CN105953027A - Flexible shaft driven mini type pipe robot - Google Patents
Flexible shaft driven mini type pipe robot Download PDFInfo
- Publication number
- CN105953027A CN105953027A CN201610156158.7A CN201610156158A CN105953027A CN 105953027 A CN105953027 A CN 105953027A CN 201610156158 A CN201610156158 A CN 201610156158A CN 105953027 A CN105953027 A CN 105953027A
- Authority
- CN
- China
- Prior art keywords
- flexible
- robot
- flexible shaft
- hoofing part
- driven
- 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
- F16L55/40—Constructional aspects of the body
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a flexible shaft driven mini type pipe robot, and relates to a mini type pipe robot, which can solve the problem that the conventional pipe robots are difficult to enter a mini type pipe to perform detection and maintenance due to large size. The mini type pipe robot is characterized in that a power source is arranged on an outer part of a pipe, a flexible shaft remotely transmits walking power and contaminant removing power to the robot, and then a walking job and a contaminant removing job of the robot are completed, and small size of the robot can be achieved; and the flexible shaft can adapt to change of curvature of the mini type pipe and meets the detection and maintenance demands of changeable pipes in industrial production. The flexible shaft driven mini type pipe robot can be applied to a detection job and a contaminant removing job of mini type pipes of thermal power plants.
Description
Technical field
The present invention relates to a kind of based on flexible shaft-driven robot, be specifically related to one and driven by flexible shaft
The equipment of actuating miniature pipe robot and method.
Background technology
What the power source of present stage pipe robot was taked is arranged on the mode within robot body, due to by motor
Deng the impact of driving Source size, current pipe robot volume is excessive, it is difficult to enter miniature to power plant steam reflux line etc.
Pipe interior operation, have impact on micro-tube detection and the efficiency of upkeep operation, and operation power enterprise is to robot
There is bigger technical need.
Summary of the invention
It is an object of the invention to as solving existing pipe robot volume excessive, it is difficult to enter the internal detection of micro-tube
Problem, it is provided that a kind of based on flexible shaft-driven robot.
The present invention comprises external power source, flexible shaft transmission part and ball shape robot.Described external power source includes
Four travel driving motor, scale removal drive motor, external power source base.The outfan of each travel driving motor and a row
Walking flexible drive shaft to connect, four travel driving motor and scale removal drive motor to be arranged on external power source base.Described
Flexible shaft drive part includes that four hoofing part flexible axles, scale removal drive flexible axle, flexible shaft snap ring.Every hoofing part flexible axle
Input is connected with the outfan of travel driving motor, and outfan is connected with ball shape robot hoofing part axle；Scale removal drives soft
The input of axle drives the outfan of motor to be connected with scale removal, and outfan is connected with ball shape robot scale removal drive shaft.Four row
Walk to drive flexible axle and scale removal to drive flexible axle to be gathered together by flexible shaft snap ring.Described ball shape robot includes spherical machine
Human body, four hoofing part axles, four hoofing part belt wheels, four hoofing part bands, four running wheels, scale removal drive
Axle, scale removal drive cutter head.The input of every hoofing part axle is connected with the outfan of hoofing part flexible axle, every hoofing part
The outfan of axle and a hoofing part belt wheel connect, and each hoofing part belt wheel passes through a hoofing part band and a walking
Driving wheel connects.The input of scale removal drive shaft and scale removal drive the outfan of flexible axle to be connected, the outfan of scale removal drive shaft and
Scale removal drives cutter head to connect.All of hoofing part axle, hoofing part belt wheel, hoofing part band, running wheel, scale removal drive
Axle, scale removal drive cutter to be all arranged on ball shape robot body.
The invention have the advantages that one, drive the external volume that can reduce robot body in source, be conducive to
The miniaturization of Robot Design, and then realize robot entrance micro-tube operation.Two, flexible shaft actuation techniques realizes external dynamic
Power is transmitted to robot body long-distance flexible in power source, completes to achieve pipeline complicated and changeable while robotically-driven
Adaptation.Three, ball shape robot is capable of the adaptation to change caliber, has non-when robot is through piping detour simultaneously
The best adaptability.Four, the proposition of the present invention based on flexible shaft-driven robot by pipeline miniature, changeable detection and
Huge effect is played in maintenance.
