CN102691856B - Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot - Google Patents
Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot Download PDFInfo
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- CN102691856B CN102691856B CN201210180267.4A CN201210180267A CN102691856B CN 102691856 B CN102691856 B CN 102691856B CN 201210180267 A CN201210180267 A CN 201210180267A CN 102691856 B CN102691856 B CN 102691856B
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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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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a single-motor, wheel type and variable-speed spiral type hybrid driven pipeline robot. The pipeline robot is characterized by comprising a spiral drive device, a wheel type drive device and a motor power output device, wherein the spiral type drive device comprises a rotor, a spur gear is arranged on the rotor; an angled wheel unit is respectively arranged in three holes which are uniformly distributed in the rotor and connected with a dip angle adjustment mechanism; the wheel type drive device comprises a support body, three drive wheel units are uniformly distributed on the support body, and a link structure is arranged in the support body; the motor power output device comprises a clamp body, a slip distribution shaft is arranged in the clamp body; a second gear is arranged in the middle of the slip distribution shaft and engaged with the spur gear of the motor; the spur gear of the motor is connected with the output end of the motor, and the other end of the motor is connected with the support body; and the support body is provided with an electromagnetic component. The hybrid driven pipeline robot has the characteristics of being stable in traveling, large in space of speed regulation and wide in adapting condition of driving force.
Description
Technical field
The present invention relates to the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change, belong to the pipeline robot field.
Background technique
At present, pipeline operations is all the more frequent, and its job requirements and operating environment are complicated and changeable.Traditional pipeline robot adopts four-wheel-type, and its walking is unstable, easily topple, and the driving force deficiency.Because the sensor carried varies in weight and the conduit slope difference, cause the operating load of motor to alter a great deal, output power is difficult for meeting the demands.The current screw machine people speed of advancing is single, and power often can not take full advantage of.Moreover robot is in the condition of the advancing difference of zones of different, gait of march requires also often different.Existing robot work accommodation ability, speed, driving force are single.But, still could not effectively solve these problems at present.
Summary of the invention
The objective of the invention is to solve existing robot output power does not meet the demands, the work accommodation ability, speed, the problem that driving force is single, provide a kind of stable, speed of advancing to regulate the pipeline robot of space is large, the driving force condition of compatibility is wide single motor, the wheeled and spiral combination drive of speed change.
In order to achieve the above object, the invention provides the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change, it is characterized in that, comprise spiral drive unit, wheel type drive device and motor power output unit;
Described spiral drive unit comprises solid of rotation, and solid of rotation is provided with spur gear, on solid of rotation, in equally distributed three holes, is respectively equipped with a set of inclination wheels, and the inclination wheels are connected with incidence regulating mechanism;
Described wheel type drive device comprises support, is evenly distributed with three covers on support and drives wheels, is provided with linkage structure in support;
Described motor power output unit comprises cramping body, be provided with the slippage shunt shaft in cramping body, the centre of slippage shunt shaft is provided with the second gear, the second gear and the engagement of motor straight gear, the motor straight gear is connected with the output terminal of motor, the other end of motor is connected with support, and support is provided with electromagnet assembly.
Preferably, described incidence regulating mechanism comprises stepper motor, the first gear on stepper motor one end and index gears engagement, and index gears and bevel gear wheel are fixed, the first bevel pinion engagement on bevel gear wheel and inclination wheels.
Preferably, described solid of rotation is provided with the electromagnetism pin, and electromagnetism pin front end is tooth-shape structure, when the electromagnetism pin is not switched on, and electromagnetism pin and index gears engagement; When the electromagnetism pin is switched on, the electromagnetism pin separates with index gears.
Preferably, described linkage structure comprises bevel gear spur gear concretion body, the 5th gear on bevel gear spur gear concretion body meshes with equally distributed three the second bevel pinions respectively, three the second bevel pinions are connected with the 7th gear on three groups of slippage straight-tooth wheels by three head rods respectively, octadentate wheel on three groups of slippage straight-tooth wheels is connected with three pairs of bevel gear set by the second connecting rod respectively, and three pairs of bevel gear set are connected with three covers driving wheels respectively.
Preferably, described slippage shunt shaft is by the 3rd gear and spur gear engagement.
