CN105276334A - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN105276334A CN105276334A CN201510697140.3A CN201510697140A CN105276334A CN 105276334 A CN105276334 A CN 105276334A CN 201510697140 A CN201510697140 A CN 201510697140A CN 105276334 A CN105276334 A CN 105276334A
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- frame
- transmission system
- belt wheel
- rocking bar
- shaft
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Classifications
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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
The invention discloses a pipeline inspection robot which comprises a first robot body. The first robot body comprises a rack, an adjusting mechanism and a transmission system, wherein the adjusting mechanism and the transmission system are installed on the rack. The transmission system is used for transmitting power to the adjusting mechanism. The adjusting mechanism comprises at least three sets of symmetric four-rod mechanisms rotating around the center of the rack. Each four-rod mechanism is a rocker-slider mechanism and comprises a rocker and a slider installed on the rack, wherein the fixing point of the rocker on the rack is located in the middle of the two ends of the rocker, the rocker and the slider are connected through a connecting rod, the end, away from the connecting rod, of the rocker is attached to the inner wall of a pipeline, and the rocker swings along with changes of the inner diameter of the pipeline. The pipeline inspection robot can adapt to the pipe diameter changing in a large range and can overcome the defect that an existing driving wheel skids due to the fact that driving power is not enough.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of detecting robot of pipe.
Background technique
Along with growth in the living standard coal gas becomes the main fuel energy of town dweller's daily life gradually, but a large amount of impurity contained in the gas of coke-stove gas has certain corrosive action to gas pipe line, the lower tube wall that accumulates over a long period can be easy to by corrosion thinning, Leakage Gas then can be caused time serious accidents caused, so the normal life in order to ensure resident, the testing of gas pipe line is just seemed particularly important.But due to the more general pipeline of bore of gas pipe line little, so usually make the service work of gas pipe line carry out smoothly, so the research work of gas pipeline inspection robot is become more and more meaningful.
By the mode of passive adaptation caliber, mainly comprise and there is telescopic and Liang Zhong robot of slide block type mechanism.The main feature of telescopic passive controlling mechanism is Compress Spring between body and driving wheel, namely the strut of driving wheel takes turns leg by doing fore and aft motion to reach the object adapting to caliber change on body direction perpendicular to axial direction, this kind of robot architecture is simple, but the mechanics characteristic curve due to spring is linear change, if the stroke of spring is excessive, the frictional force between wheel and tube wall can be made to occur larger change, when motor driving moment is certain, easy generation driving wheel skids or the problem such as to be short of power, in order to ensure the stability of driving force, so the regulation range of spring is limited, namely the caliber of wide variation can not be adapted to.
The passive controlling mechanism of slide block type and slide block slotted link mechanism, the main feature of such mechanism is the rotation being converted into wheel leg mechanism by the movement of slide block, make it to reach the object adapting to caliber change, the type designs, design easy, easy, and stable performance can meet most of requirement of experiment, but still there is driving wheel skids and drives the shortcomings such as not enough, can not adapt to the caliber of wide variation.
Therefore all there is driving wheel skidding or the problem be short of power in above mechanism, namely can not adapt to the caliber of wide variation.
Summary of the invention
The object of the invention is to propose a kind of detecting robot of pipe, can change by passive self adaption caliber, the caliber changed in a big way can be adapted to, operate steadily.
For reaching this object, the present invention by the following technical solutions:
A kind of detecting robot of pipe, comprise the first housing, the described first housing comprises frame and the controlling mechanism be installed in described frame and transmission system, described transmission system is used for transmission of power to described controlling mechanism, described controlling mechanism comprises at least three groups with the rotational symmetric fourbar linkage of frame central axle, described fourbar linkage is slider-rocker mechanism, comprise and be installed on rocking bar in described frame and slide block, the immovable point of described rocking bar in described frame is positioned at the middle part at described rocking bar two ends, described rocking bar is connected by connecting rod with slide block, described rocking bar is fitted away from one end of described connecting rod and the inwall of described pipeline, described rocking bar waves with the change of described internal diameter of the pipeline.