Accompanying drawing explanation
Fig. 1 is the overall diagram of the present invention, and Fig. 2 is the partial enlarged drawing of the external power source of the present invention, and Fig. 3 is that the present invention is spherical
The partial enlarged drawing of robot, Fig. 4 is the profile variation figure that soft drive flexible axle adapts to changeable pipeline, and Fig. 5 is ball shape robot
Carrying out eliminating sludge in pipe operation displaying figure, Fig. 6 is that ball shape robot carries out pipe detection operation displaying figure, and what Fig. 7 represented is walking
Drive the corresponding annexation of flexible axle and running wheel.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1, Fig. 2 and Fig. 3 and illustrate that present embodiment, present embodiment include external power
Source 1, flexible shaft transmission part 2 and ball shape robot 3.External power source 1 includes four travel driving motor 1-1,1-2,1-3,
1-4, scale removal drive motor 1-5.The outfan of travel driving motor 1-1 is connected with the input of hoofing part flexible axle 2-1, walking
The outfan driving motor 1-2 is connected with the input of hoofing part flexible axle 2-2, the outfan of travel driving motor 1-3 and row
The input walking to drive flexible axle 2-3 connects, and the outfan of travel driving motor 1-4 connects with the input of hoofing part flexible axle 2-4
Connect.Scale removal drives the outfan of motor 1-5 to drive the input of flexible axle 2-5 to be connected with scale removal.Four travel driving motor and removing
Dirt drives motor 1-5 to be all connected on external power source base 1-6.The outfan of hoofing part flexible axle 2-1 and hoofing part
The input of axle 3-1-1 connects, and the outfan of hoofing part flexible axle 2-2 is connected with the input of hoofing part axle 3-2-1, walking
The outfan driving flexible axle 2-3 is connected with the input of hoofing part axle 3-3-1, the outfan of hoofing part flexible axle 2-4 and row
The input walking drive shaft 3-4-1 connects.Scale removal drives the outfan of flexible axle 2-5 to be connected with the input of scale removal drive shaft 3-5.
Four hoofing part flexible axles drive flexible axle 2-5 to be gathered together by flexible shaft snap ring 2-6, along micro-tube 2-7 with scale removal
The heart is arranged.The outfan of hoofing part axle 3-1-1 connects running wheel 3-1-2, running wheel 3-1-2 and passes through hoofing part
Band 3-1-3 is connected with running wheel 3-1-4；The outfan of hoofing part axle 3-2-1 connects running wheel 3-2-2, walking
Driving wheel 3-2-2 is connected with running wheel 3-2-4 by hoofing part band 3-2-3；The outfan of hoofing part axle 3-3-1 is even
Meet running wheel 3-3-2, running wheel 3-3-2 to be connected with running wheel 3-3-4 by hoofing part band 3-3-3；OK
Walk drive shaft 3-3-1 outfan connect running wheel 3-3-2, running wheel 3-3-2 by hoofing part band 3-3-3 with
Running wheel 3-4-4 connects；The outfan of scale removal drive shaft 3-5 is connected with scale removal cutter head 3-6.Hoofing part axle, walking are driven
Movable belt pulley, running wheel, scale removal drive shaft 3-5, scale removal cutter head 3-6 are all arranged on ball shape robot 3-7.Four walkings
Driving wheel is contacted by friction mode with micro-tube 2-7.Hoofing part flexible axle 2-1, the external diameter 5mm of 2-2,2-3,2-4, internal diameter
2mm, material is 65Mn spring steel；Scale removal drives external diameter 11mm, the internal diameter 7mm of flexible axle 2-5, and material is 65Mn spring steel.
Detailed description of the invention two: combine Fig. 1,2,3,4 explanation present embodiment, hoofing part flexible axle 2-in present embodiment
1,2-2,2-3,2-4 and scale removal drive together with flexible axle 2-5 gathered by flexible shaft snap ring 2-6, micro-tube 2-7 layout respectively,
Ensure that ball shape robot passes through micro-tube 2-7, adapt to the change of micro-tube curvature.
Detailed description of the invention three: combine Fig. 5, Fig. 6 and illustrate that present embodiment, ball shape robot 3-7 can be installed front end and be removed
Dirt cutter head 3-6, carries out eliminating sludge in pipe operation；The internal diameter of flexible axle 2-5 can also be driven to arrange that endoscope 3-8 manages by scale removal
Road detection operation.
Detailed description of the invention four: combine Fig. 1,2,3,7 explanation present embodiment, hoofing part flexible axle 2-1,2-2,2-3,2-
4 connect one to one with running wheel 3-1-4,3-2-4,3-3-4,3-4-4, form company differential walking power A-A and B-
B, can regulate travel driving motor 1-1 when ball shape robot 3-7 is by pipeline detour, and the rotating speed of 1-2,1-3,1-4 passes through
Hoofing part flexible axle 2-1,2-2,2-3,2-4 entrance changes running wheel 3-1-4, the output speed of 3-2-4,3-3-4,3-4-4
Degree, and then realize ball shape robot and cross curved operation.
Above content is to combine the further description that the present invention is done by concrete preferred implementation, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For the those of ordinary skill of technical field of the present invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention's
Protection domain.
Claims (7)
1. one kind based on flexible shaft-driven robot, it is characterised in that include external power source, flexible shaft transmission
Partly, ball shape robot three part.
2. according to the one described in claims 1 based on flexible shaft-driven robot, it is characterised in that external
Power source can be to be common DC motor, servo direct current motor, motor etc. motorized motions form, it is also possible to is that other can
To export the power source of rotary motion.
3. according to the one described in claims 1 based on flexible shaft-driven robot, it is characterised in that arrange
Four hoofing part flexible axles and one are eradicated dirt and are driven flexible axle, and the power long-distance flexible exported by external power source passes to spherical
Robot.
