CN208474778U - A kind of differential speed type diameter-variable pipe drive system of robot - Google Patents
A kind of differential speed type diameter-variable pipe drive system of robot Download PDFInfo
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- CN208474778U CN208474778U CN201821119687.0U CN201821119687U CN208474778U CN 208474778 U CN208474778 U CN 208474778U CN 201821119687 U CN201821119687 U CN 201821119687U CN 208474778 U CN208474778 U CN 208474778U
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- fuselage
- variable diameter
- variable
- robot
- diameter
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Abstract
The utility model belongs to pipe robot field, and in particular to a kind of differential speed type diameter-variable pipe drive system of robot.Using modular design method, including fuselage, center differential, actuating arm, preload variable diameter unit and support arm；Center differential is mounted on fuselage interior, being capable of differential adjusting driving wheel speed when robot is excessively curved；Actuating arm generally four-bar mechanism, there are four driving wheel reality, ensure that the reliability of robot motion；It pre-tightens variable diameter unit and diameter changing mechanism is pre-tightened using spring and screw pair mixing, variable diameter range is big, and pretightning force is adjustable；Fuselage, actuating arm pre-tighten variable diameter bar and pre-tighten variable diameter unit composition four-bar mechanism, are able to achieve larger range variable diameter；For support arm using pin connection and bearing spring mixing bearing, support zone is adjustable, and bearing is reliable.The utility model has bend pipe passage capacity good, and variable diameter range is big, small volume, the high beneficial effect of kinetic stability.
Description
Technical field
The utility model belongs to pipe robot field, and in particular to a kind of robotically-driven system of differential speed type diameter-variable pipe
System.
Background technique
Pipe robot is operate on particular space in pipeline and carries the intelligence equipment of multiple sensors or operating device,
Achievable duct cleaning, defects detection such as process in pipe at the pipelines operation.Drive system is pipe robot important composition portion
/ mono-, it is the power resources of pipe robot, meets the requirement of pipe robot in-line portion movement.
According to the difference of pipe robot motor pattern, pipe robot can be divided into pressure differential formula, wheeled, crawler belt
Seven classes such as formula, stomach wall formula, walking, creeping motion type, helical driving type, wherein most widely used is wheeled pipe robot.Wheel
Formula pipe robot has many advantages, such as that speed is fast, movement is steady, load capacity is strong, but when robot passes through bend pipe, due to each wheel
The arc length passed by is different, and certain driving wheels are likely to become braked wheel to generate movement interference, this not only reduces its driving
Power, and the consumption of power and the abrasion of driving part are exacerbated, reduce its service life.In view of the above problems, existing skill
Art mostly uses multiple servo motors while driving, each one on each actuating arm, to realize pipeline machine using control technology
People's drive system is to the adaptive of environment, but this kind of method adapts to the real-time of environment, and flatness is ideal not enough, and multiple
Servo motor occupied space is too big, limits its applicability in small-caliber pipeline.Another method is somebody's turn to do using differential speed type
Kind method has mechanical self-adaptability, can drive wheel speed according to the different adjust automaticallies of bend pipe curvature, can be smooth
By bend pipe, but, using differential mechanism number more, volume smaller using the pipe robot majority variable diameter range of differential speed type method
Larger, mechanical structure is complex, and manufacturing cost is higher, and how circumferentially disposed three groups of support wheels, and kinetic stability is not enough
It is good.Accordingly, it is considered to arrive manufacturing cost, there is an urgent need to a kind of small volume, variable diameter range is big, the pipeline with mechanical self-adaptability
Robot.
Utility model content
For the above-mentioned deficiency of the prior art, the technical problems to be solved in the utility model is that design a kind of differential speed type variable
Diameter pipe robot drive system, solution similar product bend pipe passage capacity is bad, and variable diameter range is smaller, and volume is larger, movement
The not high problem of stability.
