CN102392926B - Pipe robot - Google Patents
Pipe robot Download PDFInfo
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- CN102392926B CN102392926B CN 201110317677 CN201110317677A CN102392926B CN 102392926 B CN102392926 B CN 102392926B CN 201110317677 CN201110317677 CN 201110317677 CN 201110317677 A CN201110317677 A CN 201110317677A CN 102392926 B CN102392926 B CN 102392926B
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- fuselage
- pipeline robot
- reversing
- reversing plate
- propeller
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- 230000001681 protective effect Effects 0.000 claims description 7
- 210000001061 forehead Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 239000012530 fluid Substances 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses a pipe robot, comprising a reversing board which is installed on the robot body and is moved between the first position and the second position, wherein when the reversing board is in the first position, the front propeller and the rear propeller can generate the pushing forces of the same direction so that the pipe robot is moved forward or backward in a straight line; when the reversing board is in the second position, the reversing board is backward extended out of the robot body for a length scope and is shielded on one side of the rear propeller to block the fluid supply on one side of the rear propeller, so that the reversing torque is generated due to the insufficient side pushing force and the front part of the robot body is moved towards the extended side of the reversing board to achieve the reversing purpose. Compared with the prior art, the pipe robot provided by the invention finishes the reversing work via the extension of the reversing board and has better driving effect and stronger movement controllability.
Description
Technical field
The present invention relates to the robot field, especially a kind of pipeline robot.
Background technique
Robot is mainly used in human vas or the more industrial small sized pipeline that is not easy to manual work.The fltting speed that the drive form of currently used robot produces is very limited, advances poor effect, and commutating structure takes up space greatly, is unfavorable for the microminiaturization of robot.
Therefore, need a kind of new technological scheme to address the above problem.
Summary of the invention
The problem that produces in order to solve prior art the invention provides a kind of have commutation function and microminiaturized pipeline robot.
For achieving the above object, pipeline robot of the present invention can adopt following technological scheme:
A kind of pipeline robot, comprise fuselage, be positioned at front fuselage forward propeller, be positioned at back body after propeller, be positioned at fuselage and connect forward propeller with front motor that forward propeller power is provided, be positioned at fuselage and connect after propeller so that the rear motor of after propeller power to be provided, this pipeline robot also comprises the reversing plate that is installed on the fuselage and moves between primary importance and the second place, when described reversing plate was positioned at primary importance, the two ends of reversing plate all were positioned within the length range of fuselage; When described reversing plate was positioned at the second place, this reversing plate extended back the length range of fuselage and blocks a side in after propeller.
Pipeline robot of the present invention, be provided with the reversing plate that is installed on the fuselage and between primary importance and the second place, moves, when described reversing plate is positioned at primary importance, the two ends of reversing plate all are positioned within the length range of fuselage, and this moment, forward and backward propulsion device produced that equidirectional thrust can make that pipeline robot linearly moves advances or retreat; When described reversing plate is positioned at the second place, this reversing plate extends back the length range of fuselage and blocks a side in after propeller, kept off the fluid supply of after propeller one side, thereby cause this side-thrust not enough, produce the commutation moment of torsion, make fore-body towards the lateral movement that reversing plate stretches out, reach the purpose of commutation.And this pipeline robot commutates by reversing plate, and is simple in structure, so that this pipeline robot can be realized microminiaturization.
Description of drawings
Fig. 1 is the stereogram of pipeline robot of the present invention, and has showed the state when reversing plate is positioned at primary importance.
Fig. 2 is the stereogram of pipeline robot of the present invention, and has showed the state when reversing plate is positioned at the second place.
Fig. 3 is the three-dimensional exploded view of pipeline robot of the present invention.
Fig. 4 is the cooperation schematic representation between reversing motor, worm screw and the reversing plate in the pipeline robot of the present invention.
Fig. 5 is the schematic representation of accepting groove on the pipeline robot middle machine body of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand following embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
See also Fig. 1 and shown in Figure 3, the invention discloses a kind of pipeline robot 100, comprise fuselage 20, be positioned at fuselage 20 front ends forward propeller 31, be positioned at fuselage 20 rear ends after propeller 32, be positioned at fuselage 20 and connect forward propeller 31 with front motor 41 that forward propeller 31 power are provided, be positioned at fuselage 20 and connect after propeller 32 with rear motor 42 that after propeller 32 power are provided, be installed on the reversing plate 50 on the fuselage 20, the reversing motor 43 that is positioned at fuselage 20 and the worm screw 44 that is connected with reversing motor 43.Described pipeline robot 100 also is provided with front dividing plate 61, rear bulkhead 62 and the central diaphragm 63 that is positioned at fuselage 20, described front dividing plate 61 is provided with in order to the fixing fixed hole 611 of front motor 41, rear bulkhead 62 is provided with in order to the fixing fixed hole 621 of rear motor 42, and central diaphragm 63 has the fixedly fixed hole 631 of reversing motor 43.Described fuselage 20 comprises the main part 21 of tubulose and is sheathed on fore head 22 and the occiput 23 at main part 21 two ends.Described front motor 41 is positioned at fore head 22, and rear motor 42 is positioned at occiput 23.Described pipeline robot 100 also is provided with and is sheathed on the outer protective equipment 70 of fuselage 20, this protective equipment 70 be provided with some around forward and backward propulsion device 31,32 outsides protective ring 71 and be sheathed on retaining ring 72 on the fuselage 20.Protective ring 71 is surrounded on forward and backward propulsion device 31,32 outsides and injures surrounding enviroment when avoiding forward and backward propulsion device 31,32 high speed rotating; Retaining ring 72 is fixed on the fuselage 20 so that this protective equipment 70 is fixed with fuselage by interference fit.In the present embodiment, described pipeline robot 100 also is provided with gyroscope (not shown) as the pose of apparatus for detecting position and posture in order to detecting tube pipeline robot 100.
