CN218914207U

CN218914207U - Self-adaptive pipeline robot structure based on spring pre-tightening

Info

Publication number: CN218914207U
Application number: CN202221238941.5U
Authority: CN
Inventors: 朱曰莹; 蔡佳文
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2023-04-25
Anticipated expiration: 2032-05-23

Abstract

The utility model provides a self-adaptive pipeline robot structure based on spring pre-tightening, and relates to the field of pipeline robots. The self-adaptive pipeline robot mainly comprises an autonomous reducing mechanism, a driving transmission mechanism, a traveling mechanism and a bending mechanism. The automatic diameter-changing mechanism mainly adopts a spring pre-tightening type diameter-changing mechanism, a pre-tightening spring is positioned between two supporting plates, and the angle between the upper wheel leg and the lower wheel leg is changed through the up-down displacement of the supporting plates, so that the automatic diameter changing is realized. The driving transmission mechanism is mainly driven by a motor, is driven by a bevel gear and is realized by shaft transmission. The travelling mechanism adopts a wheel type structure, and is convenient to replace and disassemble. The bending mechanism adopts an integral symmetrical design, and is connected in the middle through a hinge, so that the bending mechanism has flexible bending performance. The self-adaptive pipeline robot using spring pre-tightening designed by the utility model overcomes the complex diameter-changing mode of the existing self-adaptive pipeline robot, and has simpler structure and light weight.

Description

Self-adaptive pipeline robot structure based on spring pre-tightening

Technical field:

the utility model relates to the field of pipeline robots, in particular to a structural design of a self-adaptive pipeline robot.

The background technology is as follows:

in the current society, various pipelines are visible everywhere, and the pipeline has the advantages of safe transportation and high efficiency, is widely applied to the fields of oil and gas transportation, nuclear power and the like, and provides great convenience for our life and production. However, due to the influence of temperature, pressure, corrosion of the conveying medium and the service life of the pipeline, problems such as cracks, corrosion and the like of the pipeline can be caused, and leakage of the conveying medium can be caused. So to eliminate the potential hazard of the pipeline, the pipeline must be inspected and maintained periodically. Most of the interior space of the pipe is limited and thus the pipe robot is generated.

The pipe robot can be classified into a passive type and an active type according to a motion principle. According to the driving principle, the device is mainly divided into wheels, crawler-type wheels, crawling wheels, multi-foot wheels and the like; to accommodate different pipe diameters, the pipe robot must have a mechanism to adjust the pipe diameter. The diameter-changing mechanism of the conventional pipeline robot mainly comprises four types of spring pre-tightening diameter-changing mechanisms, worm and worm wheel pre-tightening diameter-changing mechanisms, lifter pre-tightening diameter-changing mechanisms and screw nut pair pre-tightening diameter-changing mechanisms. The spring pre-tightening reducing mechanism has the greatest advantages that additional energy is not needed, the spring pre-tightening reducing mechanism can automatically adapt to the change of pipe diameters, and the spring pre-tightening reducing mechanism is good in adaptability. However, the disadvantage is the small variation range and the need to adjust the pre-tension of the spring in advance before installation. The worm and worm wheel pre-tightening reducing mechanism and the lifter pre-tightening reducing mechanism can realize wide-range reducing, but the required driving force is large, and the strength requirement on the mechanism is high; the screw-nut pair pretension reducing mechanism has simple space layout and small driving force, but is not enough in the axial direction.

The utility model comprises the following steps:

the utility model provides a self-adaptive pipeline robot structure based on spring pre-tightening, which aims to solve the problems that the space layout structure of the existing self-adaptive pipeline robot is complex, the requirement on the mechanism strength is high, and the power supply is insufficient when working for a long time.

