゜ of head oscillation that set 104 drives entire screwdriven mechanism 1；Then steering engine I 102 is swung,
The angle for changing traction wheel 103 axis and pipe centerline keeps it equal with setting helical angle；Subsequently make reducing cylinder I 101
It stretches out, steering engine I 102 and traction wheel 103 is driven to withstand in inner wall of the pipe.Motor I 108 drives rotation by dual cardan type U-joint 113
Turn the rotation of riser 105, drive the end rotation of entire screwdriven mechanism 1 when rotating riser 105 and rotating, traction wheel 103 with
Inner wall of the pipe friction realizes that screw makes entire machine under the synergistic effect of front driving mechanism 2 and/or rear drive mechanism 4
Device people realizes the function by T-type pipe.
The utility model realizes reducing using cylinder, and reducing range is larger, small volume.
Although the preferred embodiment of the utility model is described above in conjunction with attached drawing, the utility model is not
It is confined to above-mentioned specific implementation mode, the above mentioned embodiment is only schematical, is not restrictive, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under the enlightenment of the utility model
In the case of range, many forms can also be made, these are belonged within the scope of protection of the utility model.
Claims (3)
1. a kind of wheeled T-type pipe robot of big reducing, which is characterized in that including screwdriven mechanism, front driving mechanism and work
Industry mechanism；
The screwdriven mechanism includes rotation riser, the reducing cylinder I there are two installations on the front end face of the rotation riser,
The output shaft of one of reducing cylinder I upward, the output shaft of another reducing cylinder I downward, in the defeated of each reducing cylinder I
It is respectively mounted on shaft there are one steering engine I, is respectively mounted that there are one traction wheels on the output shaft of each steering engine I, described in two
Traction wheel is arranged along same vertical lines；The rear end face of the rotation riser and the front end of front roll bar are affixed, the front roll bar
Rear end is connect using dual cardan type U-joint with the front end of rear swing rod, the output of the rear end and Spur Gear Driving mechanism of the rear swing rod
End connection, the Spur Gear Driving mechanism are driven using motor I, and the front roll bar is vertical with the rotation riser, before described
Swing set is set on swing rod, the front end for swinging set is connect by bearing with the front end of the front roll bar, described
The rear end for swinging set is equipped with vertically extending shift fork, and the shift fork is fastened on the both sides for swinging set, the shift fork position
At the front end of the dual cardan type U-joint, the shift fork is fixed on the output end of bevel gear transmission I, the bevel gear
Transmission mechanism I is driven using motor II, and the motor I, the motor II, the Spur Gear Driving mechanism and the bevel gear pass
Motivation structure I is installed in a shell；
The front driving mechanism includes upper and lower two hulls I, and a support wheel, rear end peace are mounted in the front end of each hull I
Equipped with driving wheel I, the driving wheel I is driven by bevel gear transmission II, and the bevel gear transmission II is driven by motor III
Dynamic, the motor III is mounted on the corresponding hull I；It is all provided in each disk of the hull I far from inner wall of the pipe
Have a perpendicular reducing cylinder II, the installation of reducing cylinder II on the housing, the rear end of the shell be equipped with
Its affixed link；
The Working mechanism includes the vehicle body equipped with roller I, equipped with implement on the vehicle body, the vehicle body with it is described
Link is connected by bellows I.
2. the wheeled T-type pipe robot of big reducing according to claim 1, which is characterized in that after the robot further includes
Driving mechanism, the rear drive mechanism include upper and lower two hulls II, and roller II, rear end are equipped in the front end of each hull II
Driving wheel II is installed, the driving wheel II is driven by bevel gear transmission III, and the bevel gear transmission III is by motor
IV driving, the motor IV are mounted on the corresponding hull II；In each disk of the hull II far from inner wall of the pipe
On be equipped with perpendicular reducing cylinder III, the reducing cylinder III is mounted on rear-guard frame body, the rear-guard frame body and institute
Vehicle body is stated to connect by bellows II.
3. the wheeled T-type pipe robot of big reducing according to claim 1, which is characterized in that the implement is to inhale
Dirt device, the dust catcher are mounted on the output shaft of linear motor, and the linear motor is mounted on the output shaft of steering engine II, institute
Steering engine II is stated on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820120322.3U CN208011159U (en) | 2018-01-24 | 2018-01-24 | The wheeled T-type pipe robot of big reducing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820120322.3U CN208011159U (en) | 2018-01-24 | 2018-01-24 | The wheeled T-type pipe robot of big reducing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208011159U true CN208011159U (en) | 2018-10-26 |
Family
ID=63883337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820120322.3U Withdrawn - After Issue CN208011159U (en) | 2018-01-24 | 2018-01-24 | The wheeled T-type pipe robot of big reducing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208011159U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194763A (en) * | 2018-01-24 | 2018-06-22 | 天津大学 | The wheeled T-shaped pipe robot of big reducing |
| CN114593306A (en) * | 2022-02-28 | 2022-06-07 | 南京航空航天大学 | Pipe diameter self-adaptive wheel type module and pipeline robot |
-
2018
- 2018-01-24 CN CN201820120322.3U patent/CN208011159U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194763A (en) * | 2018-01-24 | 2018-06-22 | 天津大学 | The wheeled T-shaped pipe robot of big reducing |
| CN114593306A (en) * | 2022-02-28 | 2022-06-07 | 南京航空航天大学 | Pipe diameter self-adaptive wheel type module and pipeline robot |
| CN114593306B (en) * | 2022-02-28 | 2023-01-06 | 南京航空航天大学 | Pipe diameter self-adaptive wheel type module and pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181026 Effective date of abandoning: 20190927 |