Further technological scheme, described frame comprises the first frame, the second frame and connects the dunnage of described first frame and the second frame, and described rocking bar is fixed in described dunnage.
Further technological scheme, described controlling mechanism also comprises the adjusting screw rod be installed in described first frame, the central shaft of described adjusting screw rod overlaps with the central shaft of described frame, described slide block set is located on described adjusting screw rod, described adjusting screw rod is also arranged with sleeve pipe and spring, described casing pipe sleeve between described slide block and described adjusting screw rod, described spring between described slide block and described first frame, for regulating the distance between described slide block and the first frame.
Further technological scheme, described transmission system comprises motor, crossed helical involute gears system, first order synchronous belt pulley transmission system and second level synchronous belt pulley transmission system, described motor drives described crossed helical involute gears system by the input shaft be connected with described motor, by jack shaft transmission between described crossed helical involute gears system and first order synchronous belt pulley transmission system, transmission shaft driven is passed through between described first order synchronous belt pulley transmission system and described second level synchronous belt pulley transmission system, described second level synchronous belt pulley transmission system is located on described rocking bar.
Further technological scheme, described rocking bar comprises wheel leg group, described leg group of taking turns comprises the symmetrical wheel leg that two are installed on described dunnage both sides, described two wheel legs by described transmission shaft and described dunnage hinged, described leg of taking turns is provided with output shaft away from one end of described dunnage, described output shaft is provided with driving wheel, and the inwall of described driving wheel and described pipeline is fitted.
Further technological scheme, described transmission shaft is provided with the first belt wheel, described output shaft is installed the second belt wheel, the first Timing Belt that described second level synchronous belt pulley transmission system comprises described first belt wheel, the second belt wheel and jointly coordinates with described first belt wheel and the second belt wheel, described second pulley diameters is greater than the first pulley diameters.
Further technological scheme, described crossed helical involute gears system, comprise active oblique gear, described active oblique gear is located on described input shaft, described active oblique gear engages with driven helical gear, described driven helical gear is fixed on described jack shaft, and described jack shaft provides power for described first order synchronous belt pulley transmission system, and described driven helical gear number is corresponding with the number of described fourbar linkage.
Further technological scheme, described first order synchronous belt pulley transmission system comprises the 3rd belt wheel and the 4th belt wheel, described 3rd belt wheel and the 4th belt wheel coordinate with the second Timing Belt jointly, and described 3rd belt wheel and the 4th belt wheel are individually fixed on described jack shaft and transmission shaft.
Further technological scheme, detecting robot of pipe also comprises the second housing, and the structure of the described second housing is identical with the structure of the described first housing, is connected between the described first housing and the second housing by coupling.
Further technological scheme, described output shaft is provided with ratchet mechanism, and described ratchet mechanism comprises ratchet and pawl, and described ratchet and described second belt wheel are fixed side by side, the ratchet coordinated with described ratchet is fixed on described output shaft, is provided with bearing between described second belt wheel and output shaft.
Beneficial effect of the present invention:
The detecting robot of pipe that the present invention proposes, comprise fourbar linkage, on fourbar linkage, the immovable point of rocking bar in frame is positioned at the middle part at rocking bar two ends, the free end of rocking bar and the contact internal walls of pipeline, during the shorter distance of this fourbar linkage skid, one end of rocking bar and tube contacts can realize movement by a relatively large margin, therefore the caliber change that this fourbar linkage can adapt in a big way is made, and the problem that in there will not be mechanism in the past, driving wheel skids or is short of power.
Accompanying drawing explanation
Fig. 1 is the structural representation of the first housing in detecting robot of pipe provided by the invention;
Fig. 2 is the erection drawing of first order synchronous belt pulley transmission system provided by the invention and jack shaft and transmission shaft;
Fig. 3 is the assembly relation schematic diagram of the first housing provided by the invention and the second housing;
Fig. 4 is the structural representation of detecting robot of pipe turning process provided by the invention;
Fig. 5 is structural representation provided by the invention;
Fig. 6 is the front view of bidirectional ratchet mechanism provided by the invention.
