CN208764559U - A kind of pipe robot independently turned - Google Patents
A kind of pipe robot independently turned Download PDFInfo
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- CN208764559U CN208764559U CN201821128099.3U CN201821128099U CN208764559U CN 208764559 U CN208764559 U CN 208764559U CN 201821128099 U CN201821128099 U CN 201821128099U CN 208764559 U CN208764559 U CN 208764559U
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- flexible axle
- pipe robot
- rack
- driving
- driven wheel
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Abstract
The utility model belongs to robotic technology field, more particularly to a kind of pipe robot independently turned, comprising: two driving mould groups and at least two flexible axles.At least two flexible axles are installed between two driving mould groups, and the both ends of flexible axle are separately positioned in corresponding driving mould group, and driving mould group can be moved along the axial direction of flexible axle.When pipe robot, which encounters T-type bend, to be needed to turn to side, driving mould group close to bend is moved along the side flexible axle to the direction of another driving mould group, the length of flexible axle is less than the length of flexible axle between other sides two driving mould group between the mould group of the side two driving at this time, so that the head of pipe robot is deflected, pipe robot is enable to pass through bend.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of pipe robot independently turned.
Background technique
Pipeline is as a part essential in the modern life, since long-term environmental corrosion, external force etc. are inevitable
Understand some damages.Pipeline in use, can generate various pipeline faults, blocking and damage the problems such as, if not
Pipeline is detected in time, repairs and will generate major accident.Traditional artificial detection, random sampling and periodic replacement etc. are answered
To method there are project amounts it is big, at high cost, danger coefficient is high the disadvantages of.In order to guarantee pipeline using safe, timing detection with
Repair critically important, but pipeline is embedded in underground mostly, it is difficult to artificial detection.
The maintenance needs of 1970s, pipeline and container under the adverse circumstances such as petroleum, natural gas, nuclear industry stimulate
The research of pipe robot, the European countries such as the U.S., Japan and France, Germany develop the pipe machine of diversified forms in succession
Device people.Domestic some scientific research institutions and unit, which start to have carried out a large amount of pipelines to creep, detects the research work of robot, at present
Some commercial applications are realized in the big path length straight pipeline such as oil gas, municipal administration.However, these existing pipe robots are not only
Structure is complicated and is difficult to adapt to complex environment in pipeline, especially in stays when encountering complicated bend, makes pipeline machine
People can not normal use under many scenes.
Utility model content
The technical problem to be solved by the utility model is to provide the pipe robots that one kind is independently turned, it is intended to solve
Existing pipe robot encounters problem in stays when complicated bend in the duct.
In order to solve the above technical problems, the utility model is realized in this way, a kind of pipe robot independently turned,
It is characterized in that, comprising: two driving mould groups and at least two flexible axles；
At least two flexible axles are installed between two driving mould groups, the both ends difference of at least two flexible axles
Setting is in the corresponding driving mould group；
The driving mould group includes running assembly, wire feed component and fixing seat, the wire feed component and the running assembly
It is respectively mounted on the fixing seat, the wire feed component and the flexible axle correspond, and the end of each flexible axle passes through corresponding
The wire feed component, the wire feed component that flexible axle described in same root passes through pumped along the axis of this root flexible axle, the traveling
Component for moving in the duct.
Further, the wire feed component includes rack, first motor, driving wheel and the first driven wheel；
The first motor is fixed on the rack, the output axis connection of the driving wheel and the first motor, institute
The first driven wheel is stated to be installed in rotation on the rack；
The flexible axle is plugged between the driving wheel and first driven wheel, and the driving wheel rotation is along described soft
The axial direction of axis pumps the flexible axle.
Further, the wire feed component further includes adjustment seat, the second driven wheel；
The first end of the adjustment seat is installed in rotation on the rack, the second end of the adjustment seat with described
Frame elastic connection, first driven wheel are installed in rotation in the adjustment seat, and second driven wheel is rotationally pacified
On the rack；
The flexible axle is plugged between the driving wheel, first driven wheel and second driven wheel, and described
Driving wheel and second driven wheel are located at the same side of the flexible axle, and first driven wheel is located at the driving wheel and institute
It states between the second driven wheel.
Further, the wire feed component further includes adjusting nut, T-type axis and spring；
The second end of the adjustment seat offers through hole, and the stub end of the T-type axis is connect with the rack, the T
The spring is set on the T-type axis after the small head end of profile shaft passes through the through hole, and the adjusting nut is mounted on the T
The small head end of profile shaft simultaneously compresses the spring.
