CN107314191A - A kind of pipe robot based on fluid and motor composite flooding - Google Patents
A kind of pipe robot based on fluid and motor composite flooding Download PDFInfo
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- CN107314191A CN107314191A CN201710675814.9A CN201710675814A CN107314191A CN 107314191 A CN107314191 A CN 107314191A CN 201710675814 A CN201710675814 A CN 201710675814A CN 107314191 A CN107314191 A CN 107314191A
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- 239000012530 fluid Substances 0.000 title claims abstract description 41
- 239000002131 composite material Substances 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 239000010985 leather Substances 0.000 claims abstract description 44
- 230000008520 organization Effects 0.000 claims abstract description 15
- 239000000203 mixture Substances 0.000 claims abstract description 10
- 238000007789 sealing Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000007788 liquid Substances 0.000 description 5
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009428 plumbing Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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
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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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of pipe robot based on fluid and motor composite flooding, it is characterized in that by cylinder, leather cup mechanism, throttle mechanism, division board, drive mechanism, motor, battery, controller, coordination organization and supporting mechanism composition, close cylinder one end, the other end is opening-like, leather cup mechanism is by annular leather cup, clamping plate I and clamping plate II are constituted, throttle mechanism is by choke block, spring and the gripper shoe groups of throttling into, beneficial effects of the present invention one are the hydraulic thrust power size to robot according to tube fluid, can be so that driving wheel be compressed or separated with inner-walls of duct by adjusting coordination structure, realize the composite flooding mode being combined using single fluid driving or fluid with motor, robot is set to have stroke remote, the big advantage of driving force, possibility is provided to carry corresponding operational module；Two be to coordinate spring by pretension so that driving wheel is compressed with tube wall so that robot has obstacle detouring and the ability by bend pipe under composite flooding state.
Description
Technical field
It is specially a kind of based on fluid and motor composite flooding the present invention relates to a kind of pipe robot of composite flooding
Pipe robot, belongs to the field of structural design of pipe robot.
Background technology
With the passage of working time, the conveyance conduit in the field such as oil, chemical industry, plumbing is easily by natural cause
Influence and little by little occur aging, the phenomenons such as burn into crackle, tube expansion that degree differs occur, these phenomenons not only reduce pipe
Road transport efficiency, can more seriously cause the generation of the severe accident such as fire, radiation, blast.Therefore, pipeline is regularly carried out
The safe and unimpeded operation of detection, cleaning and maintenance work to ensureing pipe-line system is extremely important.However, due to
Pipeline generally has complicated structure and severe internal environment, and maintainer is difficult to be completed under such environmental condition
Maintenance work, what is arisen at the historic moment is the development of pipeline robot technique.
The energy resource supply mode of pipe robot has two kinds：There are cable and untethered.For the pipeline machine for thering is cable mode to supply
People, subject matter is that, with the increase of pipe robot travel distance, the frictional resistance between cable and tube wall can be gradually increased,
The degree that even up to tractive force of robot can not overcome, this has had a strong impact on the range of pipe robot；And untethered
Pipe robot is powered driving by the way of self-contained battery, is limited to the overall chi of battery capacity, battery quality, robot
The influence of the factor such as very little, robot is equally faced with the problem of stroke is limited.In addition, entering when robot carries multiple functional modules
During row work, easily there is driving force deficiency and be trapped in the phenomenon in pipeline.
The present invention is directed to problem above, devises a kind of new composite flooding pipe robot, it is driven with fluid
Based on, supplemented by motor driving, complete different work mission requirements for it and carry the function moulds such as corresponding control, detection, positioning
Module unit provides feasibility.
