CN107143723B - A kind of expansion self-locking mechanism of pipeline mobile robot - Google Patents
A kind of expansion self-locking mechanism of pipeline mobile robot Download PDFInfo
- Publication number
- CN107143723B CN107143723B CN201710433269.2A CN201710433269A CN107143723B CN 107143723 B CN107143723 B CN 107143723B CN 201710433269 A CN201710433269 A CN 201710433269A CN 107143723 B CN107143723 B CN 107143723B
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- CN
- China
- Prior art keywords
- lock body
- flexible lock
- pipeline
- pin
- mobile robot
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- 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.)
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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
- F16L55/44—Constructional aspects of the body expandable
-
- 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
- F16L2101/50—Pulling cables or the like
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of expansion self-locking mechanism of pipeline mobile robot, including flexible lock body, the flexibility lock body has the stretchable layer positioned on both sides of the middle, and the frictional layer being connected between stretchable layer and with stretchable layer；The both ends of the flexibility lock body are provided with pin and box sub, and multiple flexible lock bodies can be mutually threadedly coupled by pin and box sub；Described flexibility lock body one end is provided with lead screw motor, and the screw rod of the lead screw motor passes through all flexible lock body inside centers；Feed screw nut is provided in the pin and box sub of flexibility lock body on the outermost side, the feed screw nut and the wire rod thread are cooperatively connected.The present invention can make the driving of robot and be located through self structure alternating deformation be achieved, structure is simple, and is adapted to the pipeline of a variety of calibers.
Description
[technical field]
The present invention relates to the technical fields of robot, the especially technical field of pipeline mobile robot.
[background technique]
Pipeline mobile robot is generally used for package route or transmits inside the pipelines of energy substance such as oil gas, in pipeline
It is interior to carry out various activity.Traditional pipeline mobile robot uses wheel type mobile, and wheel type mobile is divided into plane and sky again
Between type, wherein spatial mode wheel type mobile structure is more stable, but lower to the handling capacity of corner.
Inchworm type pipeline mobile robot can be wriggled by flexible body construction, but current mobile machine
Structure is complicated by people, is not easy to safeguard, and be slow in action.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, a kind of expansion self-locking of pipeline mobile robot is proposed
Mechanism, can make the driving of robot and be located through the alternating deformation of self structure to be achieved, and structure is simple, and can be with
Adapt to the pipeline of a variety of calibers.
To achieve the above object, the invention proposes a kind of expansion self-locking mechanisms of pipeline mobile robot, including flexibility
Lock body, the flexibility lock body has the stretchable layer positioned on both sides of the middle, and is connected between stretchable layer and with stretchable layer
Frictional layer；The both ends of the flexibility lock body are provided with pin and box sub, and multiple flexible lock bodies can be mutual by pin and box sub
It is threadedly coupled；Described flexibility lock body one end is provided with lead screw motor, and the screw rod of the lead screw motor passes through all flexible lock bodies
Inside center；Feed screw nut, the feed screw nut and the silk are provided in the pin and box sub of flexibility lock body on the outermost side
Bar is threadedly engaged connection.
Preferably, the stretchable layer of the flexibility lock body is plastic material, the frictional layer is rubber material.
Preferably, the maximum folded angle of the stretchable layer is 10 °, maximum extension angle is 165 °.
Preferably, the lead screw motor is fixed on an electric machine support, the electric machine support is fixed on flexible lock body
In the pin and box sub of one end.
The present invention passes through setting retractable and flexible lock body, and the adjustable outer diameter value of stretching of flexible lock body, thus
So that pipe robot, in moving process, the contraction of its own generates the active force of positioning, is applied in inner wall of the pipe, tie
Structure is simple, easy to maintain.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is the overall structure diagram of the expansion self-locking mechanism of inventive pipeline mobile robot；
Fig. 2 is the decomposition texture schematic diagram of the expansion self-locking mechanism of inventive pipeline mobile robot；
Fig. 3 is the locking mechanism schematic diagram of flexible lock body in the present invention；
Fig. 4 is the loose configuration schematic diagram of flexible lock body in the present invention.
In figure: 1- flexibility lock body, 2- electric machine support, 3- lead screw motor, 4- feed screw nut, 101- pin and box sub, 102- stretch
Contracting layer, 103- frictional layer, 301- screw rod.
[specific embodiment]
Refering to fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of expansion self-locking mechanism of pipeline mobile robot of the present invention, including flexibility
Lock body 1, it is described flexibility lock body 1 have positioned on both sides of the middle stretchable layer 102, and positioned at stretchable layer 102 between and with stretch
The frictional layer 103 that layer 102 is connected；The both ends of the flexibility lock body 1 are provided with pin and box sub 101, multiple flexible lock bodies 1
It can be mutually threadedly coupled by pin and box sub 101；1 one end of the flexibility lock body is provided with lead screw motor 3, the lead screw motor 3
Screw rod 301 pass through all 1 inside centers of flexible lock body；It is arranged in the pin and box sub 101 of flexibility lock body 1 on the outermost side
There is feed screw nut 4, the feed screw nut 4 is threadedly engaged with the screw rod 301 and connect.