Preferably, described slippage shunt shaft is by the 6th gear engagement on the 4th gear and bevel gear spur gear concretion body.
The present invention realizes spiral driving or wheeled driving by using a motor to drive, and has been equivalent to save the weight of a set of motor and corollary equipment, and has avoided again controlling the improper situation that causes two kinds of driving mode simultaneously to be worked.According to job requirements and actual loading, select appropriate driving mode.When screw drives, can pass through the size at adjusting color screw angle, further change the size of speed and driving force.The present invention advances very stable, and it is very large that speed is regulated space, and the driving force condition of compatibility is very wide.
The accompanying drawing explanation
The structural representation of the pipeline robot that Fig. 1 is a kind of single motor, the wheeled and spiral combination drive of speed change;
The internal structure schematic diagram that Fig. 2 is spiral drive unit;
The structural representation of the helix angle that Fig. 3 is wheel spiral drive unit hour;
The structural representation of the spiral drive unit when helix angle that Fig. 4 is wheel is larger;
The structural representation that the helix angle that Fig. 5 is wheel is 90 spiral drive units while spending;
The internal structure schematic diagram that Fig. 6 is wheel type drive device inner link and motor power output unit;
The structural representation of motor power output unit when Fig. 7 drives for passing through spiral drive unit;
The structural representation that Fig. 8 is the motor power output unit while driving by wheel type drive device.
Description of reference numerals:
1 is solid of rotation, 2 is spur gear, 3 is the inclination wheels, 4 is index gears, 5 is the electromagnetism pin, 6 is stepper motor, 7 is bevel gear wheel, 8 is the first bevel pinion, 9 for driving wheels, 10 is bevel gear set, 11 is slippage straight-tooth wheels, 12 is the second bevel pinion, 13 is bevel gear spur gear concretion body, 14 is support, 15 is motor, 16 is the motor straight gear, 17 is the slippage shunt shaft, 18 is electromagnet assembly, 19 is cramping body, 20 is spiral drive unit, 21 is wheel type drive device, 22 is the motor power output unit, 23 is the first gear, 24 is head rod, 25 is the second connecting rod, 26 is the second gear, 27 is the 3rd gear, 28 is the 4th gear, 29 is the 5th gear, 30 is the 6th gear, 31 is the 7th gear, 32 is the octadentate wheel, 33 is incidence regulating mechanism, 34 is linkage structure.
Embodiment
For the present invention is become apparent, hereby with preferred embodiment, and coordinate accompanying drawing to be described in detail below.
Embodiment 1
As shown in Figure 1, be the structural representation of the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change.The pipeline robot that the present invention is a kind of single motor, the wheeled and spiral combination drive of speed change, comprise spiral drive unit 20, wheel type drive device 21 and motor power output unit 22.
As shown in Figure 6, for the internal structure schematic diagram of wheel type drive device 21 with motor power output unit 22, and combination as shown in Figure 1, and wheel type drive device 21 comprises following structure, be evenly distributed with three covers on support 14 and drive wheels 9, be provided with linkage structure 34 in support 14.Linkage structure 34 comprises bevel gear spur gear concretion body 13, the 5th gear 29 on bevel gear spur gear concretion body 13 meshes with equally distributed three the second bevel pinions 12 respectively, three the second bevel pinions 12 are connected with the 7th gear 31 on three groups of slippage straight-tooth wheels 11 by three head rods 24 respectively, octadentate wheel 32 on three groups of slippage straight-tooth wheels 11 is connected with three pairs of bevel gear set 10 by the second connecting rod 25 respectively, and three pairs of bevel gear set 10 are connected with three covers driving wheels 9 respectively.
Shown in Fig. 1 and Fig. 6, motor power output unit 22 comprises following structure, be provided with slippage shunt shaft 17 in cramping body 19, the centre of slippage shunt shaft 17 is fixed with the second gear 26, the second gear 26 and 16 engagements of motor straight gear, motor straight gear 16 is connected with the output terminal of motor 15, the other end of motor 15 is connected with support 14, support 14 is provided with electromagnet assembly 18 (comprising spring), one end of slippage shunt shaft 17 is fixed with the 3rd gear 27, and the other end is fixed with the 4th gear 28.