Wherein, 1, the first housing; 11, frame; 111, the first frame; 112, the second frame; 113, dunnage; 12, controlling mechanism; 121, fourbar linkage; 1211, rocking bar; 12111, leg is taken turns; 1212, slide block; 1213, connecting rod; 1214, spring; 122, adjusting screw rod; 1221, sleeve pipe; 123, locking nut; 13, transmission system; 131, motor; 132, input shaft; 133, crossed helical involute gears system; 1331, active oblique gear; 1332, driven helical gear; 134, jack shaft; 135, first order synchronous belt pulley transmission system; 1351, the 3rd belt wheel; 1352, the 4th belt wheel; 1353, the second Timing Belt; 136, transmission shaft; 137, second level synchronous belt pulley transmission system; 1371, the first belt wheel; 1372, the second belt wheel; 1373, the first Timing Belt; 1374, tension device; 138, bidirectional ratchet mechanism; 1381, the first single direction ratchet mechanism; 13811, ratchet; 13812, the first ratchet; 13813, the second ratchet; 1382, the second single direction ratchet mechanism; 139, output shaft; 1391, support; 1392, driving wheel; 2, the second housing; 3, coupling.
Embodiment
Technological scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
Embodiment 1
As shown in Figure 1, a kind of detecting robot of pipe, comprise the first housing 1, the first housing 1 comprises frame 11 and the controlling mechanism 12 be installed in frame 11 and transmission system, transmission system 13 for by transmission of power to controlling mechanism 12, controlling mechanism 12 comprises at least three groups with the rotational symmetric fourbar linkage 121 of frame 11 central shaft, fourbar linkage 121 is rocking bar 1211 slide block 1212 mechanism, comprise and be installed on rocking bar 1211 in frame 11 and slide block 1212, the immovable point of rocking bar 1211 in frame 11 is positioned at the middle part at rocking bar 1211 two ends, rocking bar 1211 is connected by connecting rod 1213 with slide block 1212, rocking bar 1211 is fitted away from one end of connecting rod 1213 and the inwall of pipeline, rocking bar 1211 waves with the change of internal diameter of the pipeline, this fourbar linkage 121 overcomes the problem that structure in the past can not realize adapting to caliber change on a large scale, solve problems such as driving not enough or skidding.
Frame 11 comprises the first frame 111, second frame 112 and connects the dunnage 113 of the first frame 111 and the second frame 112, and rocking bar 1211 is fixed in dunnage 113.
As shown in Figure 1, controlling mechanism 12 also comprises the adjusting screw rod 122 be installed in the first frame 111, the central shaft of adjusting screw rod 122 overlaps with the central shaft of frame 11, slide block 1212 is set on adjusting screw rod 122, adjusting screw rod 122 is also arranged with sleeve pipe 1221 and spring 1214, sleeve pipe 1221 is enclosed between slide block 1212 and adjusting screw rod 122, be convenient to slide block 1212 slidably reciprocate along adjusting screw rod 122, spring 1214 is between slide block 1212 and the first frame 111, for the distance between adjusting slider 1212 and the first frame 111, adjusting screw rod 122 is provided with locking nut 123 away from one end of slide block 1212, the distance between the initial position of slide block 1212 and the first frame 111 can be changed by rotation adjusting screw rod 122, precompression can be applied to spring 1214, locking nut 123 is utilized to lock after having regulated.
Transmission system 13 comprises motor 131, crossed helical involute gears system 133, first order synchronous belt pulley transmission system 135 and second level synchronous belt pulley transmission system 137, motor 131 drives described crossed helical involute gears system 133 by the input shaft 132 be connected with motor 131, by jack shaft 134 transmission between crossed helical involute gears system 133 and first order synchronous belt pulley transmission system 135, by transmission shaft 136 transmission between first order synchronous belt pulley transmission system 135 and second level synchronous belt pulley transmission system 137.