The content of the invention
Present invention aims to overcome that the shortcoming that prior art is present, is tieed up for tubular services such as oil, chemical industry, plumbing
Nurse makees there is provided a kind of pipe robot based on fluid and motor composite flooding, can be according to the flowings of fluids within pipes
Situation, use with fluid drive based on, motor driving supplemented by type of drive, make it have stroke distances length, tractive load energy
The characteristics of power is strong, unique coordination structure design, it is ensured that fluid is driven and motor driving is integrated, and is with cooperating
Robot provides power, while also making robot have automatic adaptation to pipe joint, rough local disturbance etc. and get over
Barrier ability.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of pipe robot based on fluid and motor composite flooding, it is characterised in that by cylinder, leather cup mechanism, throttling machine
Structure, division board, drive mechanism motor, battery, electric machine controller, coordination organization and supporting mechanism composition, described cylinder one end
Closing, the other end is opening-like, and the leather cup mechanism is made up of the clamping plate II of the leather cup, the clamping plate I of annular and annular of annular, skin
The external diameter of bowl is more than the external diameter of clamping plate I and clamping plate II, and the internal diameter of leather cup is less than the external diameter of clamping plate I and clamping plate II, and leather cup is clamped in
Between clamping plate I and clamping plate II, clamping plate I and clamping plate II are connected by pin, and preloading spring, the openend of the cylinder are cased with pin
It is connected with the clamping plate I or clamping plate II in leather cup mechanism, throttle mechanism and motor driving machine is sequentially provided with from openend in cylinder
Structure, described throttle mechanism is by choke block, throttling spring and gripper shoe groups into choke block is diametrically less than the circle of the internal diameter of cylinder I
Shape plate, choke block is connected through bolt with supporting plate, and throttle spring, throttle mechanism are cased with the bolt between choke block and supporting plate
It is connected to through supporting plate in cylinder, the corresponding barrel wall of throttle mechanism is provided with discharge orifice, division board is set away from leather cup mechanism
Cylinder in and with the blind end of cylinder formation control chamber, be provided with motor, battery and motor control in the control chamber of division board side
Be provided with the drive mechanism in device processed, the cylinder of division board opposite side, drive mechanism include base I, base II, worm gear, worm screw,
Support, timing belt and active wheels are into base I is connected with the inwall of cylinder, and one end of worm screw is supported on base I through bearing
On, the other end is connected with the motor output shaft through division board, and worm screw and the worm gear of three circumferentially spaced apart 120 ° of distributions match
Close, each worm gear is supported through worm-wheel shaft by base II, and base II is connected with base I, and support one end is through bearing pin and bearing II
It is connected, the support other end stretches out cylinder and provided with rotary shaft through the bracket holes on cylinder, and rotary shaft is provided with driving wheel, support
It can be rotated with relative seat II, worm-wheel shaft is connected with the synchronized belt wheel of rotary shaft, timing belt, the cylinder body outer wall of driving wheel side
Coordination organization is provided with, described coordination organization is by coordination bar, coordination support, coordination screw mandrel, coordination spring, the and of feed screw nut I
Feed screw nut II constitutes, and it is in the cylinder that driving wheel side is supported on tubular axis equidirectional to coordinate the coordinated support in screw mandrel two ends
On external wall, coordinate bar one end and be connected through sliding sleeve with coordinating screw mandrel, coordinating bar can move through sliding sleeve relative to screw mandrel is coordinated, separately
One end is hinged with stretching out the support of cylinder, and the coordination screw mandrel two ends coordinated in support are respectively equipped with feed screw nut I and screw mandrel spiral shell
It is cased with coordinating spring on mother II, the coordination screw mandrel between feed screw nut I and feed screw nut II, described supporting mechanism is on cylinder
Provided with support wheel, support wheel is connected by bearing pin with support wheel carrier, and support wheel carrier is connected with support wheel base, and support wheel base is fixed
On the outer wall of cylinder, spring is provided with support wheel base, spring makes support wheel have the precompression to inner-walls of duct, in fluid and
Under motor composite flooding, support wheel is rolled along inner-walls of duct makes cylinder be moved in pipeline.Cylinder of the present invention at least by
Cylinder I and cylinder II are constituted, and the two ends of cylinder I are opening-like, and the one end of cylinder II closing, the other end is opening-like, the one end of cylinder I warp
Flange is connected with leather cup mechanism, and the other end is connected through flange with the supporting plate in the openend of cylinder II and throttle mechanism by bolt
Connect, spring is cased with bolt, the axis of cylinder I can form an angle with the axis of cylinder II with respect to shape, with suitable for bending
Pipeline.
Choke block in throttle mechanism of the present invention is engaged with the inwall of cylinder I, and the discharge orifice on barrel wall is in
Square opening, discharge orifice is arranged on the barrel of cylinder I relative between choke block and supporting plate, i.e., the width of discharge orifice is less than throttling
The spacing of plate and supporting plate.
The periphery of division board of the present invention is tightly connected with cylinder inboard wall, and division board is closed with the formation of cylinder blind end
Control chamber, motor output shaft or worm screw be connected through division board with worm screw or motor output shaft, and division board is exported with motor
Sealing device is provided between axle or worm screw, prevents the liquid in pipeline from entering control chamber, to ensure the battery in control chamber, controller
Working condition, the sealing device can be sealing ring or sealed bearings.