To achieve the above object, the utility model provides the following technical solutions: a kind of differential speed type pipe with variable diameter pipeline robot
Drive system, including fuselage, center differential, actuating arm, preload variable diameter unit and support arm, center differential are mounted on fuselage
It is internal；Actuating arm is divided into two groups, is symmetrically mounted on fore-body both ends；Variable diameter unit is pre-tightened by pre-tightening variable diameter bar and actuating arm
Connection, fuselage, actuating arm pre-tighten variable diameter bar, pre-tighten variable diameter unit and constitute four-bar mechanism, it can be achieved that a wide range of variable diameter；Branch
Brace is divided into six groups, and four groups are uniformly mounted on fuselage afterbody along fuselage is circumferential, and two groups are symmetrically mounted on fore-body both ends, and with
Two groups of actuating arm circumferential direction quartering configurations；Fuselage interior is equipped with battery, and whole system provides power by battery, avoids
The limitation of cable length.
The center differential, power are inputted by driving motor, can will be defeated according to the size of actuating arm feedback resistance
Enter movement and be decomposed into other two different movements according to required ratio, then transfers power to two groups of actuating arms, guarantee pipe
Pipeline robot is smooth excessively curved.
The actuating arm, including driving wheel, driving chain, bevel gear set, driven wheel and support link, driving wheel and from
Driving wheel is driving wheel, actuating arm generally four-bar mechanism；Bevel gear set commutates the movement inputted by center differential, and
It will move through driving chain and be input to driving wheel, driving wheel passes motion to driven wheel by driving chain, realizes master
Driving wheel and driven wheel move synchronously, and increase the reliability of its movement；Driving wheel and driven wheel have made anti-skidding processing, increase
Frictional force between tube wall.
The preload variable diameter unit, including lead screw, nut, preloading spring, connection sliding sleeve and preload motor, pipeline machine
Man-hour pre-tightens motor and drives lead screw rotation, and then nut is made to compress preloading spring one end；The preloading spring other end acts on
Sliding sleeve is connected, connection sliding sleeve is connect with variable diameter bar is pre-tightened, and can make preload variable diameter bar that driving wheel is compressed tube wall, to obtain foot
Enough normal pressures, and realize a wide range of variable diameter.
The support arm, including sleeve, support rod, support spring, spring cylinder sleeve, U-shaped frame and support wheel, support wheel peace
In U-shaped frame, U-shaped frame can be moved along the slideway in spring cylinder sleeve, and support spring is placed in inside spring cylinder sleeve, and one end with
U-shaped frame is connected；Spring cylinder sleeve bottom is connected with support rod, support rod can with the sleeve fitting that is fixed on fuselage, support rod with
Sleeve corresponding position is provided with multiple pin holes.
The utility model compared with prior art the utility model has the advantages that a kind of differential speed type diameter-variable pipe provided by the utility model
Drive system of robot, can be realized when robot passes through bend pipe each driving wheel according to pipeline constraint condition differential motion, and only
There is a center differential, compact-sized, small volume, manufacturing cost is lower；It is mixed using preloading spring and screw pair
The mechanism of variable diameter is pre-tightened, and support rod and sleeve relative position in support arm can be pre-adjusted and be capable of fixing, is met a wide range of pre-
The requirement of tight variable diameter and support；Four groups of support arm circumferential direction quartering arrangements, using symmetry, it can be achieved that self-centering requirement, movement
It is more steady；Whole system uses modular design method, and installation and debugging are all more convenient.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is four groups of support arm Section A-A arrangement schematic diagrams along Fig. 1 of the utility model；
Fig. 3 is two groups of actuating arms of the utility model and two groups of support arm section B-B arrangement schematic diagrams along Fig. 1；
Fig. 4 is the utility model actuating arm and preload variable diameter cellular construction schematic diagram；
Fig. 5 is the utility model support arm structural schematic diagram.
Marginal data: 1- actuating arm, 2- pre-tighten variable diameter unit, 3- center differential, 4- battery, 5- driving motor, 6-
Tube wall, 7- fuselage, 8- support arm, 9- pre-tighten variable diameter bar；
101- driving wheel, 102- driving chain, 103- bevel gear set, 104- driven wheel, 105- support link；
201- lead screw, 202- nut, 203- preloading spring, 204- connection sliding sleeve, 205- pre-tighten motor；
801- pin hole, 802- sleeve, 803- support rod, 804- support spring, 805- spring cylinder sleeve, 806-U shape frame, 807-
Support wheel.
