CN105715905A - Spirally walking in-pipe robot and control system thereof - Google Patents
Spirally walking in-pipe robot and control system thereof Download PDFInfo
- Publication number
- CN105715905A CN105715905A CN201610254835.9A CN201610254835A CN105715905A CN 105715905 A CN105715905 A CN 105715905A CN 201610254835 A CN201610254835 A CN 201610254835A CN 105715905 A CN105715905 A CN 105715905A
- Authority
- CN
- China
- Prior art keywords
- supporting leg
- housing shell
- robot
- driver plate
- screwdriven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- F16L2101/10—Treating the inside of pipes
-
- 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a spirally walking in-pipe robot and a control system thereof. The problems that in-pipe robots are complicated in structure and low in working efficiency in the prior art are solved. The spirally walking in-pipe robot comprises a robot body. The robot body comprises supporting legs, driving plates, driving claws, a connecting cord, a pitch variable motor, a driving motor, a cleaning device, a first body shell, a second body shell and a roller device. The connecting cord penetrates the driving plates and is connected with the pitch variable motor which is fixed inside the first body shell. The supporting legs are connected with the driving plates through bolts. The driving motor is connected with the outer shell end of the second body shell through a gear disc and a connecting shaft. According to the spirally walking in-pipe robot and the control system thereof, the operation of the mechanisms is reliable, the service life is long, offset or rollover cannot happen, and the in-pipe robot is suitable for pipelines with various pipe diameters; in addition, the working efficiency is high, practicability is high, and popularization and application are easy.
Description
Technical field
The present invention relates to Industrial Robot Technology field, especially one screwdriven mode in-pipe robot and control system thereof.
Background technology
Pipeline is at industrial circle and civilian has this to be widely applied, but the pipeline in use unavoidable thorny problem such as recurring structure, blocking, especially for the pipeline that some spaces are narrow, it directly cannot be carried out or process at all by manpower.Development along with industrial technology, people are when the pipeline that cleaning space is narrow, begin with pipeline inner machine people to carry out, but the robot adopted at present is mostly that structure is complex, currently also there is a cleaning being specifically designed for circular pipe and the robot designed, but these robot general structures are complicated, inefficiency, and manipulation comparatively bothers, environmental suitability is poor.
Summary of the invention
Prior art is difficult to meet the needs of people, and in order to solve above-mentioned Problems existing, the present invention proposes a kind of screwdriven mode in-pipe robot and control system thereof, it solves pipeline inner machine people's structure problem complicated, ineffective in prior art.
For realizing this technical purpose, the technical solution used in the present invention is: a kind of screwdriven mode in-pipe robot, including robot body；Described robot body includes supporting leg, driver plate, pusher dog, connection rope, displacement motor, drive motor, cleaning device, first housing shell, second housing shell and roller devices；The described rope that connects is connected through driver plate with the displacement motor being fixed on first housing enclosure；Described supporting leg is connected with driver plate by bolt；Described drive motor is connected with the outer casing end of second housing shell by toothed disc and connection axle, and described supporting leg extends first housing shell, and supporting leg contacts with inner surface of pipeline；The cleaning device that described first housing shell contacts with inner surface of pipeline with setting on second housing shell.
Further, described drive motor and toothed disc are engaging structure, and connection axle is flexible structure.
Further, at least provided with a driver chuck in described first housing shell and second housing shell, and driver chuck is discoideus structure, described driver chuck is additionally provided with flange, and is provided with the elongated slot being arranged in parallel with driver chuck in the middle part of flange.
Further, described supporting leg and driver plate place plane are arranged in parallel, and the shaft-like spring structure that supporting leg is telescopic rotary；The pusher dog extending supporting leg is set bottom described supporting leg, and the pull bar vertical with pusher dog extends in the elongated slot on driver plate.
Further, described driver plate being provided with three supporting legs, and arranges in 120 ° of angles between each supporting leg, roller devices is installed at the position that supporting leg contacts with inner surface of pipeline.
Further, the cleaning device of described inner surface of pipeline contact is hairbrush, the medium position of the arc surface that hairbrush is arranged between each two supporting leg, the described rope one end that connects is connected with displacement motor, the other end is fixed on the end of second housing shell 10, this end be connected rope between be provided with tension spring.
A kind of screwdriven mode in-pipe robot controls system, including robot walking device, robot ambulation speed change gear and adjusting roller device；Described robot walking device includes drive motor, toothed disc and connection axle, and drive motor is connected with being connected axle by toothed disc；Described robot ambulation speed change gear includes displacement motor, connects rope, driver plate, pusher dog, flange, supporting leg, movable axis and roller devices, and driver plate is connected with displacement motor by connecting rope；Described driver plate is connected with the movable axis on supporting leg with the elongated slot on flange by pusher dog, and movable axis is connected with roller devices.