Supporting mechanism of the present invention is arranged on leading section and the rearward end of cylinder, barrel front end portion and rear end part point
She You not three supporting mechanisms, three 120 degree of supporting mechanism intervals, the connection of support wheel carrier and support wheel base in supporting mechanism
Connected in pole, bushing type, support wheel base is in cannula-like, the perpendicular shape of sleeve pipe is connected with cylinder, spring, branch are provided with sleeve pipe
Bar one end is inserted in sleeve pipe, and the other end is provided with U-bracket, and support wheel is connected through bearing pin with U-bracket, and spring has support wheel
The precompression of oriented inner-walls of duct, under fluid and motor composite flooding, support wheel is rolled along inner-walls of duct makes cylinder in pipeline
Interior movement.
Patent of the present invention has the beneficial effect that：One is the hydraulic thrust power size to robot according to tube fluid, is passed through
Regulation coordination structure can cause driving wheel and inner-walls of duct to compress or separate, realize using single fluid driving or fluid and
The composite flooding mode that motor is combined, makes robot have the advantages that stroke is remote, driving force is big, to carry corresponding Working mould
Block provides possibility；Two be so that driving wheel is compressed with tube wall by pretension coordination spring so that machine under composite flooding state
Device people has obstacle detouring and the ability by bend pipe.
Brief description of the drawings
Accompanying drawing is a kind of structural representation of the present invention, is also a kind of structural representation of embodiment.
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the structural representation of leather cup mechanism in the present invention.
Fig. 3 is Fig. 2 left view.
Fig. 4 is the structural representation of throttle mechanism in the present invention.
Fig. 5 is the structural representation of drive mechanism in the present invention.
Fig. 6 is the scheme of installation of driving body in the present invention.
Fig. 7 is Fig. 6 left view.
Fig. 8 is the structural representation of coordination organization in the present invention.
Marked in figure：Leather cup mechanism（1）, bolt（2）, motor-driven mechanism（3）, coordination organization（4）, supporting mechanism（5）、
Cylinder I（6）, discharge orifice（7）, throttle mechanism（8）, cylinder II（9）, clamp nut（10）, sealing ring（11）, shrouding（12）, electricity
Machine controller（13）, motor（14）, battery（15）, division board（16）, clamping plate I（101）, leather cup（102）, clamping plate II（103）, pin
Post（104）, split pin（105）, preloading spring（106）, through hole（107）, worm gear（301）, worm screw（302）, timing belt（303）、
Support（304）, driving wheel（305）, base I（306）, base II（307）, coordinate bar (401), coordinate spring（402）, coordinate silk
Bar（403）, feed screw nut I（404）, feed screw nut II（405）, support wheel（501）, support wheel carrier（502）, support wheel base
（503）, support spring（504）, choke block（801）, throttling spring（802）, supporting plate（803）.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is further elaborated by embodiment.
A kind of pipe robot based on fluid and motor composite flooding, by cylinder, leather cup mechanism, throttle mechanism, isolation
Plate, drive mechanism, motor, battery, controller, coordination organization and supporting mechanism composition, cylinder one end closing, the other end is in opening
Shape, described cylinder is at least made up of two sections, and section is connected with internode using flange, with convenient for assembly and adaptation work pipeline
Bending, ordinary circumstance cylinder is made up of cylinder I and cylinder II, and the two ends of cylinder I are opening-like and try orchid, the end seal of cylinder II 1
Close, the other end is opening-like and provided with flange, and the leather cup mechanism is by annular leather cup, the clamping plate I of annular and annular clamping plate
II composition, the external diameter of leather cup is more than the external diameter of clamping plate I and clamping plate II, is engaged with the inwall with pipeline, prevents the liquid in pipeline
Body flows between inner-walls of duct and leather cup external diameter, the liquid in pipeline is entered cylinder by leather cup inner ring, the internal diameter of leather cup is less than
The external diameter of clamping plate I and clamping plate II, leather cup is clamped between clamping plate I and clamping plate II, and clamping plate I and clamping plate II are connected by pin, pin
On be cased with preloading spring, pin both ends are provided with lockhole, lockhole and are inserted with split pin, to prevent shotpin post play, the cylinder
Openend is connected with the clamping plate I or clamping plate II in leather cup mechanism, and cylinder I is typically connected using flange with leather cup mechanism, cylinder
Throttle mechanism and motor-driven mechanism are sequentially provided with from openend in vivo, throttle mechanism, throttle mechanism are typically provided with cylinder I
It is engaged with the inwall of cylinder I, drive mechanism is provided with cylinder II, described throttle mechanism is by choke block, throttling spring and branch
Fagging is constituted, and choke block is diametrically less than the circular slab of the internal diameter of cylinder I, and choke block is connected through bolt with supporting plate, choke block