Wherein, second level synchronous belt pulley transmission system 137 is located on rocking bar 1211, rocking bar 1211 comprises wheel leg group, wheel leg group comprises the symmetrical wheel leg 12111 that two are installed on dunnage 113 both sides, two wheel legs 12111 are hinged by transmission shaft 136 and dunnage 113, wheel leg 12111 is provided with output shaft 139 away from one end of dunnage 113, output shaft 139 is provided with driving wheel 1392, and driving wheel 1392 is fitted with the inwall of pipeline, transmission shaft 136 is provided with the first belt wheel 1371, output shaft 139 is installed the second belt wheel 1372, second level synchronous belt pulley transmission system 137 comprises the first belt wheel 1371, second belt wheel 1372 and the first Timing Belt 1373 jointly coordinated with the first belt wheel 1371 and the second belt wheel 1372, second belt wheel 1372 diameter is greater than the first belt wheel 1371 diameter, preferably, tension device 1374 is provided with between first belt wheel 1371 and the second belt wheel 1372, tension device 1374 is fixed between two wheel legs 12111, first Timing Belt 1373 is played to the effect of tensioning, ensure that the reliability of transmission.
Crossed helical involute gears system 133, comprise active oblique gear 1331, active oblique gear 1331 is located on input shaft 132, active oblique gear 1331 engages with driven helical gear 1332, driven helical gear 1332 is fixed on jack shaft 134, jack shaft 134 provides power for first order synchronous belt pulley transmission system 135, the number of driven helical gear 1332 is corresponding with the number of fourbar linkage 121, because driven helical gear 1332 engages with same active oblique gear 1331, make the rotational velocity of different driven helical gear 1332 identical.
As shown in Figure 2, first order synchronous belt pulley transmission system 135 comprises the 3rd belt wheel 1351 and the 4th belt wheel 1352,3rd belt wheel 1351 and the 4th belt wheel 1352 coordinate with the second Timing Belt 1353 jointly, and the 3rd belt wheel 1351 and the 4th belt wheel 1352 are individually fixed on jack shaft 134 and transmission shaft 136.
The cooperation of above transmission system 13, under making the drive of first order synchronous belt pulley transmission system 135 and second level synchronous belt pulley transmission system 137 active oblique gear 1331 in crossed helical involute gears system 133, the rotation realizing driving wheel 1392 is identical.
As shown in Figure 3, this robot also comprises the second housing 2, and the structure of the second housing 2 is identical with the structure of the first housing 1, is connected between the first housing 1 and the second housing 2 by coupling 3.Output shaft 139 on the first housing 1 is provided with ratchet mechanism, ratchet mechanism comprises ratchet 13811 and ratchet, ratchet 13811 and the second belt wheel 1372 are fixed side by side, ratchet 13811 and the second belt wheel 1372 synchronous axial system, the ratchet coordinated with ratchet 13811 is fixed on output shaft 139, bearing is provided with between second belt wheel 1372 and output shaft 139, make to realize relatively rotating between the second belt wheel 1372 and output shaft 139, when robot turns, the motor 131 of corresponding body stops operating, if the second belt wheel 1372 is stuck, can ensure that output shaft 139 still can rotate, and different output shaft 139 can be realized there is different rotating speeds, and then complete turning.
