CN100364730C - Movable robot in pipe with variable diameter - Google Patents
Movable robot in pipe with variable diameter Download PDFInfo
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- CN100364730C CN100364730C CNB2006100244177A CN200610024417A CN100364730C CN 100364730 C CN100364730 C CN 100364730C CN B2006100244177 A CNB2006100244177 A CN B2006100244177A CN 200610024417 A CN200610024417 A CN 200610024417A CN 100364730 C CN100364730 C CN 100364730C
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- planetary gear
- pipe
- frame
- movable robot
- variable diameter
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Abstract
The present invention relates to a movable robot in a pipeline with variable diameters, which comprises an electric machine, a machine frame and a traveling mechanism, wherein the traveling mechanism is a worm connected with an output shaft of the electric machine, and three groups of stroke planetary gear drive mechanisms which are evenly distributed on the machine frame in a radial direction and in a circumferential direction, and connecting traveling wheels. In a pipeline with different diameters, planetary gears in the planetary gear mechanism can swing, so the robot can change the self radial dimension to fit the change of the diameter of the pipeline in a self-adaptive mode.
Description
Technical field
The present invention relates to a kind of movable robot in pipe, particularly a kind of variable dimension can adapt to the movable robot in pipe that different tube diameters pipeline or caliber change pipeline within the specific limits continuously automatically.
Background technology
The pipeline that has various difference in functionality, different size in the daily life is as water supply pipe, gas piping, underground communication cable pipeline, nuclear industry pipeline or the like.These pipelines need to detect before coming into operation, and do not have defective to guarantee inside.In use also need often inner-walls of duct to be checked, thereby can in time find the destruction that inner-walls of duct takes place, be convenient to pipeline is safeguarded.
Existing pipe inspection method normally intercepts a section of pipeline at random and surveys sample, and promptly adopts this method such as the inspection to the building water supply pipe.For critical piping, as the nuclear industry pipeline, then be to enter pipe interior by pipe robot, carry out whole process inspection.Preceding a kind of method obviously is destructive, and then a kind of method then needs at the pipeline specialized designs pipe robot that is detected.
Present pipe robot is such as utilizing wheel to realize Heli-Pipe pipe robot (the A simple architecture for in-pipe inspection robots that robot body moves forwards, backwards, Int.Colloquium on Mobile andAutonomous Systems, 10 Years of the Fraunhofer IFF, Magdeburd, June 25-26,2002) and utilize tiny pipe robot (the Piezoelectric Ceramic Moving Mechanism of Micro Robot performance test research of Piezoelectric Ceramic, " machinery and electronics ", 1998 04 phases) etc., all be for the pipeline of special diameter custom-designed.Pipe diameter has changed, and just must redesign make, thereby has increased cost.This in addition pipe robot can not be implemented operation in the continually varying pipeline within the specific limits at caliber.
Summary of the invention
Purpose of the present invention is to provide a kind of movable robot in pipe of variable dimension, and when caliber changed, the radial dimension of pipe robot was also made corresponding change, to adapt to the requirement that caliber changes.
For achieving the above object, the present invention adopts following technical proposals:
A kind of movable robot in pipe with variable diameter, comprise motor, frame and walking mechanism, it is characterized in that described walking mechanism is the worm screw that is connected by a motor output shaft, the footpath is uniform rack-mounted three groups of planetary gear mechanisms circumferentially, connect road wheel and constitute; The structure of three groups of above-mentioned planetary gear mechanisms is: the sun gear of every group of planetary gear mechanism and described worm engaging, the sun gear rotating shaft is installed on the frame, per two planetary gears and sun gear engagement, two planetary gear rotating shafts are installed on two L type connecting rods, two L type connecting rods are positioned at the both sides of sun gear and planetary gear, and its turning point and sun wheel shaft are rotatably assorted.
Above-mentioned road wheel has 12, is installed in the two ends of every group of two planetary gear rotating shafts in described three groups of planetary gear mechanisms respectively.
Circumferentially three uniform windows are arranged on the above-mentioned frame, and each window is installed a described planetary gear mechanism, and two planetary gear axle center lines are exposed outside the external diameter of frame with the frame central line parallel time.
Above-mentioned sun gear is a helical gear, and with described worm engaging, described planetary gear also is a helical gear.
Three groups of above-mentioned planetary gear mechanism sizes are identical, and described 12 road wheel sizes are identical.
Above-mentioned motor is a direct current generator, be fixed on the motor cabinet by the end face screw, motor cabinet is also fixedlyed connected by holding screw with the frame socket, the output shaft of motor and described worm screw socket, and fixedly connected by holding screw, the two ends of described worm screw are supported in the inner chamber of frame by bearing.
An auxiliary walking rotating shaft is installed below the rear end socket of above-mentioned motor and by the fixedly connected tailstock of holding screw, tailstock, a secondary row travelling wheel respectively is installed at two ends of this auxiliary walking rotating shaft.
When above-mentioned movable robot in pipe with variable diameter was in the motion zero-bit, four road wheels of every group of planetary gear mechanism connection were positioned at same plane, and this plane is parallel with the axis of total.This moment the mobile robot the radial dimension minimum, this size correspondence the minimum pipe diameter that this movable robot in pipe can pass through.