Specific embodiment
The embodiments of the present invention are described further below according to attached drawing, following embodiment is practical for illustrating this
It is novel, but cannot be used to limit the scope of the utility model.
Please refer to Fig. 1-Fig. 5, a kind of differential speed type diameter-variable pipe drive system of robot, including fuselage 7, center differential
3, actuating arm 1, preload variable diameter unit 2 and support arm 8, center differential 3 are mounted on inside fuselage 7, and fuselage 7 is reasonably utilized
Inner space；It is two groups that actuating arm 1, which is divided to, is symmetrically mounted on 7 front both ends of fuselage；Variable diameter unit 2 is pre-tightened by pre-tightening variable diameter bar 9
Connect with actuating arm 1, fuselage 7, actuating arm 1, pre-tighten variable diameter bar 9, pre-tighten variable diameter unit 2 constitute four-bar mechanism, it can be achieved that
A wide range of variable diameter；It is six groups that support arm 8, which divides, and four groups are uniformly mounted on the Section A-A in Fig. 1 along 7 circumferential direction of fuselage, and two groups are symmetrically pacified
The section B-B in Fig. 1 is configured mounted in 7 front of fuselage, and with the circumferential quartering of two groups of actuating arms 1, design fully meets symmetrical
Property require, ensure that the stationarity in entire robot operational process；Battery 4 is installed, whole system is by storing inside fuselage 7
Battery 4 provides power, avoids the limitation of cable length.
Further, the center differential 3, power are inputted by driving motor 5, can be according to 1 feedback resistance of actuating arm
Size input motion is decomposed into other two different movements according to required ratio, then transfer power to two groups of drivings
Arm 1 guarantees that pipe robot is smooth excessively curved.
Further, the actuating arm 1, including driving wheel 101, driving chain 102, bevel gear set 103, driven wheel 104
With support link 105, driving wheel 101 and driven wheel 104 are driving wheel, the generally four-bar mechanism of actuating arm 1；Bevel gear set
103 commutate the movement inputted by center differential 3, and will move through driving chain 102 and be input to driving wheel 101, actively
Wheel 101 passes motion to driven wheel 104 by driving chain 102, realizes the fortune synchronous with driven wheel 104 of driving wheel 101
It is dynamic, increase the reliability of its movement；Driving wheel 101 and driven wheel 104 have made anti-skidding processing, increase between tube wall 6
Frictional force.
Further, the preload variable diameter unit 2, including lead screw 201, nut 202, preloading spring 203, connection sliding sleeve
204 and pre-tighten motor 205, using preloading spring 203 and 201 nut 202 of lead screw mixing pre-tighten variable diameter mechanism；Pipe robot
When work, pre-tightens motor 205 and lead screw 201 is driven to rotate, and then nut 202 is made to compress 203 one end of preloading spring；Preloading spring
203 other ends act on connection sliding sleeve 204, and connection sliding sleeve 204 is connect with variable diameter bar 9 is pre-tightened, and can make preload variable diameter bar 9 that will drive
Wheel compresses tube wall 6, to obtain enough normal pressures, and realizes a wide range of variable diameter.
Further, the support arm 8, including sleeve 802, support rod 803, support spring 804, spring cylinder sleeve 805, U
Shape frame 806 and support wheel 807, support wheel 807 are mounted in U-shaped frame 806, and U-shaped frame 806 can be along the slideway in spring cylinder sleeve 805
Movement, support spring 804 is placed in inside spring cylinder sleeve 805, and one end is connected with U-shaped frame 806；805 bottom of spring cylinder sleeve connects
It is connected to support rod 803, support rod 803 can be with 802 fitting of sleeve that is fixed on fuselage 7, and support rod 803 is corresponding with sleeve 802
Position is provided with multiple pin holes 801；Before pipe robot is put into pipeline, can according to the big minor adjustment support rod 803 of caliber with
The relative position of sleeve 802, and can be fixed by pin shaft, normal pressure required for support can be met in a big way, matched
Closing actuating arm 1 realizes the requirement for pre-tightening variable diameter on a large scale.