Further, the pipe robot independently turned further includes at least one mold plate；
The periphery of the mold plate is equipped with the first through slot, and each flexible axle passes through first perforation correspondingly
Slot.
Further, the pipe robot independently turned further includes limit rope；
The center of the mold plate is equipped with the second through slot, and the limit rope passes through the second through slot of the mold plate,
And it knots at the second through slot of the corresponding mold plate, and the both ends of the limit rope are connected to corresponding fixation
On seat.
Further, the running assembly includes decelerating motor, running assembly rack, shaft and wheel；
Running assembly rack is arranged on the fixing seat, and the decelerating motor is fixed on the running assembly rack,
The wheel is connected on the output shaft of the decelerating motor by the shaft.
Further, the running assembly includes decelerating motor, running assembly rack, two hexagonal shafts and two vehicles
Wheel；
The decelerating motor is fixed on the running assembly rack, one end of two hexagonal shafts and the deceleration
Motor connection, the other end is output end, and two wheels are mounted on correspondingly on the output end of the hexagonal shaft.
Further, the driving mould group further includes tensioner component, and the tensioner component includes support rod and tensioner driving
Mechanism, the tensioner driving mechanism installation is on the fixing seat；The first end of the support rod is connect with the running assembly,
The second end of the support rod is connect with the tensioner driving mechanism, and the tensioner driving mechanism drives institute by the support rod
Running assembly is stated to be connected in inner wall of the pipe.
Further, the tensioner driving mechanism includes the second motor, screw rod and nut, and second motor is fixed on institute
It states in fixing seat, the operating of screw rod described in second motor driven, the nut thread is connected on the screw rod, the support
The second end of bar is connected on the nut；Alternatively,
The tensioner driving mechanism includes helical spring, guide post and moving member, and the guide post is fixed on the fixation
On seat, which is sheathed on the guide post, and one end of the helical spring is connected and fixed with the fixing seat, the other end
It is connected and fixed with moving member, when the helical spring is stretched by the moving member, the helical spring provides the moving member
Close to the pulling force of the fixing seat, or when helical spring is compressed by moving member, helical spring provides far from fixing seat moving member
Thrust.
Compared with prior art, beneficial effect is the utility model: the pipeline that one kind of the utility model is independently turned
Robot, comprising: two driving mould groups and at least two flexible axles.At least two flexible axles are installed between two driving mould groups, soft
The both ends of axis are separately positioned in corresponding driving mould group, and driving mould group can be moved along the axial direction of flexible axle.When pipeline machine
People encounter T-type bend need to side turn when, close to bend driving mould group along the side flexible axle to it is another driving mould group side
To movement, the length of flexible axle is less than the length of flexible axle between other sides two driving mould group between the mould group of the side two driving at this time, makes pipeline
The head of robot deflects, and pipe robot is enable to pass through bend.Due to the pipe robot independently turned
Angle of turn determined by the length of each flexible axle between two driving mould groups, therefore can according to need the turning angle of pipe robot
Degree is adjusted, and to adapt to the bend of various complexity in pipeline, solves existing pipe robot and encounters complexity in the duct
Problem in stays when bend, improves the performance of product.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the pipe robot independently turned of the utility model embodiment；
Fig. 2 is the decomposition chart of Fig. 1；
Fig. 3 is the structural schematic diagram of the driving mould group in Fig. 2；
Fig. 4 is the decomposition chart of Fig. 3；
Fig. 5 is the structural schematic diagram of the wire feed component in Fig. 4；
Fig. 6 is the cross-sectional view in flexible axle insertion wire feed component；
Fig. 7 is the decomposition chart of Fig. 5；
Fig. 8 is the decomposition chart of the running assembly in Fig. 4；
Fig. 9 is the structural schematic diagram of the mold plate in Fig. 2；
Figure 10 is the structural schematic diagram of the tensioner component in Fig. 4；
Figure 11 is the structural schematic diagram of the another embodiment of the tensioner component in Fig. 4.