The spring that throttles is cased with bolt between supporting plate, throttle mechanism is connected in cylinder through supporting plate, the corresponding cylinder of throttle mechanism
Body wall is provided with discharge orifice, and discharge orifice is square hole, and discharge orifice is arranged on the barrel of cylinder I relative between choke block and supporting plate
On, i.e. the width of discharge orifice is less than the spacing of choke block and supporting plate, division board set in the cylinder away from leather cup mechanism and with
The blind end formation control chamber of cylinder, periphery and the cylinder inboard wall of ordinary circumstance division board are tightly connected, and division board is sealed with cylinder
Motor, battery and electric machine controller are provided with the control chamber of closed end formation closing, the control chamber of division board side, division board is another
It is provided with the drive mechanism in the cylinder of side, drive mechanism includes base I, base II, worm gear, worm screw, support, timing belt, same
Walk belt wheel and active wheels into, base I is typically connected through flange with cylinder, and one end of worm screw is supported on base I through bearing,
The other end is connected with the motor output shaft through division board or is connected with the worm shaft through division board, worm screw and three weeks
To the worm wheel for being separated by 120 ° of distributions, each worm gear is supported through worm-wheel shaft by base II, and base II is that angle is in 120 degree
Supporting plate, worm-wheel shaft two ends are connected through bearing or axle sleeve with supporting plate respectively, and base II is connected through bolt with base I,
Support front end is connected through bearing pin with bearing II, and support is H-shaped, and support front end is provided with two supporting legs, and it is in U that each supporting leg, which is provided with,
The sub-stent of shape（As shown in Figure 5）, sub-stent is connected through bearing pin with the supporting plate of L-shaped, and support can be rotated with relative seat II,
The support other end stretches out cylinder and provided with rotary shaft through the bracket holes on cylinder, and the axis of rotary shaft is parallel with worm gear axis,
It is respectively equipped with worm-wheel shaft and rotary shaft in synchronous pulley, rotary shaft and is additionally provided with driving wheel, worm-wheel shaft and the synchronized band of rotary shaft
Wheel, timing belt are connected, and motor drives worm gear, worm-wheel shaft to rotate by worm screw, and the synchronized belt wheel of worm-wheel shaft, timing belt drive rotation
Rotating shaft rotates, and rotary shaft drives driving wheel rotation, and driving wheel rotation produces frictional force with inner-walls of duct, to drive cylinder in pipeline
Interior movement, described motor output shaft or worm screw are connected through division board with worm screw or motor output shaft, division board and motor
Sealing device is provided between output shaft or worm screw, prevents the liquid in pipeline from entering control chamber, to ensure the battery in control chamber, control
The working condition of device processed, the sealing device can be sealing ring or sealed bearings, the cylinder body outer wall of driving wheel side
Coordination organization is provided with, described coordination organization is by coordination bar, coordination support, coordination screw mandrel, coordination spring, the and of feed screw nut I
Feed screw nut II constitutes, and coordinates support and is made up of preceding coordination support and rear support of coordinating, coordinating the coordinated support in screw mandrel two ends is in
On the cylinder body outer wall that driving wheel side is supported on tubular axis equidirectional, coordinate bar one end and be connected through sliding sleeve with screw mandrel,
Coordinating bar can move relative to screw mandrel is coordinated, and the other end is hinged with stretching out the support of cylinder, and preceding coordination support coordinates branch with rear
Coordination screw mandrel two ends in frame are respectively equipped with feed screw nut I and feed screw nut II, the coordination between feed screw nut I and feed screw nut II
It is cased with coordinating spring and sliding sleeve on screw mandrel, described supporting mechanism is to be provided with support wheel on cylinder, and support wheel is by bearing pin and branch
Support wheel carrier is connected, and support wheel carrier is connected with support wheel base, and support wheel base is fixed on the outer wall of cylinder, is set in support wheel base
There is a spring, spring makes support wheel have the precompression to inner-walls of duct, under fluid and motor composite flooding, support wheel is along pipeline
Inwall, which is rolled, makes cylinder be moved in pipeline, and described supporting mechanism is arranged on leading section and the rearward end of cylinder, barrel front end
Portion and rear end part are respectively equipped with three supporting mechanisms, three 120 degree of supporting mechanism intervals, the support wheel carrier in supporting mechanism with
The connection of support wheel base is connected in pole, bushing type, and support wheel base is in cannula-like, and the perpendicular shape of sleeve pipe is connected with cylinder, is covered
Spring is provided with pipe, pole one end is inserted in sleeve pipe, the other end is provided with U-bracket, support wheel is connected through bearing pin with U-bracket
Connect.