The present invention compared with prior art, remarkable advantage with following conspicuous outstanding substantive distinguishing features: in the present invention, adopt three groups of planetary gear mechanisms to connect road wheel, make the road wheel swing, but thereby realize the movable robot in pipe reducing, to adapt to the variation of tested caliber.The present invention also changes traditional worm and gear transmission into worm screw and helical gear transmission, thereby realizes the sun gear by three groups of planetary gear mechanisms of a worm-drive.Compact conformation of the present invention, reasonable, operation is convenient, reliable operation.Be applicable to the especially detection of tapered pipeline use movable robot in pipe of various pipelines.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is an A-0-A place profile among Fig. 1.
Fig. 3 is the schematic perspective view of one group of planetary gear mechanism and road wheel among Fig. 1.
Fig. 4 is Fig. 1 example forward travel state schematic perspective view.
Fig. 5 is Fig. 1 example fallback state schematic perspective view.
The specific embodiment
A preferred embodiment of the present invention is: referring to Fig. 1, Fig. 2 and Fig. 3, this movable robot in pipe with variable diameter includes motor 1, frame 2 and walking mechanism, described walking mechanism is the worm screw 4 that is connected by motor 1 output shaft, the footpath is uniform three groups of planetary gear mechanisms that are installed on the frame 3 circumferentially, connect road wheel 17 and constitute.The structure of described three groups of planetary gear mechanisms is: the sun gear 6 of every group of planetary gear mechanism and described worm screw 4 engagements, sun gear rotating shaft 14 is installed on the frame 3, per two planetary gears 7 and sun gear 6 engagements, two planetary gear rotating shafts 15 are installed on two L type connecting rods 16, two L type connecting rods 16 are positioned at the both sides of sun gear 6 and planetary gear 7, and its turning point and sun wheel shaft (14) are rotatably assorted.Described road wheel 17 has 12, is installed in the two ends of every group of two planetary gear rotating shafts 15 in described three groups of planetary gear mechanisms respectively.Circumferentially three uniform windows are arranged on the described frame 3, and each window is installed a described planetary gear mechanism, and two planetary gear 7 axial connecting lines are exposed outside the external diameter of frame 3 when parallel with frame 3 center lines.Described sun gear 6 is helical gear and 4 engagements of described worm screw, and described planetary gear also is a helical gear.Described three groups of planetary gear mechanism sizes are identical, and described 12 road wheel 17 sizes are identical.Described motor 1 is a direct current generator, be fixed on the motor cabinet 2 by end face screw 10, motor cabinet 2 is also fixedlyed connected by holding screw 9 with frame 3 sockets, the output shaft of motor 1 and 4 sockets of described worm screw, and fixedly connected by holding screw 8, the two ends of described worm screw 4 are supported in the inner chamber of frame 3 by bearing 5.An auxiliary walking rotating shaft 11 is installed below the rear end socket of described motor 1 and by the fixedly connected tailstock 13 of holding screw, tailstock 13, a secondary row travelling wheel 12 respectively is installed at two ends of this auxiliary walking rotating shaft 11.Whole tailstock parts mainly play the supplemental support effect.
The operation principle of this movable robot in pipe with variable diameter is as follows:
(a) forward travel state: referring to Fig. 4, motor 1 drives worm screw 4 just to be changeed, and drives sun gear 6 and rotates counterclockwise around sun gear rotating shaft 14, drives the planetary gear 7 star-wheel rotating shaft 15 of detouring simultaneously and clockwise rotates.Because the effect of engagement force component, counter-clockwise swing takes place around sun gear rotating shaft 14 in L type connecting rod 16, makes the road wheel 17 of front end lift slightly, and the road wheel of rear end descends, and the road wheel 17 until the rear end contacts with tube wall.
(b) fallback state: referring to Fig. 5, fallback state is opposite with the course of work of forward travel state.Motor 1 drives worm screw 4 counter-rotatings, drives sun gear 6 and rotates along middle pin around sun gear rotating shaft 14, and 7 of planetary gears rotate counterclockwise.L type connecting rod 16 produces swing clockwise around sun gear rotating shaft 14 thereupon, and therefore the road wheel 17 of rear end lifts, and the then decline of road wheel 17 of front end is until contacting with tube wall.
Unless this robot works in the minimum pipeline of its correspondence, all road wheels all contact with tube wall, under other situation, have only six road wheels 17 to contact with tube wall.The road wheel 17 that advances and be the rear end then is that the road wheel 17 of front end is with the pipe arm contact and be in the walking states when retreating.No matter advance or retreat, if pipe diameter changes, as long as be no more than the maximum or the smallest radial size of robot reducing, walking mechanism just can be according to above-mentioned working mechanism, automatically regulate the angle of L type connecting rod 16 swings, until adapting to new pipe diameter.In the course of the work,, forms force-closed and how much sealings, so guaranteed that the center line of robot overlaps with the pipeline center line all the time, make that robot is unlikely to be stuck or to skid because the residing state of three-dimensional planetary gear mechanism is identical all the time.