Claims (5)
1. a kind of differential speed type diameter-variable pipe drive system of robot, including fuselage (7), it is characterised in that: center differential (3)
It is internal to be mounted on fuselage (7)；Actuating arm (1) is divided into two groups, is symmetrically mounted on fuselage (7) front both ends；It pre-tightens variable diameter unit (2)
It is connect by pre-tightening variable diameter bar (9) with actuating arm (1), fuselage (7), actuating arm (1) pre-tightens variable diameter bar (9), pre-tightens variable diameter unit
(2) four-bar mechanism is constituted；Support arm (8) is divided into six groups, and four groups are uniformly mounted on fuselage (7) rear portion along fuselage (7) circumferential direction,
Two groups are symmetrically mounted on fuselage (7) front both ends, and configure with the circumferential quartering of two groups of actuating arms (1).
2. a kind of differential speed type diameter-variable pipe drive system of robot according to claim 1, it is characterised in that: in described
Input motion can be decomposed into other two according to required ratio according to the size of actuating arm (1) feedback resistance by heart differential mechanism (3)
The different movement of kind simultaneously transfers power to two groups of actuating arms (1).
3. a kind of differential speed type diameter-variable pipe drive system of robot according to claim 1, it is characterised in that: the drive
Swing arm (1) generally four-bar mechanism, driving wheel (101) pass motion to driven wheel (104) by driving chain (102).
4. a kind of differential speed type diameter-variable pipe drive system of robot according to claim 1, it is characterised in that: described pre-
Tight variable diameter unit (2) pre-tightens the mechanism of variable diameter using preloading spring (203) and lead screw (201) nut (202) mixing.
5. a kind of differential speed type diameter-variable pipe drive system of robot according to claim 1, it is characterised in that: the branch
Brace (8), including sleeve (802) and support rod (803), support rod (803) and the sleeve (802) being fixed on fuselage (7) are right
Position is answered to be provided with multiple pin holes (801), support rod (803) can be consolidated with sleeve (802) fitting, the two relative position by pin shaft
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821119687.0U CN208474778U (en) | 2018-07-16 | 2018-07-16 | A kind of differential speed type diameter-variable pipe drive system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821119687.0U CN208474778U (en) | 2018-07-16 | 2018-07-16 | A kind of differential speed type diameter-variable pipe drive system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208474778U true CN208474778U (en) | 2019-02-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821119687.0U Expired - Fee Related CN208474778U (en) | 2018-07-16 | 2018-07-16 | A kind of differential speed type diameter-variable pipe drive system of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208474778U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822215A (en) * | 2019-11-18 | 2020-02-21 | 西安建筑科技大学 | Electromagnetic differential type self-adaptive pipeline device |
| CN110925523A (en) * | 2019-12-12 | 2020-03-27 | 浙江省特种设备科学研究院 | Pipeline inspection robot |
| CN111306402A (en) * | 2020-04-07 | 2020-06-19 | 山东科技大学 | Reducing telescopic miniature pipeline cleaning device |
| CN111578039A (en) * | 2020-05-20 | 2020-08-25 | 河海大学常州校区 | Pipeline inspection robot |
| CN112066155A (en) * | 2020-09-08 | 2020-12-11 | 沈阳工业大学 | Differential supporting wheel type pipeline robot |
-
2018
- 2018-07-16 CN CN201821119687.0U patent/CN208474778U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822215A (en) * | 2019-11-18 | 2020-02-21 | 西安建筑科技大学 | Electromagnetic differential type self-adaptive pipeline device |
| CN110822215B (en) * | 2019-11-18 | 2023-12-05 | 西安建筑科技大学 | Electromagnetic differential type self-adaptive pipeline device |
| CN110925523A (en) * | 2019-12-12 | 2020-03-27 | 浙江省特种设备科学研究院 | Pipeline inspection robot |
| CN111306402A (en) * | 2020-04-07 | 2020-06-19 | 山东科技大学 | Reducing telescopic miniature pipeline cleaning device |
| CN111578039A (en) * | 2020-05-20 | 2020-08-25 | 河海大学常州校区 | Pipeline inspection robot |
| CN112066155A (en) * | 2020-09-08 | 2020-12-11 | 沈阳工业大学 | Differential supporting wheel type pipeline 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20190716 |