Further, the slewing area of described movable axis is+30 ° to 30 °.
Compared with prior art, the method have the advantages that this screwdriven mode in-pipe robot and control system thereof, its mechanism is reliable, long service life, operates steadily, and skew or rollover will not occur, reducing scope is bigger, go for the pipeline of different tube diameters, and work efficiency is high, simple in construction, with low cost, simple to operate, practical, it is easy to promote the use of.
Accompanying drawing explanation
Fig. 1 is the cross-sectional schematic of walking robot of the present invention；
Fig. 2 is the attachment structure schematic diagram of driver plate of the present invention and supporting leg；
Fig. 3 is displacement part-structure schematic diagram of the present invention；
Fig. 4 is the attachment structure schematic diagram of pull bar of the present invention and projection；
In accompanying drawing labelling: 1-robot body, 2-supporting leg, 3-driver plate, 4-pusher dog, 5-connect rope, 6-displacement motor, 7-drive motor, 8-cleaning device, 9-first housing shell, 10-second housing shell, 11-roller devices, 12-toothed disc, 13-connect axle, 14-outer casing end, 15-flange, 16-pull bar, 17-roller, 18-tension spring, 19-movable axis, 20-turning rolls, 21-hairbrush.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to Figure of description 1-4, in embodiments of the present invention, a kind of screwdriven mode in-pipe robot, including robot body 1；Described robot body 1 includes supporting leg 2, driver plate 3, pusher dog 4, connects rope 5, displacement motor 6, drive motor 7, cleaning device 8, first housing shell 9, second housing shell 10 and roller devices 11；The described rope 5 that connects is connected through driver plate 3 with the displacement motor 6 being fixed within first housing shell 9；Described supporting leg 3 is connected with driver plate 3 by bolt；Described drive motor 7 is connected with the outer casing end 14 of second housing shell 10 by toothed disc 12 and connection axle 13, and described supporting leg 2 extends first housing shell 9, and supporting leg 2 contacts with inner surface of pipeline；The cleaning device 8 that described first housing shell 9 contacts with inner surface of pipeline with setting on second housing shell 10；Described drive motor 7 is engaging structure with toothed disc 12, and connection axle 13 is flexible structure；At least provided with a driver chuck 3 in described first housing shell 9 and second housing shell 10, and driver chuck 3 is discoideus structure, described driver chuck 3 is additionally provided with flange 15, and is provided with the elongated slot being arranged in parallel with driver chuck 3 in the middle part of flange 15；Described supporting leg 2 is arranged in parallel with driver plate 3 place plane, and the shaft-like spring structure that supporting leg 2 is telescopic rotary；The pusher dog 4 extending supporting leg 2 is set bottom described supporting leg 2, and the pull bar 16 vertical with pusher dog 4 extends in the elongated slot on driver plate 3；Being provided with three supporting legs 2 on described driver plate 3, and arrange in 120 ° of angles between each supporting leg 2, roller devices 11 is installed at the position that supporting leg 2 contacts with inner surface of pipeline；Described supporting leg 3 fixes its position by body fuselage 13, and described supporting leg 3 is internal is mobilizable shaft-like movable axis, and pusher dog 5 and movable axis 19 are fixed connection structure；The cleaning device 12 of described inner surface of pipeline contact is hairbrush 21, the medium position of the arc surface that hairbrush 21 is arranged between each two supporting leg 3, described rope 8 one end that connect are connected with displacement motor, the other end is fixed on the end of second housing shell 10, is provided with tension spring 18 with being connected to restrict in this end between 5；Described roller devices 11 includes roller 17 and turning rolls 20；A kind of screwdriven mode in-pipe robot controls system, including robot walking device, robot ambulation speed change gear and adjusting roller device；Described robot walking device drive motor 7, toothed disc 12 and connect axle 13, and drive motor 7 is connected with being connected axle 13 by toothed disc 12；Described robot ambulation speed change gear includes displacement motor 6, connects rope 5, driver plate 3, pusher dog 4, flange 15, supporting leg 2, movable axis 19 and roller devices 11, and driver plate 3 is connected with displacement motor 6 by connecting rope 5；Described driver plate 3 is connected with the movable axis 19 on supporting leg 2 with the elongated slot on flange 15 by pusher dog 4, and movable axis 19 is connected with roller devices 11；The slewing area of described movable axis 19 is+30 ° to 30 °.
