CN110486571B - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN110486571B CN110486571B CN201910828520.4A CN201910828520A CN110486571B CN 110486571 B CN110486571 B CN 110486571B CN 201910828520 A CN201910828520 A CN 201910828520A CN 110486571 B CN110486571 B CN 110486571B
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- robot
- fixedly connected
- pipeline
- frame
- lead screw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
一种管道机器人，涉及机器人领域。为解决现有的管道机器人在管道内移动时，会出现驱动轮失效甚至卡死的现象，从而导致管道机器人无法在管道内部移动，并且无法适用不同管径的管道的问题。机器人主体为圆柱体状，机器人主体的一端与主动单元连接，机器人主体的另一端与从动端的一端连接，从动端的另一端与摄像头的底座连接；主动单元的构造如下，丝杠的一端穿过滑块与一号机架固定连接，滑块沿圆周外表面均与的设有n个支撑臂，n为正整数，每个支撑臂与支撑板铰接，且支撑板的的侧面设有驱动轮组件，丝杠的另一端依次穿过二号机架和轴套，与调整手轮固定连接，且轴套与二号机架之间嵌有轴承。本发明适用于管道探测领域。
A pipeline robot relates to the field of robots. In order to solve the problem that the driving wheel fails or even gets stuck when the existing pipeline robot moves in the pipeline, so that the pipeline robot cannot move inside the pipeline and cannot be applied to pipelines with different diameters. The main body of the robot is cylindrical, one end of the main body of the robot is connected to the active unit, the other end of the main body of the robot is connected to one end of the driven end, and the other end of the driven end is connected to the base of the camera; the structure of the active unit is as follows. The slider is fixedly connected with the No. 1 frame. The slider is provided with n support arms along the outer surface of the circumference, and n is a positive integer. Each support arm is hinged with the support plate, and the side of the support plate is provided with a drive In the wheel assembly, the other end of the lead screw passes through the No. 2 frame and the shaft sleeve in turn, and is fixedly connected with the adjusting handwheel, and a bearing is embedded between the shaft sleeve and the No. 2 frame. The invention is suitable for the pipeline detection field.
Description
Technical Field
The invention relates to the field of robots, in particular to a pipeline robot.
Background
The pipeline robot developed at present mainly adopts a pre-tightening supporting mechanism with self-adaptive performance, and the pre-tightening supporting mechanism is mainly divided into an active adjusting mode and a passive adjusting mode.
The passive adjustment mode is usually to adjust the radial distance of the supporting wheel through the change of the spring along with the pipe diameter, has self-adaptive capacity in a small pipe diameter change range, has a small change range, and can change the pretightening force along with the change of the size of the spring.
The active adjustment mode generally adopts mechanisms such as a worm gear or a lead screw nut to adjust, the driving wheel is stretched or retracted through the worm gear or the lead screw nut, the adjustment range is larger compared with the passive adjustment mode, and the passive adjustment mode can adapt to a larger adjustment range. However, since all the driving wheels are adjusted by one set of adjusting mode, if the pipeline has a large defect or a large cylindricity error, part of the driving wheels will fail, and the pipeline robot can be stuck in serious conditions.
In summary, when the existing pipeline robot moves in the pipeline, the phenomenon that the driving wheel fails or even is stuck can occur, so that the pipeline robot cannot move in the pipeline, and cannot be suitable for pipelines with different pipe diameters.
Disclosure of Invention
The invention provides a pipeline robot, aiming at solving the problems that when the existing pipeline robot moves in a pipeline, the driving wheel fails to work or even is stuck, so that the pipeline robot cannot move in the pipeline and cannot be suitable for pipelines with different pipe diameters.
The invention relates to a pipeline robot, which comprises a driving unit, a robot main body, a driven end and a camera;
the robot main body is cylindrical, one end of the robot main body is connected with the driving unit, the other end of the robot main body is connected with one end of the driven end, and the other end of the driven end is connected with the base of the camera;
furthermore, the driving unit comprises a first frame, a supporting plate, a second frame, an adjusting hand wheel, a driving wheel assembly, a supporting arm, a lead screw, a sliding block, a bearing and a shaft sleeve;
one end of a lead screw penetrates through a sliding block to be fixedly connected with a first machine frame, the sliding block is provided with n supporting arms along the circumferential outer surface, n is a positive integer, each supporting arm is hinged with a supporting plate, a driving wheel assembly is arranged on the side surface of the supporting plate, the other end of the lead screw penetrates through a second machine frame and a shaft sleeve in sequence to be fixedly connected with an adjusting hand wheel, and a bearing is embedded between the shaft sleeve and the second machine frame;
furthermore, the driving wheel assembly comprises a motor, a wheel, a transmission shaft and two gears, the output end of the motor penetrates through the supporting plate to be fixedly connected with one gear, one end of the transmission shaft penetrates through the supporting plate to be fixedly connected with the wheel, the other end of the transmission shaft is fixedly connected with the other gear, the two gears are meshed and connected, and the motor and the wheel are arranged on the same side of the supporting plate;
further, the first machine frame is fixedly connected with the lead screw through a key groove;
further, n is more than or equal to 3;
furthermore, the outer circle surface of the adjusting hand wheel is provided with anti-skid hand grains;
furthermore, the sliding block is in threaded connection with the lead screw;
furthermore, the adjusting hand wheel and the shaft sleeve are connected with the bearing inner ring and can only rotate but not move axially; the screw rod is connected with the first frame through a flat key and can only move axially but not rotate; therefore, the screw rod can perform linear motion along the axial direction by rotating the adjusting hand wheel, so that the sliding block fixedly connected with the screw rod is driven to perform linear motion.