4. according to the one described in claims 1 based on flexible shaft-driven robot, it is characterised in that four
Hoofing part flexible axle drives four running wheels respectively, forms two to differential hoofing part power.
5., according to claims 1, the one described in 2,3 is based on flexible shaft-driven robot, it is characterised in that
Four hoofing part flexible axles and one are eradicated dirt and are driven flexible axle can be steel wire rope, spring steel wire axle etc. flexible drive shaft, or
Other flexible drive shaft.
6. according to the one described in claims 1 based on flexible shaft-driven robot, it is characterised in that by machine
Device people is designed to spherical.
7., according to claims 1, the one described in 3,4,5 exists based on flexible shaft-driven robot, its feature
In flexible axle being driven to gather together four hoofing part flexible axles and scale removal by flexible shaft snap ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156158.7A CN105953027A (en) | 2016-03-15 | 2016-03-15 | Flexible shaft driven mini type pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156158.7A CN105953027A (en) | 2016-03-15 | 2016-03-15 | Flexible shaft driven mini type pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105953027A true CN105953027A (en) | 2016-09-21 |
Family
ID=56917389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610156158.7A Pending CN105953027A (en) | 2016-03-15 | 2016-03-15 | Flexible shaft driven mini type pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105953027A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108561675A (en) * | 2017-12-01 | 2018-09-21 | 上海大学 | A kind of hand-held type miniature pipeline operations device |
| CN110792876A (en) * | 2017-08-25 | 2020-02-14 | 杭州富阳鸿祥技术服务有限公司 | Municipal works are used prevent pounding bad pipeline |
| CN110792875A (en) * | 2017-08-25 | 2020-02-14 | 杭州富阳鸿祥技术服务有限公司 | Prevent pounding municipal works pipeline based on rack gear |
| CN111699379A (en) * | 2018-04-02 | 2020-09-22 | 杜书勇 | Intelligent data acquisition system and method for pipeline |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11128864A (en) * | 1997-10-24 | 1999-05-18 | Shonan Gosei Jushi Seisakusho:Kk | Method for cleaning and inspecting branch pipe and device therefor |
| JP2005238339A (en) * | 2004-02-24 | 2005-09-08 | Chugoku Electric Power Co Inc:The | Automatic traveling robot using hair-like body as propulsion |
| 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 |
| KR20090055119A (en) * | 2007-11-28 | 2009-06-02 | 덕원산업개발주식회사 | An scale removing apparatus of the superannuated pipe |
| CN203380158U (en) * | 2013-05-29 | 2014-01-08 | 胡雄华 | Round pipeline cleaning robot |
| CN204122424U (en) * | 2014-10-23 | 2015-01-28 | 福建省泉州市第七中学 | A kind of Multifunctional pipeline robot |
-
2016
- 2016-03-15 CN CN201610156158.7A patent/CN105953027A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11128864A (en) * | 1997-10-24 | 1999-05-18 | Shonan Gosei Jushi Seisakusho:Kk | Method for cleaning and inspecting branch pipe and device therefor |
| JP2005238339A (en) * | 2004-02-24 | 2005-09-08 | Chugoku Electric Power Co Inc:The | Automatic traveling robot using hair-like body as propulsion |
| 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 |
| KR20090055119A (en) * | 2007-11-28 | 2009-06-02 | 덕원산업개발주식회사 | An scale removing apparatus of the superannuated pipe |
| CN203380158U (en) * | 2013-05-29 | 2014-01-08 | 胡雄华 | Round pipeline cleaning robot |
| CN204122424U (en) * | 2014-10-23 | 2015-01-28 | 福建省泉州市第七中学 | A kind of Multifunctional pipeline robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792876A (en) * | 2017-08-25 | 2020-02-14 | 杭州富阳鸿祥技术服务有限公司 | Municipal works are used prevent pounding bad pipeline |
| CN110792875A (en) * | 2017-08-25 | 2020-02-14 | 杭州富阳鸿祥技术服务有限公司 | Prevent pounding municipal works pipeline based on rack gear |
| CN110792876B (en) * | 2017-08-25 | 2021-03-19 | 杭州富阳鸿祥技术服务有限公司 | Municipal works are used prevent pounding bad pipeline |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108561675A (en) * | 2017-12-01 | 2018-09-21 | 上海大学 | A kind of hand-held type miniature pipeline operations device |
| CN108223968B (en) * | 2017-12-01 | 2023-10-20 | 上海大学 | Autonomous small-sized pipeline robot |
| CN111699379A (en) * | 2018-04-02 | 2020-09-22 | 杜书勇 | Intelligent data acquisition system and method for pipeline |
| CN111699379B (en) * | 2018-04-02 | 2024-01-30 | 杜书勇 | Intelligent data acquisition system and method for pipeline |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112303377B (en) * | 2020-10-10 | 2022-04-01 | 中铁长江交通设计集团有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160921 |
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| WD01 | Invention patent application deemed withdrawn after publication |