The present invention be able to can be caused according to hydraulic thrust power size of the tube fluid to robot by adjusting coordination structure
Driving wheel is compressed or separated with inner-walls of duct, realizes the composite flooding being combined using single fluid driving or fluid with motor
Mode, makes robot have the advantages that stroke is remote, driving force is big, and possibility is provided to carry corresponding operational module；May be used also
Coordinating spring by pretension causes driving wheel and tube wall to compress so that under composite flooding state robot have obstacle detouring with by curved
The ability of pipe.
Embodiment：
As shown in figure 1, the present invention is main by leather cup mechanism (1), cylinder I (6), throttle mechanism (8), support wheel carrier (5), bolt
(2), the part such as motor-driven mechanism (3), coordination organization (4) is constituted；The method of bolt (2) connector drum I (6) and cylinder II (9)
Blue disk；Cylinder II（9）There is annular seal space inside, is fixed with motor（14）, battery（15）And electric machine controller（13）.
As shown in Figure 1, Figure 2 and Figure 3, leather cup mechanism (1) is fixed on the end of cylinder I (6), leather cup mechanism (1) it is main by
Leather cup (102), clamping plate I (101), clamping plate II (103), pin (104), split pin (105) and preloading spring (106) composition, folder
Plate I（101）With clamping plate II（103）Between by pin（104）By split pin on the outside of connection, two plates（105）Carry out position restriction, pin
Preloading spring is cased with above post（106）, leather cup（102）It is placed between two clamping plates；Cylinder I（6）Lead in inside, two ends are flange
Dish structure, away from leather cup mechanism（1）Cylinder on be provided with four be separated by 90 ° distribution discharge orifices（7）.
As shown in Figure 1 and Figure 4, throttle mechanism (8) is placed on cylinder I (6) inside, mainly by choke block（801）, throttling bullet
Spring (802) and supporting plate (803) composition, supporting plate（801）With cylinder I（6）The ring flange of end connects, choke block（801）With
Supporting plate（803）Between pass through the spring that throttles（802）It is connected.
As shown in figure 5, motor-driven mechanism (3) is main by worm gear (301), worm screw (302), timing belt (303), support
(304), driving wheel (305), base I (306) and base II (307) composition, worm screw（301）One end be supported on base I（306）
On, and in the worm gear of three circumferentially spaced apart 120 ° of distributions（301）It is engaged, each worm gear（301）All by adjacent base II
（307）Support, base I（306）With base II（307）Between be connected by screw, support（304）With bearing II（307）Connect,
And can be with relative seat II（307）Rotate, timing belt（303）Two ends respectively with worm gear（301）And driving wheel（305）Place
Synchronous pulley on axle connects.
As shown in figure 8, coordination organization（4）Mainly by coordination bar（401）, coordinate spring（402）, feed screw nut I（404）、
Feed screw nut II（405）With coordination screw mandrel（403）Composition, the coordination structure（4）One end connect with two supports (304),
It can be rotated with opposite brackets (304), its other end, can be along respectively with feed screw nut II (405) and coordinating spring (402) and connecting
Coordinate screw mandrel (403) to slide, coordinate screw mandrel (403) and be fixed on cylinder II（9）Outer surface, have the screw mandrel spiral shell coordinated with it thereon
Mother I（404）With feed screw nut II（405）.
As shown in Figure 6 and Figure 7, supporting mechanism（5）By support wheel（501）, support wheel carrier（502）, support wheel base（503）With
Support spring（504）Composition, support spring（504）Upper end with support wheel carrier (502) bottom contact, support wheel carrier (502)
Bottom can be moved along support wheel base (503) inner surface.
The operation principle of the present invention：Robot is put into pipeline by specific pipeline branch mouthful, fluid is to clamping plate I
（101）There is hydraulic coupling, promote pipe robot to advance, while clamping plate I（101）To clamping plate II（103）It is close, and to pre-
Tight spring（106）And leather cup（102）Strong effect so that preloading spring (106) and leather cup (102) compression, leather cup
(102) radial dilatation, the leather cup (102) after deformation can fit inner-walls of duct, increase hydraulic coupling to pipe robot
Active area.Fluid is from leather cup mechanism（1）On through hole（107）Into cylinder I（6）, to choke block（801）Apply hydraulic coupling, make
Choke block（801）Compression throttling spring（802）And to supporting plate（803）It is close, while choke block（801）With discharge orifice（7）Shape
Into an opening, it is allowed to which fluid continues to flow out robot forward along opening, thus throttle mechanism（1）Realize and robotic fluid is driven
Speed control when dynamic, makes the fluid actuating speed of robot tend to be steady.