The driving unit is provided with three driving wheel assemblies, and the sliding block drives the supporting arm to move when performing linear motion so as to enable the supporting plate to rotate and realize the contraction and expansion of the driving wheel assemblies of the robot; the angle is adjusted by adjusting the hand wheel to adapt to pipelines with different pipe diameters.
Compared with the prior art, the invention has the following beneficial effects:
the robot driving wheel assembly overcomes the defects of the prior art, the driving unit is provided with three driving wheel assemblies, and the sliding block drives the supporting arm to move when performing linear motion so as to enable the supporting plate to rotate and realize the contraction and expansion of the driving wheel assembly of the robot; the angle is adjusted by adjusting the handwheels 1-4, so that the pipeline adapting to different pipe diameters is realized.
The invention overcomes the defects of the prior art, and the driving wheel assembly can be contracted or expanded, so that the phenomenon that the driving wheel of the pipeline robot fails or even is stuck in the pipeline can be prevented.
Thirdly, the invention has simple operation and convenient use.
Drawings
FIG. 1 is a three-dimensional perspective view of the overall structure of the present invention;
FIG. 2 is a three-dimensional view of the driving assembly of the active unit of the present invention in an expanded state;
FIG. 3 is a cross-sectional view of the drive assembly of the drive unit of the present invention in an expanded state;
fig. 4 is a three-dimensional view of the driving unit of the active unit according to the present invention in a contracted state.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 4, and a pipe robot according to the present embodiment includes a master unit 1, a robot main body 2, a slave end 3, and a camera 4;
the robot main body 2 is cylindrical, one end of the robot main body 2 is connected with the driving unit 1, the other end of the robot main body 2 is connected with one end of the driven end 3, and the other end of the driven end 3 is connected with a base of the camera 4;
in the specific embodiment, when in use, the adjusting hand wheel 1-4 and the shaft sleeve 1-10 are connected with the inner ring of the bearing 1-9 and can only rotate but can not move axially; the screw rod 1-7 is connected with the first rack 1-1 through a flat key and can only move axially but not rotate; therefore, the adjustment hand wheel 1-4 is rotated, the screw rod 1-7 can perform linear motion along the axial direction, and the slide block 1-8 fixedly connected with the screw rod 1-7 is driven to perform linear motion.
The driving unit 1 is provided with three driving wheel assemblies 1-5, and the sliding blocks 1-8 drive the supporting arms 1-6 to move when moving linearly, so that the supporting plates 1-2 rotate, and the robot driving wheel assemblies 1-5 are contracted and expanded; the angle is adjusted by adjusting the handwheels 1-4 to adapt to pipelines with different pipe diameters.
The second embodiment is as follows: the present embodiment is described with reference to fig. 2 to 4, and the present embodiment is a further limitation of the robot according to the first embodiment, and the pipeline robot according to the present embodiment includes a first frame 1-1, a support plate 1-2, a second frame 1-3, an adjusting hand wheel 1-4, a driving wheel assembly 1-5, a support arm 1-6, a lead screw 1-7, a slider 1-8, a bearing 1-9, and a shaft sleeve 1-10;
one end of a lead screw 1-7 penetrates through a sliding block 1-8 to be fixedly connected with a first machine frame 1-1, n supporting arms 1-6 are arranged on the outer circumferential surface of the sliding block 1-8, n is a positive integer, each supporting arm 1-6 is hinged with a supporting plate 1-2, a driving wheel assembly 1-5 is arranged on the side surface of the supporting plate 1-2, the other end of the lead screw 1-7 penetrates through a second machine frame 1-3 and a shaft sleeve 1-10 in sequence to be fixedly connected with an adjusting hand wheel 1-4, and a bearing 1-9 is embedded between the shaft sleeve 1-10 and the second machine frame 1-3;
in the specific embodiment, the driving unit is provided with three driving wheel assemblies, and the sliding block drives the supporting arm to move when performing linear motion, so that the supporting plate rotates, and the robot driving wheel assemblies are contracted and expanded; the angle of the hand wheel 1-4 is adjusted, so that the pipeline adaptive to different pipe diameters is realized, the driving wheel assembly can be contracted or expanded, and the phenomenon that the driving wheel of the pipeline robot fails or even is stuck in the pipeline can be prevented.