The round end of motor 15 is equipped with motor straight gear 16, and motor straight gear 16 meshes with middle the second wider gear 26 of slippage shunt shaft 17 all the time, drives slippage shunt shaft 17 and rotates.The 4th gear 28 and the 3rd gear 27 are equipped with respectively in slippage shunt shaft 17 two ends, are used for respectively transmission wheel type drive unit 21 and spiral drive unit 20.And electromagnet assembly 18 is exactly i.e. which kind of drive unit of transmission on earth in position for controlling slippage shunt shaft 17, determine the mode of advancing that robot adopts.
Robot is in the situation that resistance less (as less as load, pipe level) or, in the highway section without stopping operation, robot can advance with larger speed in power allows while advancing.Judge as calculated, can use wheeled driving mode.Electromagnet assembly 18 energising work, the 6th gear 30 engagements of the 4th gear 28 of slippage shunt shaft 17 1 ends and the bevel gear spur gear concretion body 13 in wheel type drive device 21.Simultaneously, the helix angle of the wheel of spiral drive unit 20 is adjusted to 90 degree (as shown in Figure 5, being the helix angle of the wheel structural representation that is 90 spiral drive units while spending), wheel type drive device 21 work.
The power of motor 15 rotates by the 6th gear 30 band dynamic bevel gear spur gear concretion bodys 13 on bevel gear spur gear concretion body 13.The rotation of bevel gear spur gear concretion body 13 is passed to three the second bevel pinion 12, the second bevel pinions 12 by the 5th gear 29 on bevel gear spur gear concretion body 13 and is driven separately the 7th corresponding gear 31 by head rod 24.The 7th gear 31 is wider, allows narrow octadentate wheel 32 in the situation that engagement slippage all the time.The octadentate wheel 32 of slippage drives the bevel-gear sett group 10 associated with wheel, finally drives wheel turns.
The conduit slope that robot travels is large or load is heavier, and robot can use spiral driving mode instead.Now, electromagnet assembly 18 discharges slippage shunt shaft 17, and the 3rd gear 27 of slippage shunt shaft 17 meshes with the spur gear 2 of spiral drive unit 20 under spring action, spiral drive unit 20 work.
When robot adopts spiral advancing, can be again according to need of work and induced pressure and pipe condition adjusting gait of march and driving force.The power of motor 15 rotates by the spur gear 2 driven rotary bodies 1 of interior engagement, and the wheel in oblique position rolls, and produces tractive force upwards, and robot becomes spiral and advances.When stepper motor 6 acknowledge(ment) signals rotate, electromagnetism pin 5 energisings are simultaneously regained, stepper motor 6 drives spur gear 2, and then drive bevel gear wheel 7, bevel gear wheel 7 rotates, drive the first bevel pinion 8, and then (the structural representation of the helix angle that as shown in Figure 3, Figure 4, Fig. 3 is wheel spiral drive unit hour that makes the tilt angle of wheel change; The structural representation of the spiral drive unit when helix angle that Fig. 4 is wheel is larger), robot will advance with different helix angles, meet speed and driving force requirement.
Claims (4)
1. the pipeline robot of a single motor, the wheeled and spiral combination drive of speed change, is characterized in that, comprises spiral drive unit (20), wheel type drive device (21) and motor power output unit (22);
Described spiral drive unit (20) comprises solid of rotation (1), solid of rotation (1) is provided with spur gear (2), solid of rotation (1) is respectively equipped with a set of inclination wheels (3) in upper equally distributed three holes, inclination wheels (3) are connected with incidence regulating mechanism (33), incidence regulating mechanism (33) comprises stepper motor (6), the first gear (23) on stepper motor (6) one ends and index gears (4) engagement, index gears (4) is fixed with bevel gear wheel (7), bevel gear wheel (7) meshes with the first bevel pinion (8) on inclination wheels (3),
Described wheel type drive device (21) comprises support (14), be evenly distributed with three covers on support (14) and drive wheels (9), be provided with linkage structure (34) in support (14), linkage structure (34) comprises bevel gear spur gear concretion body (13), the 5th gear (29) on bevel gear spur gear concretion body (13) meshes with equally distributed three the second bevel pinions (12) respectively, three the second bevel pinions (12) are connected with the 7th gear (31) on three groups of slippage straight-tooth wheels (11) by three head rods (24) respectively, octadentate wheel (32) on three groups of slippage straight-tooth wheels (11) is connected with three pairs of bevel gear set (10) by the second connecting rod (25) respectively, three pairs of bevel gear set (10) drive wheels (9) to be connected with three covers respectively,
Described motor power output unit (22) comprises cramping body (19), be provided with slippage shunt shaft (17) in cramping body (19), the centre of slippage shunt shaft (17) is provided with the second gear (26), the second gear (26) and motor straight gear (16) engagement, motor straight gear (16) is connected with the output terminal of motor (15), the other end of motor (15) is connected with support (14), and support (14) is provided with electromagnet assembly (18).
2. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, it is characterized in that, described solid of rotation (1) is provided with electromagnetism pin (5), electromagnetism pin (5) front end is tooth-shape structure, when electromagnetism pin (5), while not switching on, electromagnetism pin (5) meshes with index gears (4); When electromagnetism pin (5) is switched on, electromagnetism pin (5) separates with index gears (4).
3. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, is characterized in that, described slippage shunt shaft (17) is by the 3rd gear (27) and spur gear (2) engagement.
4. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, it is characterized in that, described slippage shunt shaft (17) meshes by the 4th gear (28) and the 6th gear (30) on bevel gear spur gear concretion body (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180267.4A CN102691856B (en) | 2012-06-02 | 2012-06-02 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180267.4A CN102691856B (en) | 2012-06-02 | 2012-06-02 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
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| Publication Number | Publication Date |
|---|---|
| CN102691856A CN102691856A (en) | 2012-09-26 |
| CN102691856B true CN102691856B (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210180267.4A Expired - Fee Related CN102691856B (en) | 2012-06-02 | 2012-06-02 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
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| CN103672290B (en) * | 2013-12-11 | 2015-11-18 | 电子科技大学 | Entirely drive creeping type pipeline robot |
| GB2531706A (en) * | 2014-10-19 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
| CN104896258B (en) * | 2015-05-13 | 2017-02-01 | 上海宇航***工程研究所 | Self-adaptive wheel type pipe inner moving device |
| CN105782633B (en) * | 2016-04-18 | 2018-05-29 | 中北大学 | It is adaptively connected based on the pipe leakage that screw drives are creeped and blocks prosthetic device |
| CN107270027A (en) * | 2017-05-16 | 2017-10-20 | 哈尔滨工程大学 | A kind of support wheel type pipeline detection robot of optimization |
| CN107218473B (en) * | 2017-05-31 | 2018-05-15 | 清远初曲智能科技有限公司 | A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot |
| 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 |
| CN107489855B (en) * | 2017-08-08 | 2019-04-12 | 浙江海洋大学 | A kind of mixed power plant for gas pipeline crusing robot |
| CN107559599B (en) * | 2017-08-31 | 2018-12-21 | 四川省冶地工程勘察设计有限公司 | A kind of detection device and detection method of underground metal pipes |
| WO2019060400A1 (en) | 2017-09-19 | 2019-03-28 | Arix Technologies, Inc. | Pipe traversing apparatus and methods |
| US11154989B2 (en) | 2019-09-27 | 2021-10-26 | Arix Technologies, Inc. | Pipe traversing apparatus, sensing, and controls |
| CA3228246A1 (en) | 2021-08-13 | 2023-02-16 | Bryan R. Duerfeldt | Radiography inspection and fail-safe mechanism for pipe traversing robots |
| CN114391002A (en) * | 2021-09-08 | 2022-04-22 | 张鲁国 | Pipeline transportation system with power optimization and transportation method |
| CN114962853B (en) * | 2022-05-10 | 2023-05-23 | 西南石油大学 | Gear shifting adjusting type pipeline robot |
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| JP2533027B2 (en) * | 1991-11-22 | 1996-09-11 | 新菱冷熱工業株式会社 | Autonomous mobile piping maintenance robot |
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| 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 |
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Non-Patent Citations (1)
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Granted publication date: 20140108 Termination date: 20160602 |