The utility model is realized by the following design scheme: an adaptive pipe robot structure based on spring pretension, comprising:

the utility model provides a self-adaptive pipeline robot structure based on spring pre-tightening, which mainly changes the displacement of two wheel leg connecting plates through spring pre-tightening, thereby changing the angle between an upper wheel leg and a lower wheel leg and realizing the function of a self-adaptive pipeline. The whole robot provides power through a direct current brushless motor, the power provided by the motor is matched with the motor through two bevel gears, and the transmission shaft drives to finally realize the motion of the whole system. The device mainly comprises an autonomous reducing mechanism, a driving transmission mechanism, a traveling mechanism and a bending mechanism. The main structure of the automatic reducing mechanism comprises: an upper fixed support plate, a movable support plate, a lower fixed support plate, a spring, a sliding rod and a spring guide rod; the drive transmission mechanism mainly comprises: the motor comprises a direct current brushless motor, a motor shaft, a motor connecting plate, bolts (M6×50), set screws (M2.5X12), a large conical gear, a small conical gear and a transmission shaft; the travelling mechanism mainly comprises: wheel plate, wheel axle, set screw (M2.5×12), wheel, miniature radial ball bearing of flange outer ring, upper wheel leg, bolt (M6×35); the bending mechanism mainly comprises: the lower fixed support plate, the hinge connecting plate 1, the hinge rod 1 and the hinge connecting plate 2.

Further, when the self-adaptive adjusting device works, the springs are pre-tightened, and when the pipe diameter of the pipeline is changed from large to small, the springs can be continuously compressed, so that the movable supporting plate is driven to move upwards, and the self-adaptive adjustment of the small pipe diameter is realized; when the pipe diameter of the pipeline is changed from small to large, the springs are loosened, but still in a compressed state, and the movable supporting plate is displaced downwards, so that the self-adaptive adjustment of the large pipe diameter is realized.

Still further, the movable support plate moves on the slide bar, and the spring moves on the spring guide bar at the same time, so that the system stability during movement can be increased.

Still further, system power is provided by the motor, and through bevel gear cooperation with power transmission to the wheel, add sealed shell simultaneously, guarantee the security of driving system.

Still further, the whole design adopts symmetrical design, and upper and lower two partial structures are the same, and the centre passes through hinged joint, when passing through the return bend, can have good trafficability characteristic, makes whole structure more nimble, and simultaneously, three wheel legs are 120 degrees symmetrical distribution in the form of being separated by on the upper supporting plate, can effectively solve the inhomogeneous condition of atress. The two motors are symmetrically arranged on the corresponding wheel legs of the upper part and the lower part, so that the power can be balanced and output.

Furthermore, because the length of the wheel leg and the spring influence, the effective working pipe diameter of the self-adaptive pipeline robot pre-tensioned by the spring is 160 mm-480 mm. The included angle theta between the wheel leg and the spring sleeve is 15 degrees or more and 75 degrees or less.

The utility model has the beneficial effects that:

1. the self-adaptive pipeline robot using the spring pre-tightening provided by the utility model has the advantages that the structure of the pipeline robot is simpler by adopting the spring pre-tightening type reducing mechanism, the self-adaptive pipeline robot can adapt to the change of the pipe diameter in the working range at any time, in addition, redundant driving force is not needed, and the use cost is reduced.

2. According to the self-adaptive pipeline robot using spring pre-tightening, the two parts are connected through the hinge by adopting the up-down symmetrical structural design, so that the self-adaptive pipeline robot can better pass through a curve, and has more flexibility. And the towing rope type direct current brushless motor is adopted for driving, so that the working time of the towing rope type direct current brushless motor is prolonged. The transmission system adopts conical gear transmission, has high reliability and high transmission efficiency, can transmit larger torque, and increases the compactness and reliability of the structure.

Description of the drawings:

fig. 1 is a schematic view of an overall three-dimensional structure of an adaptive pipe robot using spring pretension according to the present utility model.

Fig. 2 is a schematic view of an overall two-dimensional structure of an adaptive pipeline robot using spring pretension according to the present utility model.

Fig. 3 is a front view of an assembly of an adaptive pipe robot using spring pretension according to the present utility model.

Fig. 4 is a top view of an assembly of an adaptive pipe robot using spring pretension according to the present utility model.

Fig. 5 isbase:Sub>A cross-sectional view of sectionbase:Sub>A-base:Sub>A of fig. 4.

Fig. 6 is a partial enlarged view at B in fig. 4.

Fig. 7 is a partial enlarged view at C in fig. 4.

Fig. 8 is a partial enlarged view at D in fig. 3.