Further, ratchet mechanism is bidirectional ratchet mechanism 138, can realize robot and carry out advancing or retreating in pipeline, realize bidirectional-movement, bidirectional ratchet mechanism 138 comprises the identical single direction ratchet mechanism of structure, as illustrated in Figures 5 and 6, be respectively oppositely coaxial the first single direction ratchet mechanism 1381 and the second single direction ratchet mechanism 1382 arranged, described first single direction ratchet mechanism 1381 comprises ratchet 13811 and ratchet, wherein ratchet comprises the first ratchet 13812 and the second ratchet 13813, second ratchet 13813 is sheathed and be fixed on output shaft 139, first ratchet 13812 is fixed on the support 1391 of installation on output shaft 139, ratchet 13811 promotes the motion of the first ratchet 13812, first ratchet 13812 promotes the second ratchet 13813 and moves, when the ratchet 13811 of the first single direction ratchet mechanism 1381 promotes ratchet, the ratchet of the second single direction ratchet mechanism 1382 can not affect the rotation of corresponding ratchet, when robot motion is reverse, the ratchet of the second single direction ratchet mechanism 1382 promotes ratchet and rotates, and the ratchet 13811 of the first single direction ratchet mechanism 1381 can not affect the rotation of ratchet on it.
When above-mentioned detecting robot of pipe runs in straight pipeline, starting electrical machinery 131, driven input shaft 132 is with by motor 131, input shaft 132 drives crossed helical involute gears system 133, first order synchronous belt pulley transmission system 135 and second level synchronous belt pulley transmission system 137 successively, second level synchronous belt pulley transmission system 137 drives the first single direction ratchet mechanism 1381 action, thus drive output shaft 139 to rotate, output shaft 139 drives the driving wheel 1392 on output shaft 139 to rotate, and promotes robot and runs in straight pipeline.
When entering small-caliber pipeline at straight pipeline by big-diameter pipeline, driving wheel 1392 is subject to the pressure from tube wall, wheel leg 12111 is rotated around the transmission shaft 136 in frame 11, wheel leg 12111 drivening rod 1213 moves, and then it is close to the first frame 111 along adjusting screw rod 122 Compress Spring 1214 to promote slide block 1212; When entering big-diameter pipeline at straight pipeline by small-caliber pipeline, it is the inverse process of said process.
When robot is through bend, bend is arrived before and after two bodies are divided into, as shown in Figure 4, the body first arriving bend is the first housing 1, when the first housing 1 arrives bend, motor 131 on the first housing 1 stops operating, motor 131 on the second housing 2 keeps rotating, the second housing 2 promotes the first housing 1 and advances, along with entering bend, the coupling 3 connecting the first housing 1 and the second housing 2 rotates, driving wheel 1392 in wheel leg groups different on the first housing 1 adjusts rotating speed adaptively by ratchet mechanism, make rotating speed different, when the first housing 1 is by after bend, motor 131 on the first housing 1 starts, the rotating speed of the driving wheel 1392 on it in different wheel leg group is identical, when the second housing 2 arrives bend, motor 131 on the second housing 2 stops operating, the second housing 2 passes through bend under the traction of the first housing 1, driving wheel 1392 in difference wheel leg group on the second housing 2 adjusts rotating speed adaptively by ratchet mechanism, rotating speed is different, after passing through bend, motor 131 on the second housing 2 restarts.
Due to the output shaft 139 of body arranging bidirectional ratchet mechanism 138, when Robot direction of advance moves, by the first single direction ratchet mechanism 1381 driver output axle 139, and then drive driving wheel 1392 to rotate, when robot is to when moving in the other direction, by the second single direction ratchet mechanism 1382 driver output axle 139, now driving wheel 1392 rotates backward.
Embodiment 2
Pipe detection machine in the present embodiment is substantially identical with the structure in embodiment 1, comprise the first housing 1, the first housing 1 comprises frame 11 and the controlling mechanism 12 be installed in frame 11 and transmission system 13, transmission system 13 for by transmission of power to controlling mechanism 12, controlling mechanism 12 comprises at least three groups with the rotational symmetric fourbar linkage 121 of frame 11 central shaft, fourbar linkage 121 is rocking bar 1211 slide block 1212 mechanism, comprise and be installed on rocking bar 1211 in frame 11 and slide block 1212, the immovable point of rocking bar 1211 in frame 11 is positioned at the middle part at rocking bar 1211 two ends, rocking bar 1211 is connected by connecting rod 1213 with slide block 1212, rocking bar 1211 is fitted away from one end of connecting rod 1213 and the inwall of pipeline, rocking bar 1211 waves with the change of internal diameter of the pipeline.