When fluid is smaller to the hydraulic thrust power of robot, pipe robot is driven using fluid and mutually tied with motor driving
The composite flooding mode of conjunction, i.e., by battery（15）To motor（14）It is powered, electric machine controller（13）Controlled motor（14）'s
Rotating speed, motor（14）First deliver torque to worm screw（302）, then worm screw（302）With three worm gears（301）It is intermeshed and leads to
Cross three timing belts（303）Motion is delivered to three driving wheels respectively（305）, pass through driving wheel（305）Between inside pipe wall
Friction promote pipe robot advance.
Coordination organization（4）Fluid can be avoided to drive to interfere between motor driving.As shown in figure 5, when fluid liquid
When pressure is larger, is only driven with fluid and provide power enough for pipe robot, now screw feed screw nut II（405）, make silk
Stem nut II（405）Spring is coordinated in compression（402）And promote coordination bar（401）Along coordination screw mandrel（403）To feed screw nut I
（404）Direction is moved, support（304）Driving wheel when making the robot be run in pipe that rotates clockwise an angle（305）With pipe
Road inwall is not contacted, and realizes that motor driving drives without interference with fluid；When hydraulic is smaller, it is necessary to which motor is driven to machine
Device people provides certain power, first by feed screw nut II（405）It is screwed to coordination screw mandrel（403）High order end, then pass through
Feed screw nut I is screwed to the left（404）, make coordination spring（402）With must pretightning force, pretightning force is by coordinating bar（401）
And support（304）Make driving wheel（305）Contacted with inside pipe wall, this firmly beforehand meanses belong to a kind of flexible pretension, be that robot is met
Soft readjustment is realized when changing to obstacle or caliber.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the description in above-described embodiment and specification simply illustrates the original of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of pipe robot based on fluid and motor composite flooding, it is characterised in that by cylinder, leather cup mechanism, throttling machine
Structure, division board, drive mechanism motor, battery, controller, coordination organization and supporting mechanism composition, described cylinder one end closing,
The other end is opening-like, and the leather cup mechanism is made up of the clamping plate II of the leather cup, the clamping plate I of annular and annular of annular, leather cup
External diameter is more than the external diameter of clamping plate I and clamping plate II, and the internal diameter of leather cup is less than the external diameter of clamping plate I and clamping plate II, and leather cup is clamped in clamping plate I
Between clamping plate II, clamping plate I and clamping plate II are connected by pin, and preloading spring, the openend of the cylinder and skin are cased with pin
Clamping plate I or clamping plate II in bowl mechanism are connected, and throttle mechanism and drive mechanism are sequentially provided with from openend in cylinder, described
Throttle mechanism is by choke block, throttling spring and gripper shoe groups into choke block is diametrically less than the circular slab of the internal diameter of cylinder I, throttling
Plate is connected through bolt with supporting plate, the spring that throttles is cased with the bolt between choke block and supporting plate, throttle mechanism is through supporting plate
It is connected in cylinder, the corresponding barrel wall of throttle mechanism is provided with discharge orifice, division board is set in the cylinder away from leather cup mechanism
And formed with the blind end of cylinder in control chamber, the control chamber of division board side provided with motor, battery and electric machine controller, isolation
The drive mechanism is provided with the cylinder of plate opposite side, drive mechanism includes base I, base II, worm gear, worm screw, support, synchronization
Band, synchronous pulley are with active wheels into base I is connected with the inwall of cylinder, and one end of worm screw is supported on base I through bearing
On, the other end is connected with the motor output shaft through division board, and worm screw and the worm gear of three circumferentially spaced apart 120 ° of distributions match
Close, each worm gear is supported through worm-wheel shaft by base II, and base II is connected with base I, and support one end is through bearing pin and bearing II
It is connected, the support other end stretches out cylinder and provided with rotary shaft through the bracket holes on cylinder, and rotary shaft is provided with driving wheel, support
It can be rotated with relative seat II, worm-wheel shaft is connected with the synchronized belt wheel of rotary shaft, timing belt, the cylinder body outer wall of driving wheel side
Coordination organization is provided with, described coordination organization is by coordination bar, coordination support, coordination screw mandrel, coordination spring, the and of feed screw nut I
Feed screw nut II constitutes, and it is in the cylinder that driving wheel side is supported on tubular axis equidirectional to coordinate the coordinated support in screw mandrel two ends
On external wall, coordinate bar one end and be connected through sliding sleeve with coordinating screw mandrel, coordinating bar can move through sliding sleeve relative to screw mandrel is coordinated, and assist
The bar other end is adjusted to be hinged with stretching out the support of cylinder, the coordination screw mandrel two ends coordinated in support are respectively equipped with the He of feed screw nut I
Feed screw nut II, be cased with the coordination screw mandrel between feed screw nut I and feed screw nut II coordinate spring, described supporting mechanism be
Cylinder is provided with support wheel, and support wheel is connected by bearing pin with support wheel carrier, and support wheel carrier is connected with support wheel base, support wheel
Seat is fixed on the outer wall of cylinder, and spring is provided with support wheel base, and spring makes support wheel have the precompression to inner-walls of duct,
Under fluid and motor composite flooding, support wheel is rolled along inner-walls of duct makes cylinder be moved in pipeline.