Wherein, 1-upper fixed support plate, 2-spring, 3-spring guide rod, 4-sliding rod, 5-moving support plate, 6-lower fixed support plate, 7-hinge connection plate 1, 8-hinge rod 1, 9-hinge connection plate 2, 10-hinge rod 2, 11-wheel, 12-wheel plate, 13-wheel leg, 14-hinge rod 3, 15-motor, 16-motor connection plate, 17-motor set screw (M4×10), 18-nut (M6), 19-support leg, 20-hinge connection plate set screw (M4×10), 21-transmission shaft, 22-nut (M8), 23-wheel set screw (M2.5× 12), 24-flange outer ring micro centripetal ball bearing, 25-bolt (M6×35), 26-bolt (M8×50), 27-small conical gear, 28-large conical gear.

The specific embodiment is as follows:

in order to make the structural design provided by the present utility model more clear, the present utility model will be explained in more detail below with reference to the specific drawings and the specific implementation method. It should be understood that the detailed description is intended to illustrate the utility model, but not to limit the utility model.

Fig. 2 shows a schematic diagram of the overall two-dimensional structure of the self-adaptive pipeline robot using spring pre-tightening, which can be seen that the self-adaptive pipeline robot using spring pre-tightening mainly comprises four parts, namely an autonomous reducing mechanism 1, a driving transmission mechanism 2, a travelling mechanism 3 and a bending mechanism 4. In fig. 5, the autonomous reducing mechanism 1 is described in detail, and it can be seen that the autonomous reducing mechanism 1 mainly includes: an upper fixed support plate 101, a sliding rod 102, a spring 103, a movable support plate 104, a spring guide 105, and a lower fixed support plate 106. When starting to work, the spring 103 is in a pre-tightening state first, and the upper and lower ends of the spring respectively prop against the upper fixed support plate 101 and the movable support plate 104. The spring 103 is always sleeved on the spring guide rod 105, and the sliding rod 102 is connected with the upper fixed supporting plate 101 and the lower fixed supporting plate 106. When the pipe diameter of the pipeline is changed from large to small, the spring 103 is further compressed to drive the movable supporting plate 104 to move upwards along the sliding rod 102, so that the small pipe diameter self-adaptive adjustment is realized. When the pipe diameter of the pipeline is increased from small to large, the spring 103 is loosened, but still in a compressed state, and drives the movable supporting plate 104 to move upwards along the sliding rod 102, so that the self-adaptive adjustment of the large pipe diameter is realized. In fig. 6, the driving transmission mechanism 2 is carefully illustrated, and it can be seen that the main structural components of the driving transmission mechanism include: motor 201, motor connection plate 202, bolt (M8×50) 203, motor shaft 204, large conical gear 205, large conical gear set screw 206, small conical gear 207, transmission shaft 208, small conical gear set screw 209, and flange outer ring miniature radial ball bearing-1210. The motor 201 is connected to the wheel leg by a motor connection plate 202 and bolts (m8×50) 203. The large bevel gear 205 is fixed to the motor shaft 204 by a large bevel gear set screw 206, the small bevel gear 207 is fixed to the drive shaft 208 by a small bevel gear set screw 209, and the wheel is also fixed to the drive shaft 208 by a set screw. In operation, power output by motor 201 is transmitted through motor shaft 204 to large bevel gear 205. The large conical gear 205 and the small conical gear 207 are matched, so that power is transmitted to the transmission shaft 208, the wheels are driven to move, the driving transmission of the whole structure is realized, and the whole driving transmission system is protected through the sealing shell. In the detailed description of the running gear 3 in fig. 7, it can be seen that the running gear 3 mainly comprises: wheel plate 301, wheel axle 302, wheel set screw 303, wheel 304, flange outer ring miniature radial ball bearing-2 305, wheel leg 306, bolt (M6×35) 307. First, the left and right wheel plates 301 are fixed to the wheel legs 306 by bolts (m6×35) 307. The left and right flange outer ring micro radial ball bearings 305 are tightly installed in the grooves of the wheel plates 301 at both sides, and the wheel axle 302 is fixed on the wheel plates 301 through the left and right flange outer ring micro radial ball bearings 305 to realize normal rotation. The wheels 304 are fixed on the wheel axle 302 by four symmetrically distributed wheel set screws 303, thereby realizing the walking function. The bending mechanism 4 is carefully described in fig. 8, and it can be clearly seen that the main structural components of the bending mechanism 4 include: lower stationary support plate-1 401, hinge connection plate-1 402, hinge rod-1 403, hinge connection plate-2 404, set screw-1 405, set screw-2 407, lower stationary support plate-2 406. Wherein the hinge connection plate-1 402 is composed of two symmetrical blocks, which are respectively fixed on the lower fixed support plate-1 401 through the set screw-2 407, and the hinge connection plate-2 404 is fixed on the lower fixed support plate-2 406 through the set screw-1 405. Further, the hinge rod-1 403 connects the upper hinge connection plate-1 402 and the hinge connection plate-2 404, thereby enabling rotation. When the pipe is bent, the whole self-adaptive pipeline robot is designed in an up-down symmetrical mode, and the upper part and the lower part can flexibly rotate through the middle connecting hinge to realize the function of over-bending. The self-adaptive pipeline robot preloaded by the spring provided by the utility model mainly performs automatic diameter changing through the preloaded spring, performs transmission through the cooperation of the bevel gears, walks by using a traditional wheel type structure, and realizes the over-bending function by adopting a hinge connection method, so that the whole structure is simpler, and has higher flexibility and stability. -

