CN208793905U - A kind of new pipeline robot - Google Patents
A kind of new pipeline robot Download PDFInfo
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- CN208793905U CN208793905U CN201821385964.2U CN201821385964U CN208793905U CN 208793905 U CN208793905 U CN 208793905U CN 201821385964 U CN201821385964 U CN 201821385964U CN 208793905 U CN208793905 U CN 208793905U
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Abstract
The utility model discloses a kind of new pipeline robot, which includes identical by two structures and is made up of two robot bodies that Universal rotary module connecting piece mirror symmetry connects；Wherein robot body includes the robot fuselage of prism, three crawler type walking mechanisms being circumferentially uniformly arranged along robot fuselage, and the bindiny mechanism of connection robot fuselage and walking mechanism；Bindiny mechanism is further connect with stepper motor by feed screw nut and lead screw, and stepper motor rotates to control the opening degree of crawler belt foot.The utility model has the following beneficial effects: the pipe robot can keep straight on and turn in pipeline；It can also move in horizontal turn of vertical pipeline；Adjustable bindiny mechanism can adjust the opening angle of crawler belt foot at any time, to meet the needs of different tube diameters are walked；Caterpillar walking mechanism road holding is strong, and multiple motors independently drive, and is suitable for various pipeline environments, and entire equipment has waterproof and etch-proof function.
Description
Technical field
The utility model relates to pipeline robot technique field, in particular to one kind can carry out exploration with it is clean
Pipe robot.
Background technique
As the tremendous improvement and national living standard of automatic technology significantly improve, the development of all trades and professions is more
Ground is conveyed dependent on material.Particularly, the advantages such as pipeline is big by feat of conveying capacity, convenient and efficient, inexpensive are passed through in its people
Occupy increasing specific gravity in Ji, is widely used to petroleum, chemical industry, the energy, food processing, city water supply and sewage, agricultural filling
It irrigates, the fields such as nuclear industry.But due to the natural calamity and self-defect of the chemically burn into force majeure by pumped (conveying) medium
Influence, it is most likely that occur conveying object leakage caused by such as environmental pollution, combustibles explode, energy waste major accident.
So needing periodically to be checked, safeguarded and cleaned maintenance to pipeline inside.However the underground piping in most of areas passes through at present
Level is more after crossing transformation, and high and low fall is big, unevenly；It is difficult to check when therefore encountering the pipeline faults such as blocking, leakage.Tradition
Pipe detection is implemented by related personnel, and positioning method is broadly divided into two kinds: artificial instrument detection is detected with ground robot；
Manual operation takes time and effort, and exact value to be obtained also needs to take multiple measurements, inefficiency, and pipeline is most of with people
Power be difficult to it is enough and；Then precision is low for ground robot mapping, and the precision splicing of Multiple-Scan data need to use GPS positioning, right
GPS signal has a very strong requirement, and pipeline is embedded in underground 0.7m more hereinafter, and have metal covering more, GPS signal is on the weak side.
In conclusion optimal detection mode is then to design a kind of robot that can enter inside pipeline, pipeline machine
People is that one kind can automatically walk, the one or more sensors of carrying and operation be mechanical inside or outside small sized pipeline, is being worked
Under the remote control operation or computer controlled automatic of personnel, mechanical, electrical, the instrument integral system of a series of pipeline operations are carried out, is had
The advantages that quick movement, active manipulation, accurate judgement and low cost.Conventional pipelines robot faces vertical pipe, bend pipe, branch
The problems such as pipe, variable diameter and microtubule, there are still considerable room for improvement.
Utility model content
To solve the above problems, the purpose of this utility model is to provide one kind can carry out exploration and clean pipeline machine
People, the pipe robot is bionical by squid, a kind of 3-foot robot is designed as, compared to existing pipe robot
Speech, the pipe robot can choose steering and straight trip when encountering " fourth " word crossing；It can also move and turn perpendicular in level
In straight pipeline；It is strong with road holding, it is suitable for various environment；It can be bonded pipeline, the advantages of to adapt to different-diameter pipeline.