In the accompanying drawings, each appended drawing reference indicates: 1, driving mould group；11, running assembly；111, decelerating motor；112, it travels
Component rack；113, hexagonal shaft；114, wheel；12, wire feed component；121, rack；122, adjustment seat；123, first motor；
124, driving wheel；125, the first driven wheel；126, the second driven wheel；127, adjusting nut；128, T-type axis；129, spring；13,
Fixing seat；14, tensioner component；141, support rod；142, the second motor；143, screw rod；144, nut；145, helical spring；
146, guide post；147, moving member；2, flexible axle；3, mold plate；31, the first through slot；32, the second through slot；4, limit rope.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be certainly for the preferred embodiment for the pipe robot that one kind provided by the utility model is independently turned referring to Fig. 1-4
The pipe robot of main turning includes: two driving mould groups 1 and at least two flexible axles 2.Wherein, at least two flexible axles 2 are pacified
Loaded between two driving mould groups 1, the both ends of at least two flexible axles 2 are separately positioned on the corresponding driving mould group
In 1.The driving mould group 1 includes running assembly 11, wire feed component 12 and fixing seat 13, the wire feed component 12 and the traveling
Component 11 is installed in the fixing seat 13, and the wire feed component and the flexible axle 2 correspond, the end of each flexible axle 2
Portion passes through the corresponding wire feed component 12, the wire feed component 12 that flexible axle 2 described in same root passes through along this root flexible axle 2 axis into
Row is pumped, and the running assembly 11 for moving in the duct.
The pipe robot independently turned in the utility model is needed when pipe robot encounters T-type bend to side
When turning, the wire feed component in the driving mould group of bend starts to pump the side flexible axle 2, makes close to the driving mould group edge of bend
The side flexible axle 2 is moved to the direction of another driving mould group, and the length of flexible axle 2 is less than other sides two between the mould group of the side two driving at this time
The length of flexible axle 2, makes the head of pipe robot deflect, so that pipe robot is passed through curved between driving mould group
Road.It, can since the angle of turn of the pipe robot independently turned is determined by the length of each flexible axle 2 between two driving mould groups
The angle of turn of pipe robot to be adjusted as needed, to adapt to the bend of various complexity in pipeline, solve existing
Some pipe robots encounter problem in stays when complicated bend in the duct, improve the performance of product.
Referring to Fig. 5-7, specifically, wire feed component 12 includes rack 121, adjustment seat 122, first motor 123, driving wheel
124, the first driven wheel 125, the second driven wheel 126, adjusting nut 127, T-type axis 128 and spring 129.
The first motor 123 is fixed on the rack 121, and the driving wheel 124 is defeated with the first motor 123
Axis connection out, the first end of the adjustment seat 122 are installed in rotation on the rack 121, and the second of the adjustment seat 122
End and 121 elastic connection of rack.The second end of the adjustment seat 122 offers through hole, the major part of the T-type axis 128
End is connect with the rack 121, and the small head end of the T-type axis 128 is set in described across the spring 129 after the through hole
On T-type axis 128, the adjusting nut 127 is mounted on the small head end of the T-type axis 128 and compresses the spring 129.Described
One driven wheel 125 is installed in rotation in the adjustment seat 122, and second driven wheel 126 is installed in rotation on described
On rack 121.The flexible axle 2 is plugged on the driving wheel 124, first driven wheel 125 and second driven wheel 126
Between, and the driving wheel 124 and second driven wheel 126 are located at the same side of the flexible axle 2, and first driven wheel
125 between the driving wheel 124 and second driven wheel 126.The rotation of driving wheel 124 is so that 12 edge of wire feed component
The axial direction of the flexible axle 2 pumps the flexible axle 2.
Referring to Fig. 1,2,9, further, the pipe robot independently turned further includes at least one mold plate 3.It is described fixed
The periphery of template 3 is equipped with the first through slot 31, and each flexible axle 2 passes through first through slot 31 correspondingly.Due to soft
The rigidity of axis 2 is insufficient, is easily deformed the pipe robot independently turned during the motion, deviates pipe robot predetermined
Direction can be such that pipe robot is unlikely to deform during the motion using mold plate 3, prevent pipe robot from deviateing predetermined party
To.
Referring to Fig. 1,2,9, further, the pipe robot independently turned further includes limit rope 4.The mold plate 3
Center is equipped with the second through slot 32, and the limit rope 4 passes through the second through slot 32 of the mold plate 3, and corresponding described
It knots at second through slot 32 of mold plate 3, and the both ends of the limit rope 4 are connected in corresponding fixing seat 13.Limit
Position 4 pairs of mold plates 3 of rope play position-limiting action, after avoiding pipe robot multiple mold plates 3 stacking during the motion, drop
Fixed effect of the low mold plate 3 to flexible axle 2.
Referring to Fig. 8, specifically, the running assembly 11 includes 112, two decelerating motor 111, running assembly rack hexagonals
Shaft 113 and two wheels 114.The decelerating motor 111 is fixed on the running assembly rack 112, and two described six
One end of angle shaft 113 is connect with the decelerating motor 111, and the other end is output end, and two wheels 114 are correspondingly
It is mounted on the output end of the hexagonal shaft 113.