See also Fig. 3 and shown in Figure 4, described reversing plate 50 is provided with the some groovings 51 that cooperate with described worm screw 44, and described grooving 51 extends along the bearing of trend of reversing plate 50.The fluting 211 that described main part 21 stretches out for worm screw 44 parts in the face of a side of reversing plate 50 is provided with is so that worm screw 44 can stretch out to form with grooving 51 cooperates.
See also Fig. 3 and shown in Figure 5, the cross section of described reversing plate 50 is circular-arc, described fuselage 20 is provided with to accommodate reversing plate 50 and cross section is similarly circular-arc accepting groove 24, the both sides of described accepting groove 24 are provided with wedge slot 241, and the both sides of reversing plate 50 are provided with the wedge shape lateral margin 52 that cooperates with described wedge slot 241.This wedge shape lateral margin 52 inserts reversing plate 50 can be slided along this wedge slot 241, and can guarantee fitting tightly between fuselage 20 and the reversing plate.
See also Fig. 1 and Fig. 2 and in conjunction with shown in Figure 4, under the cooperation of described worm screw 44 and grooving 51, the rotation of worm screw 44 can make reversing plate 50 mobile between primary importance and the second place.As shown in Figure 1, when being positioned at primary importance for reversing plate 50, the two ends of reversing plate 50 all are positioned within the length range of fuselage 20.This moment described forward and backward propulsion device 31,32 around stop without any that all forward and backward propulsion device 31, the equidirectional thrust of 32 generations can make that pipeline robot 100 linearly moves advances or retreat.When the rotation of worm screw 44 drove reversing plate 50 and is positioned at the second place to fuselage 20 rear movements, this reversing plate 50 extended back the length range of fuselage 20 and blocks a side in after propeller 32.This moment, reversing plate 50 kept off the fluid supply of after propeller 32 1 sides, thereby caused this side-thrust not enough, produced the commutation moment of torsion, made fuselage 20 front portions towards the lateral movement that reversing plate stretches out, and reached the purpose of commutation.Described forward and backward propulsion device 31,32 all has the helical afterbody, and this helical afterbody is compliant tail portions or fixing helical afterbody.If this afterbody is compliant tail portions, when then rotating, under the flowing medium effect, automatically form the helical afterbody, spiral-shaped by tail shape, material flexibility, rotational speed and the decision of surrounding medium characteristic; If afterbody is fixing helical afterbody, it is spiral-shaped by being processed to form, and is not subjected to medium influence.In the present embodiment, this helical afterbody is selected fixedly helical afterbody.
Wherein commutation comprises static commutation and motion commutation:
Static commutation: current, after propeller 31, opposite, the equal and opposite in direction of 32 thrust directions that produce, this pipeline robot 100 is without translational motion, but fuselage 20 is done rightabout rotation because of the effect of the moment of torsion in the same way that two propulsion devices produce, can by the detection of gyroscope to fuselage 20 poses, make reversing plate 50 turn to target direction one side this moment.After arriving targeted attitude, reversing plate 50 stretches out, and makes simultaneously forward and backward propulsion device 31,32 promote robots and advances or retreat, and turns to thereby finish.
Motion commutation: current, after propeller 31, when 32 rotating speeds are inconsistent, it is inconsistent to moment of torsion that fuselage 20 produces, thereby causes fuselage 20 rotations, stretches out when reversing plate 50 rotates to target side, thereby reaches the purpose of commutation.
Claims (8)
1. pipeline robot, comprise fuselage, be positioned at front fuselage forward propeller, be positioned at back body after propeller, be positioned at fuselage and connect forward propeller with front motor that forward propeller power is provided, be positioned at fuselage and connect after propeller so that the rear motor of after propeller power to be provided, it is characterized in that: this pipeline robot also comprises the reversing plate that is installed on the fuselage and moves between primary importance and the second place, when described reversing plate was positioned at primary importance, the two ends of reversing plate all were positioned within the length range of fuselage; When described reversing plate was positioned at the second place, this reversing plate extended back the length range of fuselage and blocks a side in after propeller; Described pipeline robot also is provided with the reversing motor that is positioned at fuselage and the worm screw that is connected with reversing motor, and described reversing plate is provided with the some groovings that cooperate with described worm screw, and described grooving extends along the bearing of trend of reversing plate.