Difference is, the concrete structure of transmission system 13 is not limit, the size of rocking bar 1211, connecting rod 1213 is not limit, the structure of slide block 1212 is not limit, this robot can be made by this fourbar linkage 121, passive self adaption caliber to be changed, the caliber compared with the larger excursion of prior art can be adapted to.
Obviously, the above embodiment of the present invention is only to clearly demonstrate example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all mode of executions.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (10)
1. a detecting robot of pipe, comprise the first housing (1), the described first housing (1) comprises frame (11) and the controlling mechanism (12) that is installed in described frame (11) and transmission system (13), described transmission system (13) is for giving described controlling mechanism (12) by transmission of power, it is characterized in that, described controlling mechanism (12) comprises at least three groups with the rotational symmetric fourbar linkage of frame (11) central shaft (121), described fourbar linkage (121) is rocking bar (1211) slide block (1212) mechanism, comprise and be installed on rocking bar (1211) in described frame (11) and slide block (1212), the immovable point of described rocking bar (1211) in described frame (11) is positioned at the middle part at described rocking bar (1211) two ends, described rocking bar (1211) is connected by connecting rod (1213) with slide block (1212), described rocking bar (1211) is fitted away from one end of described connecting rod (1213) and the inwall of described pipeline, described rocking bar (1211) waves with the change of described internal diameter of the pipeline.
2. detecting robot of pipe according to claim 1, it is characterized in that, described frame (11) comprises the first frame (111), the second frame (112) and connects the dunnage (113) of described first frame (111) and the second frame (112), and described rocking bar (1211) is fixed in described dunnage (113).
3. detecting robot of pipe according to claim 2, it is characterized in that, described controlling mechanism (12) also comprises the adjusting screw rod (122) be installed on described first frame (111), the central shaft of described adjusting screw rod (122) overlaps with the central shaft of described frame (11), described slide block (1212) is set on described adjusting screw rod (122), described adjusting screw rod (122) is also arranged with sleeve pipe (1221) and spring (1214), described sleeve pipe (1221) is enclosed between described slide block (1212) and described adjusting screw rod (122), described spring (1214) is positioned between described slide block (1212) and described first frame (111), for regulating the distance between described slide block (1212) and the first frame (111).
4. detecting robot of pipe according to claim 3, it is characterized in that, described transmission system (13) comprises motor (131), crossed helical involute gears system (133), first order synchronous belt pulley transmission system (135) and second level synchronous belt pulley transmission system (137), described motor (131) drives described crossed helical involute gears system (133) by the input shaft (132) be connected with described motor (131), by jack shaft (134) transmission between described crossed helical involute gears system (133) and first order synchronous belt pulley transmission system (135), by transmission shaft (136) transmission between described first order synchronous belt pulley transmission system (135) and described second level synchronous belt pulley transmission system (137), described second level synchronous belt pulley transmission system (137) is located on described rocking bar (1211).
5. detecting robot of pipe according to claim 4, it is characterized in that, described rocking bar (1211) comprises wheel leg group, described leg group of taking turns comprises the symmetrical wheel leg (12111) that two are installed on described dunnage (113) both sides, described two wheels leg (12111) are hinged by described transmission shaft (136) and described dunnage (113), described leg (12111) of taking turns is provided with output shaft (139) away from one end of described dunnage (113), described output shaft (139) is provided with driving wheel (1392), described driving wheel (1392) is fitted with the inwall of described pipeline.
6. detecting robot of pipe according to claim 5, it is characterized in that, described transmission shaft (136) is provided with the first belt wheel (1371), upper installation second belt wheel (1372) of described output shaft (139), described second level synchronous belt pulley transmission system (137) comprises described first belt wheel (1371), second belt wheel (1372) and the first Timing Belt (1373) jointly coordinated with described first belt wheel (1371) and the second belt wheel (1372), described second belt wheel (1372) diameter is greater than the first belt wheel (1371) diameter.