To achieve the above object, the utility model provides a kind of new pipeline robot, comprising: two structures are identical simultaneously
Two robot bodies connected by Universal rotary module connecting piece mirror symmetry；Wherein, the robot body includes:
Robot fuselage, inside the stepper motor that is equipped with controller, is connect with the controller output end, Yi Jiwei
The controller and the stepper motor provide the battery pack of electric energy；
Walking mechanism comprising crawler belt foot, the motor being mounted on the crawler belt foot provide the electricity of electric energy for the motor
Pond and the pressure sensor on the crawler belt foot is installed, the driving wheel of crawler belt foot described in the motor driven, the motor and institute
Controller output end connection is stated, the pressure sensor is connect with the controller input terminal, in the robot fuselage circumferential direction
It is uniformly arranged three walking mechanisms；
Bindiny mechanism comprising connect the first fixed connecting rod and second of the robot fuselage and the walking mechanism
Fixed connecting rod and push rod；First fixed connecting rod and second fixed connecting rod are along the robot fuselage axis
To being arranged in parallel, described push rod one end is connect with first fixed connecting rod, the push rod other end be located at the machine
The feed screw nut of people's fuselage interior connects, and the feed screw nut passes through the output axis connection of screw rod and the stepper motor.
It is further improved as the utility model, one end of three first fixed connecting rods is both connected to the machine
Device people's waist, the other end are separately connected the walking mechanism；One end of three second fixed connecting rods connects
It connects in the robot fuselage close to one end of the Universal rotary module connecting piece, the other end is connected to and described first
In the walking mechanism of fixed connecting rod connection.
It is further improved as the utility model, the Universal rotary module connecting piece includes: and a robot sheet
The trunnion axis rotating servo motor of body connection, the vertical axis rotating servo motor being connect with another robot body, Yi Jilian
Connect the servo motor connector of the trunnion axis rotating servo motor and the vertical axis rotating servo motor.
It is further improved as the utility model, the feed screw nut is located at the robot fuselage interior far from described
The side of Universal rotary module connecting piece.
It is further improved as the utility model, first fixed connecting rod and second fixed connecting rod both ends
It is respectively hinged in the walking mechanism and the robot fuselage.
It is further improved as the utility model, the crawler belt foot is by two drive wheels.
It is further improved as the utility model, the motor and battery are mounted on the fixinig plate of crawler belt foot side
On.
It is further improved as the utility model, each motor is respectively mounted a battery.
It is further improved as the utility model, the robot fuselage is prism.
It is further improved as the utility model, in robot fuselage installation camera and clearing apparatus, and according to
Other sensors are installed in actual demand, realize exploration, detection and cleaning to pipeline.
The utility model has the following beneficial effects: passing through Universal rotary module connecting piece for the identical tripodia crawler belt of two structures
The function of keeping straight on and turn in pipeline may be implemented in the connection of formula robot；And it can use bindiny mechanism's adjustment walking mechanism
Opening angle, with meet different tube diameters walking the needs of, pressure sensor in addition is set in caterpillar walking mechanism, and
Opening angle is adjusted at any time by adjustable bindiny mechanism, and pipe robot and inner wall of the pipe is made to have enough frictional force, it can
Realization is walked in vertical pipe；In addition, a kind of new pipeline robot component of the utility model has waterproof and anticorrosion
Function, be able to satisfy IPX8 grades of waterproof demand, while the chemical attack of C4 environment can be resisted.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of new pipeline robot described in the utility model embodiment；
Fig. 2 is a kind of Universal rotary module connecting piece structure of new pipeline robot described in the utility model embodiment
Schematic diagram；
Fig. 3 is a kind of bindiny mechanism's structure chart of new pipeline robot described in the utility model embodiment.
In figure,
1, robot fuselage；2, Universal rotary module connecting piece；3, walking mechanism；4, stepper motor；5, screw rod；6, silk
Thick stick nut；7, push rod；8, the first fixed connecting rod；9, the second fixed connecting rod；10, motor；11, fixinig plate；12, trunnion axis
Rotating servo motor；13, servo motor connector；14, vertical axis rotating servo motor.
Specific embodiment
Below by specific embodiment and in conjunction with attached drawing, the utility model is further described in detail.
Embodiment, as shown in Figure 1-3, a kind of new pipeline robot described in the utility model embodiment, including two
Structure is identical and passes through two robot bodies that 2 mirror symmetry of Universal rotary module connecting piece connects；Wherein, robot body
Include:
Robot fuselage 1, inside controller, the stepper motor connecting with controller output end 4 be installed, and be control
Device and stepper motor 4 processed provides the battery pack of electric energy；
Walking mechanism 3 comprising crawler belt foot, the motor 10 being mounted on crawler belt foot provide the battery of electric energy for motor 10
With the pressure sensor on the installation crawler belt foot, motor 10 drives the driving wheel of crawler belt foot, motor 10 and controller output end
Connection, pressure sensor are connect with controller input terminal, and three walking mechanisms 3 are uniformly arranged in 1 circumferential direction of robot fuselage；
Bindiny mechanism comprising connection robot fuselage 1 and the first fixed connecting rod 8 and second of walking mechanism 3 are fixed
Connecting rod 9 and push rod 7；First fixed connecting rod 8 and the second fixed connecting rod 9 are arranged in an axially parallel mode along robot fuselage, are pushed away
7 one end of bar is connect with the first fixed connecting rod 8, and 7 other end of push rod is connect with the feed screw nut 6 being located inside robot fuselage 1,
Feed screw nut 6 passes through the output axis connection of screw rod 5 and stepper motor 4.