2. a kind of pipe robot based on fluid and motor composite flooding according to claim 1, it is characterised in that cylinder
Body is at least made up of cylinder I and cylinder II, and the two ends of cylinder I are opening-like, and the one end of cylinder II closing, the other end is opening-like, cylinder
The one end of body I is connected through flange with leather cup mechanism, and the other end is through the supporting plate in flange and the openend of cylinder II and throttle mechanism
It is connected by bolt, spring is cased with bolt, with the pipeline suitable for bending.
3. a kind of pipe robot based on fluid and motor composite flooding according to claim 1, it is characterised in that section
Choke block in stream mechanism is engaged with the inwall of cylinder I, and the discharge orifice on barrel wall is square hole, and discharge orifice is arranged on throttling
Between plate and supporting plate on the barrel of relative cylinder I, i.e., the width of discharge orifice is less than the spacing of choke block and supporting plate.
4. a kind of pipe robot based on fluid and motor composite flooding according to claim 1, it is characterised in that every
Periphery from plate is tightly connected with cylinder inboard wall, the control chamber of division board and cylinder blind end formation closing, motor output shaft or
Worm screw is connected through division board with worm screw or motor output shaft, provided with sealing dress between division board and motor output shaft or worm screw
Put.
5. a kind of pipe robot based on fluid and motor composite flooding according to claim 1, it is characterised in that branch
Support mechanism is arranged on leading section and the rearward end of cylinder, and barrel front end portion and rear end part are respectively equipped with three supporting mechanisms, three
Individual 120 degree of supporting mechanism interval.
6. a kind of pipe robot based on fluid and motor composite flooding according to claim 1, it is characterised in that branch
The connection of support wheel carrier and support wheel base in support mechanism is connected in pole, bushing type, and support wheel base is in cannula-like, and sleeve pipe is in hang down
Straight shape is connected with cylinder, and spring is provided with sleeve pipe, and pole one end is inserted in sleeve pipe, and the other end is provided with U-bracket, support wheel warp
Bearing pin is connected with U-bracket.