Further, the driving mould group 1 further includes tensioner component 14, and the tensioner component 14 includes 141 He of support rod
Tensioner driving mechanism, the tensioner driving mechanism are mounted in the fixing seat 13；The first end of the support rod 141 with it is described
Running assembly 11 connects, and the second end of the support rod 141 is connect with the tensioner driving mechanism, and the tensioner driving mechanism is logical
Crossing the support rod 141 drives the running assembly 11 to be connected in inner wall of the pipe.
Referring to Figure 10, specifically, the tensioner driving mechanism includes the second motor 142, screw rod 143 and nut 144, it is described
Second motor 142 is fixed in the fixing seat 13, and second motor 142 drives the screw rod 143 to operate, the nut
144 are threadedly connected on the screw rod 143, and the second end of the support rod 141 is connected on the nut 144.
The both ends of support rod 141 are hinged with running assembly 11 and nut 144 respectively, when nut 144 is past solid on screw rod 143
When 13 direction of reservation is mobile, running assembly 11 and the hinged one end of support rod 141 are past far from tensioner centered on tensioner component 14
14 direction of component is mobile, it may be assumed that running assembly 11 and the hinged one end of support rod 141 are close toward inner wall of the pipe, in turn, are set to traveling
Wheel 114 on component 11 is close toward inner wall of the pipe；When nut 144 screw rod 143 toward it is mobile far from 13 direction of fixing seat when, row
Component 11 and the hinged one end of support rod 141 are sailed centered on tensioner component 14 toward mobile close to 14 direction of tensioner component, that is, row
Component 11 and the hinged one end of support rod 141 are sailed far from inner wall of the pipe, in turn, the wheel 114 set on running assembly 11 is far from pipe
Road inner wall, above, the diameter for realizing the 114 place circumference of wheel of at least two running assemblies 11 is adjusted, and then is realized
Robot is adjusted according to the pipeline of different inner diameters, to adapt to walk in the pipeline of different inner diameters.
In the present embodiment, it is united by controller to decelerating motor 111, first motor 123, second motor 142 etc.
One control.During robot walks in pipeline, decelerating motor 111 is controlled by controller to control walking speed
Degree；When being turned, corresponding first motor 123 in wire feed component 12 is controlled by controller thus to corresponding soft
Axis 2 is pumped, to realize turning function；When needing robot stabilized some position stopped in the duct, at this point, logical
Controller control decelerating motor 111, the stopping output power of first motor 123 are crossed, and defeated by controller the second motor 142 of control
Power struts tensioner component 14 to stretching in the duct relative to tube wall out.
Referring to Figure 11, in addition to above-described embodiment, the tensioner driving mechanism may also include helical spring 145, guide post 146
With moving member 147, the guide post 146 is fixed in the fixing seat 13, which is sheathed on the guide post
146, one end of the helical spring 145 is connected and fixed with the fixing seat 13, and the other end is connected and fixed with moving member 147, when
The helical spring 145 when being stretched by the moving member 147 helical spring 145 moving member 147 is provided close to institute
The pulling force of fixing seat 13 is stated, or helical spring 145 provides far moving member 147 when helical spring 145 is compressed by moving member 147
Thrust from fixing seat 13.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. the pipe robot that one kind is independently turned characterized by comprising two driving mould groups (1) and at least two flexible axles
(2)；
At least two flexible axles (2) are installed between two driving mould groups (1), and the two of at least two flexible axles (2)
End is separately positioned in the corresponding driving mould group (1)；
The driving mould group (1) includes running assembly (11), wire feed component (12) and fixing seat (13), the wire feed component (12)
And the running assembly (11) is installed on the fixing seat (13), the wire feed component and the flexible axle (2) correspond,
The end of each flexible axle (2) passes through the corresponding wire feed component (12), the wire feed component that flexible axle (2) described in same root passes through
(12) axis along this root flexible axle (2) is pumped, and the running assembly (11) for moving in the duct.
2. the pipe robot independently turned as described in claim 1, which is characterized in that the wire feed component (12) includes platform
Frame (121), first motor (123), driving wheel (124) and the first driven wheel (125)；
The first motor (123) is fixed on the rack (121), the driving wheel (124) and the first motor (123)
Output axis connection, first driven wheel (125) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged between the driving wheel (124) and first driven wheel (125), the driving wheel (124)
Rotation pumps the flexible axle (2) with the axial direction along the flexible axle (2).