The third concrete implementation mode: the present embodiment is described with reference to fig. 2, and is a further limitation of the robot according to the second embodiment, the present embodiment is a pipeline robot, the driving wheel assembly 1-5 includes a motor 5, a wheel, a transmission shaft 7 and two gears 6, an output end of the motor 5 passes through the supporting plate 1-2 and is fixedly connected with one gear 6, one end of the transmission shaft 7 passes through the supporting plate 1-2 and is fixedly connected with the wheel, the other end of the transmission shaft 7 is fixedly connected with the other gear 6, and the two gears 6 are engaged with each other, and the motor 5 and the wheels are disposed on the same side of the supporting plate 1-2.
The fourth concrete implementation mode: the present embodiment will be described with reference to fig. 3, which is a further limitation of the robot according to the second embodiment, and in the pipeline robot according to the present embodiment, the first frame 1-1 is fixedly connected to the lead screw 1-7 by a key groove.
The fifth concrete implementation mode: the present embodiment will be described with reference to FIG. 2, and the present embodiment is a further limitation of the robot according to the second embodiment, wherein n.gtoreq.3;
in the specific embodiment, three driving wheel assemblies 1-5 are adopted to operate in the pipeline, so that the operation is stable, and the pipeline robot is supported to a certain extent.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 2, and the present embodiment is a further limitation of the robot according to the second embodiment, and the pipeline robot according to the present embodiment is provided with anti-slip hand patterns on the outer circumferential surfaces of the adjusting handwheels 1 to 4;
in the specific embodiment, the outer circle surfaces of the adjusting hand wheels 1 to 4 are provided with anti-skidding hand threads, so that the phenomenon that an operator slips when rotating the adjusting hand wheels 1 to 4 is prevented.
Seventh embodiment this embodiment is described with reference to fig. 2, and this embodiment is a further limitation of the robot according to the second embodiment, and in the pipeline robot according to this embodiment, the sliders 1 to 8 are screwed to the lead screws 1 to 7.
Principle of operation
When in use, the adjusting hand wheel 1-4 and the shaft sleeve 1-10 are connected with the inner ring of the bearing 1-9 and can only rotate but can not move axially; the screw rod 1-7 is connected with the first rack 1-1 through a flat key and can only move axially but not rotate; therefore, the adjustment hand wheel 1-4 is rotated, the screw rod 1-7 can perform linear motion along the axial direction, and the slide block 1-8 fixedly connected with the screw rod 1-7 is driven to perform linear motion.
The driving unit 1 is provided with three driving wheel assemblies 1-5, and the sliding blocks 1-8 drive the supporting arms 1-6 to move when moving linearly, so that the supporting plates 1-2 rotate, and the robot driving wheel assemblies 1-5 are contracted and expanded; the angle is adjusted by adjusting the handwheels 1-4 to adapt to pipelines with different pipe diameters.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828520.4A CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828520.4A CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110486571A CN110486571A (en) | 2019-11-22 |
| CN110486571B true CN110486571B (en) | 2021-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910828520.4A Active CN110486571B (en) | 2019-09-03 | 2019-09-03 | Pipeline robot |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE301264T1 (en) * | 2001-03-07 | 2005-08-15 | Univ Carnegie Mellon | ROBOT SYSTEM FOR INSPECTING GAS PIPES |
| CN201714930U (en) * | 2010-02-10 | 2011-01-19 | 华中科技大学 | Multi-connecting-rod pressure transmission mechanism and press machine or injection molding machine comprising same |
| CN202004581U (en) * | 2011-04-20 | 2011-10-05 | 汪保卫 | Linear actuator |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN104565675B (en) * | 2014-06-20 | 2018-06-08 | 北京石油化工学院 | Pipeline inspection robot |
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN104814599A (en) * | 2015-03-25 | 2015-08-05 | 沈阳化工大学 | Multifunctional cleaning brush capable of changing diameter |
| CN205479977U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Pipe detecting robot |
| CN206770538U (en) * | 2017-05-25 | 2017-12-19 | 温州江南精机有限公司 | High-precision screw rod transmission structure |
| CN108331998A (en) * | 2018-04-03 | 2018-07-27 | 华北理工大学 | A kind of caliber regulating mechanism |
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2019
- 2019-09-03 CN CN201910828520.4A patent/CN110486571B/en active Active
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| CN110486571A (en) | 2019-11-22 |
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