Walking mechanism 3 respectively has one group on two robot bodies, and every group of three crawler belt is all uniformly distributed circumferentially enough
, two groups be also it is axially symmetric, supporting point totally six, therefore meet Shape closed condition.When walking mechanism walking, three
Wheel is radially uniformly distributed, and 3 points determine a plane, and 3 points always on a cylindrical surface, thus may be implemented it is fixed
The heart, under the action of bindiny mechanism, crawler belt is pinched in inner wall of the pipe enough, has stronger adaptability.Whole device by
In symmetry is utilized, the interference of robot various aspects unbalanced couple during the motion is counteracted, to make all power
Amount focuses on the perpendicular where go motor operating axis, meanwhile, and guarantee on the perpendicular by electrical axis
Appropriately distance between center of gravity and motor the operating axle center of robot, to ensure that steady in entire robot operational process
Property.
Further, one end of three the first fixed connecting rods 8 is both connected to 1 middle part of robot fuselage, other end difference
Connect a walking mechanism 3；One end of three the second fixed connecting rods 9 is both connected to robot fuselage 1 close to Universal rotary revolving die
One end of block connector 2, the other end are connected in the walking mechanism 3 connecting with the first fixed connecting rod 8.It is fixed by first
Robot fuselage 1 is arranged in close to the position at middle part, when bindiny mechanism is in contraction-like in connecting rod 8 and the second fixed connecting rod 9
When state, the length of entire robot is relatively small, and the structure of whole device is more compact.
Further, Universal rotary module connecting piece 2 includes: the trunnion axis rotating servo connecting with a robot body
Motor 12, the vertical axis rotating servo motor 14 being connect with another robot body, and connection trunnion axis rotating servo electricity
The servo motor connector 13 of machine 12 and vertical axis rotating servo motor 14.
Further, feed screw nut 6 is located at 1 side of the inside far from Universal rotary module connecting piece 2 of robot fuselage.
It is more advantageous to the opening angle that the push rod connecting with feed screw nut 6 adjusts the first fixed connecting rod 8.
Further, the first fixed connecting rod 8 and 9 both ends of the second fixed connecting rod are respectively hinged at walking mechanism 3 and machine
On the man-machine body 1 of device.The rotation of screw rod 5 can be controlled by stepper motor 4 and adjusts the movement of feed screw nut 6, and then is controlled and be fixedly connected
The opening angle of bar, so that crawler belt foot is more bonded tube wall.
Further, crawler belt foot is by two drive wheels, in the case where guaranteeing pipe robot smooth ride,
The size for rationally reducing crawler belt foot, can be such that robot travels in pipeline more flexible.
Further, motor 10 and battery are mounted on the fixinig plate 11 of crawler belt foot side.Not only simplify transmission
Mechanism keeps mechanism more compact, is also convenient for installation, maintenance and replacement.
Further, each motor 10 is respectively mounted a battery.The independent driving of multiple motors 10, utilizes sensor collection tube
Track data is analyzed by control system and is calculated, then respectively drives multiple motors 10 to realize pipe robot to pipe ring
The adaptation in border, and enough power can be provided for pipe robot.
Further, robot fuselage 1 is prism, and bindiny mechanism is connected on the side of prism.