The stretchable layer 102 of the flexibility lock body 1 is plastic material, and the frictional layer 103 is rubber material.
The maximum folded angle of the stretchable layer 102 is 10 °, and maximum extension angle is 165 °.
The lead screw motor 3 is fixed on an electric machine support 2, and the electric machine support 2 is fixed on flexible 1 one end of lock body
In pin and box sub 101.
The course of work of the present invention:
A kind of expansion self-locking mechanism of pipeline mobile robot of the present invention during the work time, when lead screw motor 3 drives silk
When bar 301 rotates, flexible lock body 1 elongates or shortens under the drive of feed screw nut 4, and when elongation, flexible lock body 1 stretches
Layer 102 is unfolded, and frictional layer 103 is detached from inner wall of the pipe, and the mobile robot of the section is moved in pipeline；When flexibility is locked
When body 1 shortens, stretchable layer 102 is folded, and radial dimension increases, and frictional layer 103 contacts pipeline wall surface, and moving machine is locked on pipeline
The section of device people.
The present invention, by the way that retractable and flexible lock body, and the adjustable outer diameter value of stretching of flexible lock body is arranged, thus
So that pipe robot, in moving process, the contraction of its own generates the active force of positioning, is applied in inner wall of the pipe, tie
Structure is simple, easy to maintain.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (2)
1. a kind of expansion self-locking mechanism of pipeline mobile robot, it is characterised in that: including flexible lock body, the flexibility lock body tool
There are the stretchable layer positioned on both sides of the middle, and the frictional layer being connected between stretchable layer and with stretchable layer；The flexible lock
The both ends of body are provided with pin and box sub, and multiple flexible lock bodies can be mutually threadedly coupled by pin and box sub；The flexible lock
Body one end is provided with lead screw motor, and the screw rod of the lead screw motor passes through all flexible lock body inside centers；Positioned at outermost
Flexible lock body pin and box sub on be provided with feed screw nut, the feed screw nut and the wire rod thread are cooperatively connected；It is described
The stretchable layer of flexible lock body is plastic material, and the frictional layer is rubber material；The maximum folded angle of the stretchable layer is
10 °, maximum extension angle is 165 °；
When lead screw motor drives screw rod rotation, flexible lock body elongates or shortens under the drive of feed screw nut, when flexible lock body
When elongation, the stretchable layer of flexible lock body is unfolded, and frictional layer is detached from inner wall of the pipe, so that the mobile robot of the section is moved in pipeline
It is dynamic；When flexible lock body shortens, stretchable layer is folded, and radial dimension increases, and frictional layer contacts pipeline wall surface, is locked and is moved on pipeline
The section of mobile robot, the lead screw motor are fixed on an electric machine support.
2. the expansion self-locking mechanism of pipeline mobile robot as described in claim 1, it is characterised in that: the electric machine support is solid
It is scheduled in the pin and box sub of flexible lock body one end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433269.2A CN107143723B (en) | 2017-06-09 | 2017-06-09 | A kind of expansion self-locking mechanism of pipeline mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433269.2A CN107143723B (en) | 2017-06-09 | 2017-06-09 | A kind of expansion self-locking mechanism of pipeline mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107143723A CN107143723A (en) | 2017-09-08 |
| CN107143723B true CN107143723B (en) | 2019-05-17 |
Family
ID=59781089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710433269.2A Active CN107143723B (en) | 2017-06-09 | 2017-06-09 | A kind of expansion self-locking mechanism of pipeline mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107143723B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979989A (en) * | 2012-11-09 | 2013-03-20 | 西安电子科技大学 | High-precision peristaltic pipeline crawl device and control method thereof |
| CN203375086U (en) * | 2013-07-15 | 2014-01-01 | 何伟林 | Novel pipeline sealing plug |
| CN205001755U (en) * | 2015-09-15 | 2016-01-27 | 北京北排建设有限公司 | Skin blocks up quick plugging device of formula |
| CN105757398A (en) * | 2016-03-10 | 2016-07-13 | 深圳职业技术学院 | Pneumatic pipeline robot system based on pneumatic tendon |
| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ567560A (en) * | 2005-10-12 | 2010-04-30 | Llewellyn John Grundlingh | Conveyance device for traveling along a surface and conveying an explosive charge |
| CN101169214A (en) * | 2007-11-29 | 2008-04-30 | 上海交通大学 | Looper type oil well pipe robot device |
-
2017
- 2017-06-09 CN CN201710433269.2A patent/CN107143723B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979989A (en) * | 2012-11-09 | 2013-03-20 | 西安电子科技大学 | High-precision peristaltic pipeline crawl device and control method thereof |
| CN203375086U (en) * | 2013-07-15 | 2014-01-01 | 何伟林 | Novel pipeline sealing plug |
| CN205001755U (en) * | 2015-09-15 | 2016-01-27 | 北京北排建设有限公司 | Skin blocks up quick plugging device of formula |
| CN105757398A (en) * | 2016-03-10 | 2016-07-13 | 深圳职业技术学院 | Pneumatic pipeline robot system based on pneumatic tendon |
| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
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| Publication number | Publication date |
|---|---|
| CN107143723A (en) | 2017-09-08 |
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