CN2202022Y - Screw driving Robert moving mechanism in tubes - Google Patents

Screw driving Robert moving mechanism in tubes Download PDF

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Publication number
CN2202022Y
CN2202022Y CN 94215952 CN94215952U CN2202022Y CN 2202022 Y CN2202022 Y CN 2202022Y CN 94215952 CN94215952 CN 94215952 CN 94215952 U CN94215952 U CN 94215952U CN 2202022 Y CN2202022 Y CN 2202022Y
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CN
China
Prior art keywords
pipeline
spring
guide wheel
characterized
moving mechanism
Prior art date
Application number
CN 94215952
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Chinese (zh)
Inventor
邓宗全
李笑
陈明
马铁柱
刘福利
Original Assignee
哈尔滨工业大学
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Application filed by 哈尔滨工业大学 filed Critical 哈尔滨工业大学
Priority to CN 94215952 priority Critical patent/CN2202022Y/en
Application granted granted Critical
Publication of CN2202022Y publication Critical patent/CN2202022Y/en

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Abstract

The utility model discloses a screw driving type robot moving mechanism in a pipeline, which is characterized in that through a reducer, a motor drives a driving wheel to do spiral movement in a pipeline to generate axial driving force, and the mechanism can walk straightly; the driving wheel is arranged on a spiral frame, and has a fixed angular separation with the bus bar of the pipeline; six supporting wheels are sealed and pressed on the inner wall of the pipeline by means of the elasticity of a spring. The utility model has the advantages of compact structure and high driving efficiency, and is suitable for the walking carrier when a robot in a pipeline carries out detection, spraying, etc.

Description

本实用新型涉及一种管内机器人行走机构,特别是涉及一种螺旋驱动式管内机器人行走机构。 The present invention relates to a tubular body within walking robot, particularly to a spiral inner pipe driven robot walking mechanism.

石化工业、煤气工程、给排水工程、核工业工程等许多行业都有大量的管道工程,能够在管道内进行检测、喷涂、维修、机械加工等作业的机器人已研究出来,但目前作为机器人载体的管内行走机构其结构复杂,拖动力小,工作效率低。 Petrochemical industry, gas engineering, there are a large number of projects in the pipeline, to be able to carry out drainage works in many industries, the nuclear industry projects in the pipeline inspection, robotic spray, maintenance, machining and other operations have come up, but as a robot carrier inner tube bogie complicated structure, a small drag force, low efficiency.

本实用新型的目的在于,提供一种结构紧凑、高效率传动的螺旋驱动式管内机器人行走机构。 Object of the present invention, to provide a compact structure, the screw driving pipe efficient walking robot drive mechanism.

本实用新型可用如下方式实现:驱动轮装在螺旋架上,弹簧K1为螺旋架四边形的对角线,弹簧K1的拉力把驱动轮封压在管道内壁上,螺旋架由电机经减速器驱动旋转;电机、减速器的机壳安装在具有力封闭的导轮支架上,弹簧K2连接在导轮支架的对角线上,弹簧K2的弹力把导轮封压在管道内壁上。 The present invention can be used following manner: a drive wheel mounted on the coil holder, a coil spring K1 quadrilateral frame diagonal tension spring K1 is pressed on the sealing wheels pipe wall, the coil holder driven in rotation by a motor reducer ; motor, the gear unit housing is mounted on the guide wheel bracket having a force-closure, the spring K2 are connected in a diagonal guide wheel bracket, the spring force of the guide rollers K2 seals against the pipe wall.

驱动轮与管道的母线有一固定夹角。 And the bus duct has a drive wheel fixed angle.

本实用新型的优点:利用驱动轮绕管内螺旋线运动,从而产生轴向推动力,使机构在管内直进行走,本实用新型结构紧凑,重量轻,是一种高效率传动机构。 The advantages of the present invention: the drive wheels using spiral movement around the tube, thereby producing an axial urging force, so that means run straight within the tube, the present invention is compact, light weight, is an efficient transmission mechanism.

图1是本实用新型整体结构示意图。 FIG 1 is an overall schematic view of the present invention.