2. pipeline robot according to claim 1, it is characterized in that: the cross section of described reversing plate is circular-arc, fuselage is provided with to accommodate reversing plate and cross section is similarly circular-arc accepting groove, the both sides of described accepting groove are provided with wedge slot, and the both sides of reversing plate are provided with the wedge shape lateral margin that cooperates with described wedge slot.
3. pipeline robot according to claim 2, it is characterized in that: described pipeline robot also is provided with front dividing plate, rear bulkhead and the central diaphragm that is positioned at fuselage, described front dividing plate is provided with in order to the fixing fixed hole of front motor, rear bulkhead is provided with in order to the fixing fixed hole of rear motor, and central diaphragm has the fixedly fixed hole of reversing motor.
4. pipeline robot according to claim 1 is characterized in that: described fuselage comprises the main part of tubulose and is sheathed on fore head and the occiput at main part two ends, and described front motor is positioned at fore head, and rear motor is positioned at occiput.
5. pipeline robot according to claim 2 is characterized in that: described pipeline robot also is provided with and is sheathed on the outer protective equipment of fuselage, and this protective equipment is provided with some ring bodies around the forward and backward propulsion device outside.
6. pipeline robot according to claim 1, it is characterized in that: described forward and backward propulsion device all has the helical afterbody, and this helical afterbody is compliant tail portions or fixing helical afterbody.
7. pipeline robot according to claim 1, it is characterized in that: described pipeline robot also is provided with apparatus for detecting position and posture.
8. pipeline robot according to claim 7, it is characterized in that: described apparatus for detecting position and posture is gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317677 CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317677 CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102392926A CN102392926A (en) | 2012-03-28 |
| CN102392926B true CN102392926B (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110317677 Active CN102392926B (en) | 2011-10-18 | 2011-10-18 | Pipe robot |
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| CN (1) | CN102392926B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235771B (en) * | 2015-10-29 | 2016-07-06 | 吉林大学 | A kind of silo internal information detects bionical screw machines people |
| CN106697105A (en) * | 2016-11-27 | 2017-05-24 | 申俊 | Robot used for real-time monitoring of storage materials |
| CN107339545B (en) * | 2017-07-15 | 2019-04-19 | 新昌县羽林街道东商机械厂 | A kind of flexible cone Screw Motion In-pipe Robot |
| RU2686267C1 (en) * | 2018-08-13 | 2019-04-24 | Николай Петрович Дядченко | Screw propulsion unit |
| RU2686300C1 (en) * | 2018-08-27 | 2019-04-25 | Николай Петрович Дядченко | Screw-type propulsor |
| CN109330661A (en) * | 2018-10-17 | 2019-02-15 | 深圳达芬奇创新科技有限公司 | A kind of blood vessel depths blood lipid rubbish medical treatment cleaning mechanism |
| CN112220525A (en) * | 2019-07-15 | 2021-01-15 | 彭志军 | Ultrasonic dredging robot device capable of freely moving in blood vessel from front to back |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19859229A1 (en) * | 1998-12-21 | 2000-07-06 | Rico Mikroelektronik Gmbh | Pipe newt |
| CN1635296A (en) * | 2003-12-29 | 2005-07-06 | 大连理工大学 | Crawling conduit creeper |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN101144558A (en) * | 2007-09-30 | 2008-03-19 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| EP2000732A1 (en) * | 2007-06-08 | 2008-12-10 | Constructions Industrielles De La Mediterranee CNIM | Robot intended for moving a parcel in a burying conduit |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| EP2101101A2 (en) * | 2008-03-10 | 2009-09-16 | Shonan Gosei-Jushi Seisakusho K.K. | In-pipe work robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7210364B2 (en) * | 2001-10-17 | 2007-05-01 | Fathi Hassan Ghorbel | Autonomous robotic crawler for in-pipe inspection |
| JP2009056573A (en) * | 2007-09-03 | 2009-03-19 | Shizuoka Institute Of Science And Technology | Operation method of micro component |
-
2011
- 2011-10-18 CN CN 201110317677 patent/CN102392926B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19859229A1 (en) * | 1998-12-21 | 2000-07-06 | Rico Mikroelektronik Gmbh | Pipe newt |
| CN1635296A (en) * | 2003-12-29 | 2005-07-06 | 大连理工大学 | Crawling conduit creeper |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| EP2000732A1 (en) * | 2007-06-08 | 2008-12-10 | Constructions Industrielles De La Mediterranee CNIM | Robot intended for moving a parcel in a burying conduit |
| CN101144558A (en) * | 2007-09-30 | 2008-03-19 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| EP2101101A2 (en) * | 2008-03-10 | 2009-09-16 | Shonan Gosei-Jushi Seisakusho K.K. | In-pipe work robot |
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| Publication number | Publication date |
|---|---|
| CN102392926A (en) | 2012-03-28 |
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