The foregoing description is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, so long as any modification, replacement, etc. performed on the design of the present utility model are within the scope of the present utility model.

Claims

1. The utility model provides a self-adaptation pipeline robot structure based on spring pretension which characterized in that: the whole body adopts a symmetrical design, and the independent diameter change is carried out through a spring pre-tightening diameter-changing mechanism; the motor is used for providing power, the bevel gear is used for transmission, and the shaft transmission is used for realizing power transmission; the walking mode is wheel type walking, and the upper part and the lower part are connected through a hinge, so that the walking device can have the capability of passing through a curve; the self-adaptive pipeline robot based on spring pre-tightening consists of an independent reducing mechanism (1), a driving transmission mechanism (2), a traveling mechanism (3) and a bending mechanism (4):

the main structure of the automatic reducing mechanism (1) comprises: an upper fixed supporting plate (101), a sliding rod (102), a spring (103), a movable supporting plate (104), a spring guide rod (105) and a lower fixed supporting plate (106);

the main structure of the driving transmission mechanism comprises: the motor comprises a motor (201), a motor connecting plate (202), bolts (M8X50) (203), a motor shaft (204), a large conical gear (205), a large conical gear set screw (206), a small conical gear (207), a transmission shaft (208), a small conical gear set screw (209) and a flange outer ring miniature radial ball bearing-1 (210);

the main structure of the travelling mechanism (3) comprises: wheel plate (301), wheel axle (302), wheel set screw (303), wheel (304), flange outer ring miniature centripetal ball bearing-2 (305), wheel leg (306), bolt (M6×35) (307);

the main structural components of the bending mechanism (4) comprise: lower stationary support plate-1 (401), hinge connection plate-1 (402), hinge rod-1 (403), hinge connection plate-2 (404), set screw-1 (405), set screw-2 (407), lower stationary support plate-2 (406).

2. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: the automatic diameter-changing mode adopts a spring (103) to pretighten, and the movable supporting plate (104) is enabled to move up and down through the spring (103), so that the angle between two wheel legs is changed, and the automatic diameter-changing function is realized.

3. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: the driving mechanism adopts a motor, bevel gear transmission and shaft transmission; the motor (201) is connected to the wheel leg through a motor connecting plate (202), and the bevel gear transmission mainly aims at changing the power transmission direction.

4. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: the walking mode uses wheeled walking, three wheel legs (306) are respectively arranged at the upper end and the lower end, and the three wheel legs at each end are symmetrically distributed and are respectively spaced by 120 degrees.

5. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: and the middle of the upper end and the lower end of the self-adaptive pipeline robot are connected by adopting a hinge.

6. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: the spring (103) enables the movable supporting plate (104) to move up and down; the spring (103) is connected through a spring guide rod (105), and the movable support plate (104) moves on the sliding rod (102).

7. The adaptive tubing robot construction based on spring pretension according to claim 1, characterized in that: wheel plates (301) are arranged on two sides of each wheel leg (306), wheels (304) are arranged on wheel shafts (302) through wheel set screws (303), and the wheel shafts (302) are arranged in the middle of the wheel plates (301) on two sides of each wheel leg (306).