7. detecting robot of pipe according to claim 6, it is characterized in that, described crossed helical involute gears system (133), comprise active oblique gear (1331), described active oblique gear (1331) is located on described input shaft (132), described active oblique gear (1331) engages with driven helical gear (1332), described driven helical gear (1332) is fixed on described jack shaft (134), described jack shaft (134) provides power for described first order synchronous belt pulley transmission system (135), the number of described driven helical gear (1332) is corresponding with the number of described fourbar linkage (121).
8. detecting robot of pipe according to claim 7, it is characterized in that, described first order synchronous belt pulley transmission system (135) comprises the 3rd belt wheel (1351) and the 4th belt wheel (1352), described 3rd belt wheel (1351) and the 4th belt wheel (1352) coordinate with the second Timing Belt (1353) jointly, and described 3rd belt wheel (1351) and the 4th belt wheel (1352) are individually fixed on described jack shaft (134) and transmission shaft (136).
9. detecting robot of pipe according to claim 8, it is characterized in that, detecting robot of pipe also comprises the second housing (2), the structure of the described second housing (2) is identical with the structure of the described first housing (1), is connected between the described first housing (1) and the second housing (2) by coupling (3).
10. detecting robot of pipe according to claim 9, it is characterized in that, described output shaft (139) is provided with ratchet mechanism, described ratchet mechanism comprises ratchet (13811) and ratchet, described ratchet (13811) and described second belt wheel (1372) are fixed side by side, the ratchet coordinated with described ratchet (13811) is fixed on described output shaft (139), is provided with bearing between described second belt wheel (1372) and output shaft (139).
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| CN201510697140.3A CN105276334B (en) | 2015-10-23 | 2015-10-23 | A kind of detecting robot of pipe |
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|---|---|---|---|
| CN201510697140.3A CN105276334B (en) | 2015-10-23 | 2015-10-23 | A kind of detecting robot of pipe |
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| CN105276334A true CN105276334A (en) | 2016-01-27 |
| CN105276334B CN105276334B (en) | 2018-01-09 |
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| CN107061924A (en) * | 2017-03-02 | 2017-08-18 | 山东科技大学 | It is a kind of to clear up robot from tapered pipeline |
| CN107314191A (en) * | 2017-08-09 | 2017-11-03 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite flooding |
| CN107560492A (en) * | 2017-09-26 | 2018-01-09 | 桂林净美机电有限公司 | The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment |
| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
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| CN111623192A (en) * | 2019-02-27 | 2020-09-04 | 香港理工大学 | Pipeline robot and system |
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| CN112728287A (en) * | 2020-11-24 | 2021-04-30 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN115479178A (en) * | 2021-06-16 | 2022-12-16 | 国核电站运行服务技术有限公司 | Pipeline crawling device and pipeline detection system |
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| CN107560492A (en) * | 2017-09-26 | 2018-01-09 | 桂林净美机电有限公司 | The remove device and sweep-out method of nuclear power plant's cooling water pipe inner surface attachment |
| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
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| CN111623192A (en) * | 2019-02-27 | 2020-09-04 | 香港理工大学 | Pipeline robot and system |
| CN111828773A (en) * | 2019-04-22 | 2020-10-27 | 西北工业大学 | Space steering mechanism of pipeline robot |
| CN110529693A (en) * | 2019-08-31 | 2019-12-03 | 大连理工大学 | A kind of explosion-proof walking robot for natural gas line |
| CN112728287A (en) * | 2020-11-24 | 2021-04-30 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN112728287B (en) * | 2020-11-24 | 2022-03-01 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN115479178A (en) * | 2021-06-16 | 2022-12-16 | 国核电站运行服务技术有限公司 | Pipeline crawling device and pipeline detection system |
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