下面结合附图详述本实用新型最佳实施例:驱动轮1装在螺旋架6上,弹簧K1为螺旋架四边形的对角线,弹簧K1的拉力把驱动轮1封压在管道7内壁上,螺旋架6由电机4经减速器5驱动旋转;K1在电机4的轴线上,电机4、减速器5的机壳2安装在具有力封闭的导轮支架8上,弹簧K2连接在导轮支架8的对角线上,弹簧K2的弹力把导轮3封压在管道7内壁上,驱动轮1与管道7母线有一固定夹角。 Detailed description of the preferred embodiments of the present invention in conjunction with the following: a drive wheel 6 is mounted on the coil holder, a coil spring K1 quadrilateral frame diagonal, the tension spring K1 is pressed against the driving wheel 1 7 PIPELINE the coil holder 6 is rotated by the motor 4 via the speed reducer 5; Kl on the axis of the motor 4, the motor housing 4, reduction gear 5 is mounted on two guide wheels having a closing force of the holder 8, a spring K2 are connected with the guide wheel on the diagonal bracket 8, the elastic force of the spring K2 guide wheel 3 is pressed against the inner wall of the pipe 7, the drive wheel 1 has a fixed angle to the bus line 7. 导轮3与管道7的母线平行,当螺旋架6和驱动轮1在电机4的驱动下在管内旋转时,这种螺旋运动下产生轴向推动力,这样驱动轮1沿管内既做绕轴向的旋转,又做沿轴线的移动,导轮3做沿管道7轴向的直线移动,管内机器人即与载体一起沿管内轴线行走,本实施例行走机构,整机重6kg,机架长640mm,水平行走速度3m/分,拖动力为8kg。 Guide wheel 3 and the bus bar parallel to the duct 7, when the coil holder 6 and the drive wheel 1 is rotated within the tube driven by the motor 4, to generate an axial urging force this helical motion, so not only do drive wheel around an axis along the inner tube 1 the rotation, they do along the axis of movement of the guide wheel 3 to make a straight line along the conduit 7 the axial movement of the inner tube along with the carrier robot i.e. along tube axis running, walking mechanism of the present embodiment routine, machine weight 6kg, the frame length 640mm horizontal walking speed 3m / min, the drag force is 8kg.

Claims (3)

1.一种螺旋驱动式管内机器人行走机构,其特征是:a驱动轮(1)装在螺旋架(6)上,弹簧K1为螺旋架四边形的对角线,弹簧K1的拉力把驱动轮(1)封压在管道(7)内壁上,螺旋架(6)由电机(4)经减速器(5)驱动旋转;b电机(4)、减速器(5)的机壳(2)安装在具有力封闭的导轮支架(8)上,弹簧K2连接在导轮支架(8)的对角线上,弹簧K2的弹力把导轮(3)封压在管道(7)内壁上。 A spiral pipe robot walks inner drive mechanism, characterized in that: a drive wheel (1) mounted on the coil holder (6), a helical tension spring K1 diagonal quadrilateral frame, the drive wheel of the spring K1 ( 1) seals against the duct (7) the inner wall of the coil carrier (6) by a motor (4) via a speed reducer (5) driven in rotation; b motor housing (4), a speed reducer (5) (2) mounted on the guide wheel bracket (8) having a closing force, the spring K2 are connected in a diagonal guide wheel bracket (8), the spring force of the guide wheel K2 (3) seals against the pipe (7) inner wall.
2.根据权利要求1所述的行走机构,其特征是:驱动轮(1)与管道(7)的母线有一固定夹角。 The running gear according to claim 1, characterized in that: the bus drive wheel (1) and the duct (7) there is a fixed angle.
3.根据权利要求1所述的行走机构,其特征是:导轮(3)与管道(7)的母线平行。 3. The running gear according to claim 1, characterized in that: the bus bar (3) and conduit (7) parallel to the guide wheel.
CN 94215952 1994-06-22 1994-06-22 Screw driving Robert moving mechanism in tubes CN2202022Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 94215952 CN2202022Y (en) 1994-06-22 1994-06-22 Screw driving Robert moving mechanism in tubes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 94215952 CN2202022Y (en) 1994-06-22 1994-06-22 Screw driving Robert moving mechanism in tubes

Publications (1)

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CN2202022Y true CN2202022Y (en) 1995-06-28

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CN 94215952 CN2202022Y (en) 1994-06-22 1994-06-22 Screw driving Robert moving mechanism in tubes