One screwdriven mode in-pipe robot of the present invention controls system, when needs robot ambulation, starting drive motor 7, drive motor 7 is operated by the toothed disc 12 band axle 13 that is dynamically connected, connecting axle 13 drives another body fuselage 9 to rotate, and robot realizes walking in pipeline；When needs regulate robot ambulation speed, start displacement motor 7, displacement motor 7 tension connects rope 5, thus driving driver plate 3 along axial-movement, the driver plate 3 of motion drives the movable axis 19 of supporting leg 2 to rotate by the motion of pusher dog 4 with the elongated slot on flange 15, thus the angle of adjusting roller device 11, it is achieved the change of robot ambulation speed；Complete to advance in needs robot, original place rotates, when retreating three kinds of actions, can realize by regulating the angle of roller devices 11 being connected with movable axis 19, and robot completes advance, spin in original place, be infinitely variable speeds when retreating three kinds of actions.
The above; it is only presently preferred embodiments of the present invention; not in order to limit the present invention, every any trickle amendment, equivalent replacement and improvement above example made according to the technical spirit of the present invention, should be included within the protection domain of technical solution of the present invention.
Claims (8)
1. a screwdriven mode in-pipe robot, including robot body (1)；It is characterized in that: described robot body (1) includes supporting leg (2), driver plate (3), pusher dog (4), connects rope (5), displacement motor (6), drive motor (7), cleaning device (8), first housing shell (9), second housing shell (10) and roller devices (11)；The described rope (17) that connects is connected through the displacement motor (6) that driver plate (3) is internal with being fixed on first housing shell (9)；Described supporting leg (3) is connected with driver plate (3) by bolt；Described drive motor (7) is connected with the outer casing end (14) of second housing shell (10) by toothed disc (12) and connection axle (13), described supporting leg (2) extends first housing shell (9), and supporting leg (2) contacts with inner surface of pipeline；Described first housing shell (9) above arranges, with second housing shell (10), the cleaning device (8) contacted with inner surface of pipeline.
2. a kind of screwdriven mode in-pipe robot according to claim 1, is characterized in that: described drive motor (7) and toothed disc (12) are engaging structure, and connection axle (13) is flexible structure.
3. a kind of screwdriven mode in-pipe robot according to claim 1, it is characterized in that: at least provided with a driver chuck (3) in described first housing shell (9) and second housing shell (10), and driver chuck (3) is discoideus structure, described driver chuck (3) is additionally provided with flange (15), and flange (15) middle part is provided with the elongated slot being arranged in parallel with driver chuck (3).
4. a kind of screwdriven mode in-pipe robot according to claim 1, it is characterized in that: described supporting leg (2) and driver plate (3) place plane are arranged in parallel, and the shaft-like spring structure that supporting leg (2) is telescopic rotary；Described supporting leg (2) bottom arranges the pusher dog (4) extending supporting leg (2), and the pull bar (16) vertical with pusher dog (4) extends in the elongated slot on driver plate (3).
5. a kind of screwdriven mode in-pipe robot according to claim 1, it is characterized in that: described driver plate (3) is provided with three supporting legs (2), and arrange in 120 ° of angles between each supporting leg (2), position installation roller devices (11) that supporting leg (2) contacts with inner surface of pipeline.
6. a kind of screwdriven mode in-pipe robot according to claim 1, it is characterized in that: the cleaning device (12) of described inner surface of pipeline contact is hairbrush (21), the medium position of the arc surface that hairbrush (21) is arranged between each two supporting leg (3), described rope (8) one end that connects is connected with displacement motor, the other end is fixed on the end of second housing shell (10), this end be connected between rope (17) and be provided with tension spring (18).
7. screwdriven mode in-pipe robot controls a system, including robot walking device, robot ambulation speed change gear and adjusting roller device；It is characterized in that: described robot walking device includes drive motor (7), toothed disc (12) and connects axle (13), and drive motor (7) is connected with being connected axle (13) by toothed disc (12)；Described robot ambulation speed change gear includes displacement motor (6), connects rope (5), driver plate (3), pusher dog (4), flange (15), supporting leg (2), movable axis (19) and roller devices (11), and driver plate (3) is connected with displacement motor (6) by connecting rope (5)；Described driver plate (3) is connected with the movable axis (19) on supporting leg (2) with the elongated slot on flange (15) by pusher dog (4), and movable axis (19) is connected with roller devices (11).