When specific works,
Under original state, push rod 7 and the first fixed connecting rod 8 are in folded state, at this time the circle of entire pipe robot
Radius is minimum, fits easily into pipeline and transport.After pipe robot enters pipeline, stepper motor 4 drives screw rod 5 to rotate, silk
Thick stick nut 6 pushes the first fixed connecting rod 8 to open to the Fang Yundong close to stepper motor 4, push rod 7, drives row at the same time
Mechanism opening is walked, so that the crawler belt of walking mechanism is adjacent to tube wall enough, is mounted on the pressure sensor monitoring on crawler belt foot accordingly
Pressure reaches preset value, and the diameter that crawler belt forms enough at this time is identical as internal diameter of the pipeline, and the motor 10 of walking mechanism is also opened
Beginning work, pipe robot are walked in pipeline, and when needing to turn to, three crawler belts of direction of advance are received by connecting rod enough first
Tight radius, the motor rotation of subsequent Universal rotary module connecting piece 2, turns to predetermined position, and at the same time, pipe robot continues
Move forward, when pipe robot first half (robot body) enter intended pipe after, before a robot
Stepper motor 4 in ontology works, and increases the opening radius of the three crawler belt foots in front and the crawler belt of front three is made to be adjacent to pipeline enough
Then inner wall reduces the opening radius of three crawler belts foot next, so that the first half of pipe robot pulls in latter half
Intended pipe realizes turning of the pipe robot in pipeline.When pipe robot is in vertical pipeline, two groups of front and back crawler belt
Foot is adjacent to tube wall simultaneously, pushes pipe robot to be moved upwardly or downwardly using the frictional force between crawler belt and tube wall.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of new pipeline robot, which is characterized in that it is identical including two structures and pass through Universal rotary module connecting piece
(2) two robot bodies of mirror symmetry connection；Wherein, the robot body includes:
Robot fuselage (1), inside controller, the stepper motor connecting with the controller output end (4) are installed, and
The battery pack of electric energy is provided for the controller and the stepper motor (4)；
Walking mechanism (3) comprising crawler belt foot, the motor (10) being mounted on the crawler belt foot provide for the motor (10)
Pressure sensor on the battery and the installation crawler belt foot of electric energy, the motor (10) drive the driving wheel of the crawler belt foot,
The motor (10) connect with the controller output end, and the pressure sensor is connect with the controller input terminal, described
Three walking mechanisms (3) are uniformly arranged in robot fuselage (1) circumferential direction；
Bindiny mechanism comprising connect the first fixed connecting rod (8) of the robot fuselage (1) and the walking mechanism (3)
With the second fixed connecting rod (9) and push rod (7)；First fixed connecting rod (8) and second fixed connecting rod (9)
It is arranged in an axially parallel mode along the robot fuselage, described push rod (7) one end is connect with first fixed connecting rod (8), described
Push rod (7) other end feed screw nut (6) internal with the robot fuselage (1) is located at is connect, and the feed screw nut (6) passes through
The output axis connection of screw rod (5) and the stepper motor (4).
2. a kind of new pipeline robot according to claim 1, which is characterized in that three first fixed connecting rods
(8) one end is both connected in the middle part of the robot fuselage (1), and the other end is separately connected the walking mechanism (3)；Three
One end of second fixed connecting rod (9) is both connected to the robot fuselage (1) and connects close to the Universal rotary module
One end of part (2), the other end are connected in the walking mechanism (3) connecting with first fixed connecting rod (8).
3. a kind of new pipeline robot according to claim 1, which is characterized in that the Universal rotary module connecting piece
(2) include: the trunnion axis rotating servo motor (12) being connect with a robot body, connect with another robot body
Vertical axis rotating servo motor (14), and connect the trunnion axis rotating servo motor (12) and the vertical axis rotating servo
The servo motor connector (13) of motor (14).
4. a kind of new pipeline robot according to claim 1, which is characterized in that the feed screw nut (6) is located at institute
State the internal side far from the Universal rotary module connecting piece (2) of robot fuselage (1).
5. a kind of new pipeline robot according to claim 1, which is characterized in that first fixed connecting rod (8)
It is respectively hinged in the walking mechanism (3) and the robot fuselage (1) with the second fixed connecting rod (9) both ends.
6. a kind of new pipeline robot according to claim 1, which is characterized in that the crawler belt foot is by two drives
Driving wheel driving.
7. a kind of new pipeline robot according to claim 1, which is characterized in that the motor (10) and battery installation
On the fixinig plate (11) of crawler belt foot side.
8. a kind of new pipeline robot according to claim 1, which is characterized in that each motor (10) is respectively mounted
One battery.
9. a kind of new pipeline robot according to claim 1, which is characterized in that the robot fuselage (1) is rib
Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821385964.2U CN208793905U (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821385964.2U CN208793905U (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
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| Publication Number | Publication Date |
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| CN208793905U true CN208793905U (en) | 2019-04-26 |
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| CN201821385964.2U Active CN208793905U (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110319301A (en) * | 2019-07-29 | 2019-10-11 | 武汉特瑞升电子科技有限公司 | A kind of flexible pipe detection device |
| CN111578040A (en) * | 2020-05-28 | 2020-08-25 | 合肥奕聚信息科技有限公司 | Crawling robot structure device for pipeline flaw detection |
-
2018
- 2018-08-27 CN CN201821385964.2U patent/CN208793905U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110319301A (en) * | 2019-07-29 | 2019-10-11 | 武汉特瑞升电子科技有限公司 | A kind of flexible pipe detection device |
| CN111578040A (en) * | 2020-05-28 | 2020-08-25 | 合肥奕聚信息科技有限公司 | Crawling robot structure device for pipeline flaw detection |
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