Claims (7)
1. movable robot in pipe with variable diameter, comprise motor (1), frame (3) and walking mechanism, it is characterized in that described walking mechanism is the worm screw (4) that is connected by a motor (1) output shaft, the footpath is uniform three groups of planetary gear mechanisms that are installed on the frame (3) circumferentially, connect road wheel (17) and constitute; The structure of described three groups of planetary gear mechanisms is: sun gear of every group of planetary gear mechanism (6) and described worm screw (4) engagement, sun gear rotating shaft (14) is installed on the frame (3), per two planetary gears (7) and sun gear (6) engagement, two planetary gear rotating shafts (15) are installed on two L type connecting rods (16), two L type connecting rods (16) are positioned at the both sides of sun gear (6) and planetary gear (7), and its turning point and sun wheel shaft (14) are rotatably assorted.
2. movable robot in pipe with variable diameter according to claim 1 is characterized in that described road wheel (17) has 12, is installed in the two ends of the two every group planetary gear rotating shafts (15) in described three groups of planetary gear mechanisms respectively.
3. movable robot in pipe with variable diameter according to claim 1, it is characterized in that having on the described frame (3) circumferentially three uniform windows, each window is installed a described planetary gear mechanism, and two planetary gears (7) axial connecting line is being exposed when center line is parallel outside the external diameter of frame (3) with frame (3).
4. movable robot in pipe with variable diameter according to claim 1 is characterized in that described sun gear (6) is a helical gear, and with described worm screw (4) engagement, described planetary gear also is a helical gear.
5. movable robot in pipe with variable diameter according to claim 2 is characterized in that described three groups of planetary gear mechanism sizes are identical, and described 12 road wheels (17) size is identical.
6. movable robot in pipe with variable diameter according to claim 1, it is characterized in that described motor (1) is a direct current generator, be fixed on the motor cabinet (2) by end face screw (10), motor cabinet (2) is also fixedlyed connected by holding screw (9) with frame (3) socket, the output shaft of motor (1) and described worm screw (4) socket, and fixedly connected by holding screw (8), the two ends of described worm screw (4) are supported in the inner chamber of frame (3) by bearing (5).
7. movable robot in pipe with variable diameter according to claim 1, it is characterized in that the rear end socket of described motor (1) and by the fixedly connected tailstock of holding screw (13), an auxiliary walking rotating shaft (11) is installed below the tailstock (13), a secondary row travelling wheel (12) respectively is installed at the two ends of this auxiliary walking rotating shaft (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100244177A CN100364730C (en) | 2006-03-07 | 2006-03-07 | Movable robot in pipe with variable diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100244177A CN100364730C (en) | 2006-03-07 | 2006-03-07 | Movable robot in pipe with variable diameter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1817578A CN1817578A (en) | 2006-08-16 |
| CN100364730C true CN100364730C (en) | 2008-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100244177A Expired - Fee Related CN100364730C (en) | 2006-03-07 | 2006-03-07 | Movable robot in pipe with variable diameter |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102873066B (en) * | 2012-11-02 | 2014-04-09 | 山东理工大学 | Planetary self-adaptive pipeline cleaning robot |
| HK1187489A2 (en) * | 2013-02-08 | 2014-04-04 | Hong Kong And China Gas Company Ltd | Method of and apparatus for detection of leakage in pipes |
| CN104887417B (en) * | 2015-06-16 | 2018-05-08 | 北京理工大学 | A kind of wheel footpath size adjustable mechanism suitable for electric wheelchair |
| CN107598961A (en) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | A kind of robot arm |
| CN108861971B (en) * | 2018-07-25 | 2019-11-29 | 深圳智慧林网络科技有限公司 | A kind of walking mechanism of intellect service robot |
| CN109541023A (en) * | 2018-11-05 | 2019-03-29 | 国家能源投资集团有限责任公司 | Coal mine underground reservoir detection device |
| CN109307124B (en) * | 2018-11-07 | 2020-09-04 | 沈阳工业大学 | Arching mechanism |
| CN109764109B (en) * | 2019-02-26 | 2024-02-13 | 浙江工业大学 | Be applied to pipeline robot's electronic type triaxial differential system |
-
2006
- 2006-03-07 CN CNB2006100244177A patent/CN100364730C/en not_active Expired - Fee Related
Non-Patent Citations (5)
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| 压电陶瓷驱动微小机器人移动机构性能实验研究. 钱晋武，张彦彬，章亚男，孙麟治.机械与电子. 1998 * |
| 小口径管道用机器人行星齿轮式行走机构设计. 马荣朝，潘英俊，秦岚.农业机械学报，第34卷第3期. 2003 * |
| 微小管道机器人移动机构运动学与动力学特性. 马荣朝，秦岚，潘英俊.重庆大学学报，第25卷第7期. 2002 * |
| 用于小直径管道检测的机器人. 杨志峰.无损检测，第22卷第10期. 2000 * |
| 直进轮式全驱动管内行走机构的研究. 邓宗全，王杰，刘福利，李笑，陈明.机器人，第17卷第2期. 1995 * |
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| CN1817578A (en) | 2006-08-16 |
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