8. a kind of screwdriven mode in-pipe robot according to claim 7 controls system, it is characterized in that: the slewing area of described movable axis (19) is+30 ° to 30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610254835.9A CN105715905A (en) | 2016-04-22 | 2016-04-22 | Spirally walking in-pipe robot and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610254835.9A CN105715905A (en) | 2016-04-22 | 2016-04-22 | Spirally walking in-pipe robot and control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105715905A true CN105715905A (en) | 2016-06-29 |
Family
ID=56161481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610254835.9A Pending CN105715905A (en) | 2016-04-22 | 2016-04-22 | Spirally walking in-pipe robot and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105715905A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106436887A (en) * | 2016-11-29 | 2017-02-22 | 中国矿业大学 | Multi-module automatic butt-joint pipeline dredging robot |
| CN106958717A (en) * | 2017-05-26 | 2017-07-18 | 王玉强 | A kind of Full-automatic of the deep pipe of the isometrical threaded walls with intelligent detector |
| CN107061926A (en) * | 2017-05-25 | 2017-08-18 | 哈尔滨工程大学 | Detection robot in a kind of push-and-pull self-locking pipeline |
| CN107084297A (en) * | 2017-06-23 | 2017-08-22 | 江苏科技大学 | A kind of flexible self-driven helical pipe robot |
| CN109611643A (en) * | 2019-02-01 | 2019-04-12 | 任成� | A kind of pipe robot |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN111389826A (en) * | 2020-03-25 | 2020-07-10 | 上海隧道工程股份有限公司 | Pipeline hammering and cleaning equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4206623A1 (en) * | 1992-03-03 | 1993-09-09 | Rainer Hitzel | Performing internal work on laid pipeline - involves carrier with adjustable guide rods at its sides and radially adjustable bearing |
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102661470A (en) * | 2012-05-17 | 2012-09-12 | 北京邮电大学 | Novel crawling pipeline robot |
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
-
2016
- 2016-04-22 CN CN201610254835.9A patent/CN105715905A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4206623A1 (en) * | 1992-03-03 | 1993-09-09 | Rainer Hitzel | Performing internal work on laid pipeline - involves carrier with adjustable guide rods at its sides and radially adjustable bearing |
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102661470A (en) * | 2012-05-17 | 2012-09-12 | 北京邮电大学 | Novel crawling pipeline robot |
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106436887A (en) * | 2016-11-29 | 2017-02-22 | 中国矿业大学 | Multi-module automatic butt-joint pipeline dredging robot |
| CN106436887B (en) * | 2016-11-29 | 2019-04-30 | 中国矿业大学 | A kind of pipe dredging machine people of multimode automatic butt |
| CN107061926A (en) * | 2017-05-25 | 2017-08-18 | 哈尔滨工程大学 | Detection robot in a kind of push-and-pull self-locking pipeline |
| CN107061926B (en) * | 2017-05-25 | 2019-07-16 | 哈尔滨工程大学 | A kind of push-and-pull self-locking pipeline is interior to detect robot |
| CN106958717A (en) * | 2017-05-26 | 2017-07-18 | 王玉强 | A kind of Full-automatic of the deep pipe of the isometrical threaded walls with intelligent detector |
| CN107084297A (en) * | 2017-06-23 | 2017-08-22 | 江苏科技大学 | A kind of flexible self-driven helical pipe robot |
| CN109611643A (en) * | 2019-02-01 | 2019-04-12 | 任成� | A kind of pipe robot |
| CN109611643B (en) * | 2019-02-01 | 2020-11-10 | 蒙城县友继家庭农场 | Pipeline robot |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN111389826A (en) * | 2020-03-25 | 2020-07-10 | 上海隧道工程股份有限公司 | Pipeline hammering and cleaning equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105715905A (en) | Spirally walking in-pipe robot and control system thereof | |
| CN101435522B (en) | Pipe walking robot | |
| CN105366433B (en) | Cable recycles collating unit | |
| CN107225564B (en) | Coiled snake-shaped mechanical arm | |
| CN205363898U (en) | Open -ended modularity arm | |
| CN101531217A (en) | Spirally driven walking robot in pipe | |
| CN211134864U (en) | Multi-supporting wheel type peristaltic pipeline cleaning robot | |
| CN110566753B (en) | Self-adaptive autonomous steering wheel type pipeline robot | |
| CN210730437U (en) | Pipeline cleaning robot | |
| CN105538338A (en) | Bionic spine mechanism applied to quadruped robot and robot | |
| CN107270026A (en) | A kind of mobile device for gas pipeline crusing robot | |
| CN103963069A (en) | Rope-driven continuous robot | |
| CN102401213A (en) | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure | |
| CN105605370A (en) | Wireless-remote-control three-way crawler-type pipe dredging robot | |
| CN202029135U (en) | Auxiliary mechanism for wire distribution and wire distribution system | |
| CN108555894B (en) | Pipeline creeping robot | |
| CN107489855A (en) | A kind of mixed power plant for gas pipeline crusing robot | |
| CN206510058U (en) | A kind of device for being used to drive joint of robot to rotate | |
| CN206885066U (en) | A kind of stopping means of railcar | |
| CN211502038U (en) | Active spiral drive pipeline robot | |
| CN103511940A (en) | Lamp | |
| CN107448730A (en) | A kind of crusing robot for gas pipeline | |
| CN106427388A (en) | Mecanum wheel device provided with controllably rotating roller | |
| CN208087113U (en) | A kind of lead screw positive and negative rotation switching mechanism of capstan winch rope winding jib | |
| CN110508572B (en) | Multi-support wheel type peristaltic pipeline cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160629 |