3. the pipe robot independently turned as claimed in claim 2, which is characterized in that the wire feed component (12) further includes
Adjustment seat (122), the second driven wheel (126)；
The first end of the adjustment seat (122) is installed in rotation on the rack (121), and the of the adjustment seat (122)
Two ends and the rack (121) elastic connection, first driven wheel (125) are installed in rotation on the adjustment seat (122)
On, second driven wheel (126) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged on the driving wheel (124), first driven wheel (125) and second driven wheel
(126) between, and the driving wheel (124) and second driven wheel (126) are located at the same side of the flexible axle (2), and institute
The first driven wheel (125) are stated between the driving wheel (124) and second driven wheel (126).
4. the pipe robot independently turned as claimed in claim 3, which is characterized in that the wire feed component (12) further includes
Adjusting nut (127), T-type axis (128) and spring (129)；
The second end of the adjustment seat (122) offers through hole, stub end and the rack (121) of the T-type axis (128)
Connection, the spring (129) is set in the T-type axis (128) after the small head end of the T-type axis (128) passes through the through hole
On, the adjusting nut (127) is mounted on the small head end of the T-type axis (128) and compresses the spring (129).
5. the pipe robot independently turned according to any one of claims 1 to 4, which is characterized in that described autonomous turn
Curved pipe robot further includes at least one mold plate (3)；
The periphery of the mold plate (3) is equipped with the first through slot (31), and each flexible axle (2) passes through described first correspondingly
Through slot (31).
6. the pipe robot independently turned as claimed in claim 5, which is characterized in that the pipeline machine independently turned
People further includes limit rope (4)；
The center of the mold plate (3) is equipped with the second through slot (32), and the limit rope (4) passes through the of the mold plate (3)
Two through slots (32), and knot at the second through slot (32) of the corresponding mold plate (3), and the limit rope (4)
Both ends are connected on corresponding fixing seat (13).
7. the pipe robot independently turned as described in claim 1, which is characterized in that the running assembly (11) includes subtracting
Speed motor (111), running assembly rack (112), shaft and wheel (114)；
Running assembly rack (112) is arranged on the fixing seat (13), and the decelerating motor (111) is fixed on the traveling group
On part rack (112), the wheel (114) is connected on the output shaft of the decelerating motor (111) by the shaft.
8. the pipe robot independently turned as described in claim 1, which is characterized in that the running assembly (11) includes subtracting
Speed motor (111), running assembly rack (112), two hexagonal shafts (113) and two wheels (114)；
The decelerating motor (111) is fixed on the running assembly rack (112), and the one of two hexagonal shafts (113)
End is connect with the decelerating motor (111), and the other end is output end, and two wheels (114) are mounted on institute correspondingly
On the output end for stating hexagonal shaft (113).
9. the pipe robot independently turned as claimed in claim 7 or 8, which is characterized in that the driving mould group (1) is also wrapped
It includes tensioner component (14), the tensioner component (14) includes support rod (141) and tensioner driving mechanism, the tensioner driving mechanism
It is mounted on the fixing seat (13)；The first end of the support rod (141) is connect with the running assembly (11), the support
The second end of bar (141) is connect with the tensioner driving mechanism, and the tensioner driving mechanism is driven by the support rod (141)
The running assembly (11) is connected in inner wall of the pipe.
10. the pipe robot independently turned as claimed in claim 9, which is characterized in that the tensioner driving mechanism includes
Second motor (142), screw rod (143) and nut (144), second motor (142) are fixed on the fixing seat (13), institute
It states the second motor (142) and drives screw rod (143) operating, the nut (144) is threadedly connected on the screw rod (143),
The second end of the support rod (141) is connected on the nut (144)；Alternatively,
The tensioner driving mechanism includes helical spring (145), guide post (146) and moving member (147), the guide post
(146) it is fixed on the fixing seat (13), which is sheathed on the guide post (146), the helical spring
(145) one end is connected and fixed with the fixing seat (13), and the other end is connected and fixed with moving member (147), when the spiral bullet
The helical spring (145) provides close to described the moving member (147) when spring (145) is by the moving member (147) stretching
The pulling force of fixing seat (13), or when helical spring (145) by moving member (147) compress when helical spring (145) to moving member
(147) thrust far from fixing seat (13) is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821128099.3U CN208764559U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot independently turned |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821128099.3U CN208764559U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot independently turned |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208764559U true CN208764559U (en) | 2019-04-19 |
Family
ID=66128645
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821128099.3U Active CN208764559U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot independently turned |
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| Country | Link |
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| CN (1) | CN208764559U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758164A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of pipe robot independently turned |
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2018
- 2018-07-16 CN CN201821128099.3U patent/CN208764559U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758164A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of pipe robot independently turned |
| CN108758164B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Autonomous turning pipeline robot |
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