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1314519C (en) * 2003-05-27 2007-05-09 哈尔滨工业大学 Six single driven-wheel space moving mechanism
CN100498037C (en) 2007-12-10 2009-06-10 哈尔滨工业大学;北华大学 Triaxial differential type pipe creeping device
CN101559594A (en) * 2009-05-22 2009-10-21 中国人民解放军国防科学技术大学 Large traction screw propulsion micro-pipeline robot
CN101408148B (en) 2007-10-12 2010-09-15 中国石化集团胜利石油管理局钻井工艺研究院 Electric generating apparatus for generating energy in pipeline
CN102979988A (en) * 2012-11-24 2013-03-20 西南石油大学 Initiative-driving spiral pipeline robot
CN103837118A (en) * 2014-03-21 2014-06-04 西南石油大学 Pipeline spiral measuring device
CN103867848A (en) * 2012-12-14 2014-06-18 许雪梅 Spiral driving pipeline robot
CN104712879A (en) * 2015-03-18 2015-06-17 中国计量学院 Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter
CN104896258A (en) * 2015-05-13 2015-09-09 上海宇航系统工程研究所 Self-adaptive wheel type pipe inner moving device
CN104948873A (en) * 2015-05-13 2015-09-30 上海宇航系统工程研究所 Spiral intra-pipeline moving device with adaptively-changed attack angle
CN105114757A (en) * 2015-04-28 2015-12-02 中国石油大学(华东) Screw type geometry detecting robot device
CN105437243A (en) * 2015-12-17 2016-03-30 长安大学 Multi-foot robot for removing trash in pipeline and working method
CN105538286A (en) * 2016-03-02 2016-05-04 胡洁维 High-voltage cable detection robot
CN105563452A (en) * 2016-03-02 2016-05-11 胡洁维 High voltage cable detection robot
CN105619418A (en) * 2016-03-02 2016-06-01 胡洁维 High-voltage cable detection robot with positioning function

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1314519C (en) * 2003-05-27 2007-05-09 哈尔滨工业大学 Six single driven-wheel space moving mechanism
CN101408148B (en) 2007-10-12 2010-09-15 中国石化集团胜利石油管理局钻井工艺研究院 Electric generating apparatus for generating energy in pipeline
CN100498037C (en) 2007-12-10 2009-06-10 哈尔滨工业大学;北华大学 Triaxial differential type pipe creeping device
CN101559594A (en) * 2009-05-22 2009-10-21 中国人民解放军国防科学技术大学 Large traction screw propulsion micro-pipeline robot
CN102979988A (en) * 2012-11-24 2013-03-20 西南石油大学 Initiative-driving spiral pipeline robot
CN102979988B (en) * 2012-11-24 2014-07-16 西南石油大学 Initiative-driving spiral pipeline robot
CN103867848A (en) * 2012-12-14 2014-06-18 许雪梅 Spiral driving pipeline robot
CN103867848B (en) * 2012-12-14 2016-03-23 张瀚文 A kind of helical driving type pipeline robot
CN103837118A (en) * 2014-03-21 2014-06-04 西南石油大学 Pipeline spiral measuring device
CN103837118B (en) * 2014-03-21 2017-01-11 西南石油大学 Pipeline spiral measuring device
CN104712879A (en) * 2015-03-18 2015-06-17 中国计量学院 Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter
CN104712879B (en) * 2015-03-18 2017-10-27 中国计量学院 Larger service load can be born and the inwall of different-diameter pipeline is applicable from walking dolly
CN105114757B (en) * 2015-04-28 2017-04-26 中国石油大学(华东) Screw type geometry detecting robot device
CN105114757A (en) * 2015-04-28 2015-12-02 中国石油大学(华东) Screw type geometry detecting robot device
CN104948873A (en) * 2015-05-13 2015-09-30 上海宇航系统工程研究所 Spiral intra-pipeline moving device with adaptively-changed attack angle
CN104948873B (en) * 2015-05-13 2017-03-01 上海宇航系统工程研究所 Mobile device in a kind of screw type pipeline of the adaptive strain angle of attack
CN104896258A (en) * 2015-05-13 2015-09-09 上海宇航系统工程研究所 Self-adaptive wheel type pipe inner moving device
CN105437243A (en) * 2015-12-17 2016-03-30 长安大学 Multi-foot robot for removing trash in pipeline and working method
CN105538286A (en) * 2016-03-02 2016-05-04 胡洁维 High-voltage cable detection robot
CN105538286B (en) * 2016-03-02 2017-03-01 重庆润泰电气有限公司 High tension cable detects robot
CN105563452B (en) * 2016-03-02 2017-03-08 哈尔滨讯达广智能科技发展有限公司 A kind of high-tension cable detects robot
CN105563452A (en) * 2016-03-02 2016-05-11 胡洁维 High voltage cable detection robot
CN105619418A (en) * 2016-03-02 2016-06-01 胡洁维 High-voltage cable detection robot with positioning function

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