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| CN201710675814.9A CN107314191B (en) | 2017-08-09 | 2017-08-09 | A kind of pipe robot based on fluid and motor composite drive |
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| CN201710675814.9A CN107314191B (en) | 2017-08-09 | 2017-08-09 | A kind of pipe robot based on fluid and motor composite drive |
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| CN107314191A true CN107314191A (en) | 2017-11-03 |
| CN107314191B CN107314191B (en) | 2019-03-12 |
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| CN201710675814.9A Expired - Fee Related CN107314191B (en) | 2017-08-09 | 2017-08-09 | A kind of pipe robot based on fluid and motor composite drive |
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| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN109038404A (en) * | 2018-08-21 | 2018-12-18 | 江苏捷通管业科技有限公司 | A kind of pvc pipe that flexibility is strong |
| CN109058653A (en) * | 2018-10-26 | 2018-12-21 | 哈尔滨工业大学（威海） | A kind of adaptation detects the composite drive pipe robot of operating condition more |
| CN109723138A (en) * | 2019-01-04 | 2019-05-07 | 四川荣晨建设工程有限公司 | A kind of municipal pipeline cleaning equipment |
| CN109921337A (en) * | 2019-03-14 | 2019-06-21 | 青岛理工大学 | Mine secret tunnel or underground pipe gallery wiring unit device, connecton layout |
| CN110345335A (en) * | 2019-07-11 | 2019-10-18 | 江苏科技大学 | Climbing robot and its control method in imitative looper gait pipe |
| CN110541998A (en) * | 2019-08-28 | 2019-12-06 | 杭州三图科技有限公司 | Throttle crawling robot and detection and control throttling method |
| CN110735994A (en) * | 2019-10-25 | 2020-01-31 | 浙江越新检测技术有限公司 | magnetism leakage detection device in adjustable crawler-type pipeline |
| CN111136328A (en) * | 2020-02-14 | 2020-05-12 | 东阳鸿松机械科技有限公司 | Strutting arrangement is used in pipe fitting cutting |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | Variable-diameter pipeline robot |
| CN112427815A (en) * | 2020-10-26 | 2021-03-02 | 南京华锻智能装备科技有限公司 | Integrated efficient laser pipe cutting machine |
| CN112923786A (en) * | 2021-02-22 | 2021-06-08 | 江苏国源激光智能装备制造有限公司 | Gun barrel inner wall laser cleaning machine equipment |
| CN113091619A (en) * | 2021-04-06 | 2021-07-09 | 天津中车四方所科技有限公司 | Automatic measuring device for finished size of buffer |
| CN115807894A (en) * | 2022-12-20 | 2023-03-17 | 昆明理工大学 | Leather cup supporting speed regulation pipeline detection robot |
| CN118074013A (en) * | 2024-04-17 | 2024-05-24 | 山西岩石能源有限公司 | Paying-off and tightening device for electric power transmission line |
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| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN109038404A (en) * | 2018-08-21 | 2018-12-18 | 江苏捷通管业科技有限公司 | A kind of pvc pipe that flexibility is strong |
| CN109058653A (en) * | 2018-10-26 | 2018-12-21 | 哈尔滨工业大学（威海） | A kind of adaptation detects the composite drive pipe robot of operating condition more |
| CN109723138B (en) * | 2019-01-04 | 2021-05-11 | 江苏三谦生态环境有限公司 | Municipal administration pipeline cleaning equipment |
| CN109723138A (en) * | 2019-01-04 | 2019-05-07 | 四川荣晨建设工程有限公司 | A kind of municipal pipeline cleaning equipment |
| CN109921337A (en) * | 2019-03-14 | 2019-06-21 | 青岛理工大学 | Mine secret tunnel or underground pipe gallery wiring unit device, connecton layout |
| CN109921337B (en) * | 2019-03-14 | 2023-08-25 | 青岛理工大学 | Mine underground passage or underground pipe gallery wiring device and wiring device |
| CN110345335A (en) * | 2019-07-11 | 2019-10-18 | 江苏科技大学 | Climbing robot and its control method in imitative looper gait pipe |
| CN110541998A (en) * | 2019-08-28 | 2019-12-06 | 杭州三图科技有限公司 | Throttle crawling robot and detection and control throttling method |
| CN110735994A (en) * | 2019-10-25 | 2020-01-31 | 浙江越新检测技术有限公司 | magnetism leakage detection device in adjustable crawler-type pipeline |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | Variable-diameter pipeline robot |
| CN111271543B (en) * | 2020-02-04 | 2021-07-13 | 西安交通大学 | Variable-diameter pipeline robot |
| CN111136328A (en) * | 2020-02-14 | 2020-05-12 | 东阳鸿松机械科技有限公司 | Strutting arrangement is used in pipe fitting cutting |
| CN112427815A (en) * | 2020-10-26 | 2021-03-02 | 南京华锻智能装备科技有限公司 | Integrated efficient laser pipe cutting machine |
| CN112923786A (en) * | 2021-02-22 | 2021-06-08 | 江苏国源激光智能装备制造有限公司 | Gun barrel inner wall laser cleaning machine equipment |
| CN113091619A (en) * | 2021-04-06 | 2021-07-09 | 天津中车四方所科技有限公司 | Automatic measuring device for finished size of buffer |
| CN115807894A (en) * | 2022-12-20 | 2023-03-17 | 昆明理工大学 | Leather cup supporting speed regulation pipeline detection robot |
| CN115807894B (en) * | 2022-12-20 | 2024-06-11 | 昆明理工大学 | Leather cup supporting speed-regulating pipeline detection robot |
| CN118074013A (en) * | 2024-04-17 | 2024-05-24 | 山西岩石能源有限公司 | Paying-off and tightening device for electric power transmission line |
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