CN107314191B - A kind of pipe robot based on fluid and motor composite drive - Google Patents
A kind of pipe robot based on fluid and motor composite drive Download PDFInfo
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- CN107314191B CN107314191B CN201710675814.9A CN201710675814A CN107314191B CN 107314191 B CN107314191 B CN 107314191B CN 201710675814 A CN201710675814 A CN 201710675814A CN 107314191 B CN107314191 B CN 107314191B
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- 239000012530 fluid Substances 0.000 title claims abstract description 39
- 239000002131 composite material Substances 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 239000010985 leather Substances 0.000 claims abstract description 46
- 238000002955 isolation Methods 0.000 claims abstract description 29
- 230000008520 organization Effects 0.000 claims abstract description 15
- 239000000203 mixture Substances 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 32
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 9
- 238000009826 distribution Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 238000009428 plumbing Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 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
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 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
- 238000004880 explosion Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000036316 preload 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
-
- 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 drive, it is characterized in that by cylinder, leather cup mechanism, throttle mechanism, isolation board, driving mechanism, motor, battery, controller, coordination organization and supporting mechanism composition, cylinder is closed at one end, the other end is opening-like, leather cup mechanism is by annular leather cup, clamping plate I and clamping plate II form, throttle mechanism is by choke block, throttle spring and support plate composition, the beneficial effect of the invention patent is first is that according to tube fluid to the hydraulic thrust power size of robot, driving wheel can be made to compress or separate with inner wall of the pipe by adjusting coordination structure, realize the composite drive mode 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；Second is that compressing driving wheel and tube wall by pre-tightening coordination spring, so that robot has obstacle detouring and the ability by bend pipe under composite drive state.
Description
Technical field
It is specially a kind of based on fluid and motor composite drive the present invention relates to a kind of pipe robot of composite drive
Pipe robot belongs to the field of structural design of pipe robot.
Background technique
With the passage of working time, the conveyance conduit in the fields such as petroleum, chemical industry, plumbing is easy by natural cause
It influences and gradually happens aging, phenomena such as different burn into crackle of degree, tube expansion occur, these phenomenons not only reduce pipe
Road transport efficiency can more seriously cause the generation of the severe accident such as fire, radiation, explosion.Therefore, regularly carry out pipeline
Detection, cleaning and maintenance work are extremely important to the safe and unimpeded operation for ensureing pipe-line system.However, due to
Pipeline usually has complicated structure and severe internal environment, and service personnel is difficult to complete under such environmental condition
Maintenance work, what is come into being is the development of pipeline robot technique.
There are two types of the energy resource supply modes of pipe robot: having cable and untethered.For the pipeline machine for thering is cable mode to supply
People, main problem are that the frictional resistance with the increase of pipe robot travel distance, between cable and tube wall can be gradually increased,
The even up to degree that can not overcome of the tractive force of robot, this has seriously affected the range of pipe robot；And it is untethered
Pipe robot, for electric drive, is limited to battery capacity, battery quality, robot entirety ruler by the way of self-contained battery
The influence of the factors such as very little, robot are equally faced with the limited problem of stroke.In addition, when robot carry multiple functional modules into
When row work, it is easy to appear driving force deficiency and is trapped in the phenomenon in pipeline.
The present invention drives it with fluid in view of the above problems, devise a kind of novel composite drive pipe robot
Based on, supplemented by motor driven, complete different operation assignments for it and require and carry the functions moulds such as corresponding control, detection, positioning
Module unit provides feasibility.
Summary of the invention
Present invention aims to overcome that disadvantage of the existing technology, is tieed up for tubular services such as petroleum, chemical industry, plumbing
Nurse makees, and provides a kind of pipe robot based on fluid and motor composite drive, can be according to the flowing of fluids within pipes
Situation, use with fluid drive based on, the driving method supplemented by motor driven, make it have that stroke distances are long, tractive load energy
The strong feature of power, unique coordination structure design ensure that fluid driving and motor driven integrate, be with cooperating
Robot provides power, while robot also being made to have automatic adaptation to pipe joint, rough local disturbance etc. and get over
Barrier ability.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of pipe robot based on fluid and motor composite drive, it is characterised in that by cylinder, leather cup mechanism, throttling
Mechanism, isolation board, driving mechanism motor, battery, electric machine controller, coordination organization and supporting mechanism composition, the cylinder one
End seal is closed, and the other end is opening-like, and the leather cup mechanism is made of the clamping plate II of the leather cup of annular, the clamping plate I of annular and annular,
The outer diameter of leather cup is greater than the outer diameter of clamping plate I and clamping plate II, and the internal diameter of leather cup is less than the outer diameter of clamping plate I and clamping plate II, leather cup clamping
Between clamping plate I and clamping plate II, clamping plate I is connected with clamping plate II by pin, and preloading spring, the opening of the cylinder are cased on pin
End in leather cup mechanism clamping plate I or clamping plate II be connected, cylinder is interior to be successively arranged throttle mechanism and motor driven from open end
Mechanism, the throttle mechanism are made of choke block, throttling spring and support plate, and choke block is diametrically less than I internal diameter of cylinder
Circular slab, choke block are connected through bolt with support plate, and throttling spring is cased on the bolt between choke block and support plate, and throttle machine
Structure is connected in cylinder through support plate, and the corresponding barrel wall of throttle mechanism is equipped with discharge orifice, and isolation board is arranged far from leather cup machine
Control chamber is formed in the cylinder of structure and with the closed end of cylinder, is equipped with motor, battery and motor in the control chamber of isolation board side
Controller, the cylinder of the isolation board other side is interior to be equipped with the driving mechanism, and driving mechanism includes pedestal I, pedestal II, worm gear, snail
Bar, bracket, synchronous belt and active wheels are at pedestal I is connected with the inner wall of cylinder, and one end of worm screw is supported on pedestal through bearing
On I, the other end is connected with the motor output shaft for passing through isolation board, and worm screw and the worm gear of three circumferentially spaced apart 120 ° of distributions match
It closes, each worm gear is supported through worm gear shaft by pedestal II, and pedestal II is connected with pedestal I, and bracket one end is through pin shaft and support II
It is connected, the bracket other end stretches out cylinder through the bracket holes on cylinder and is equipped with rotary shaft, and rotary shaft is equipped with driving wheel, bracket
It can be rotated with relative seat II, worm gear shaft is connected with the synchronized belt wheel of rotary shaft, synchronous belt, the cylinder body outer wall of driving wheel side
It is equipped with coordination organization, the coordination organization is by coordination bar, coordination bracket, coordination screw rod, coordination spring, I and of feed screw nut
Feed screw nut II forms, and coordinating the coordinated bracket of screw both end is in the cylinder that driving wheel side is supported on the tubular axis same direction
On external wall, coordinate bar one end and be connected through sliding sleeve with screw rod is coordinated, coordinating bar can move through sliding sleeve relative to screw rod is coordinated, separately
One end is hinged with the bracket for stretching out cylinder, and the coordination screw both end coordinated in bracket is respectively equipped with feed screw nut I and screw rod spiral shell
Mother II is cased with coordination spring on the coordination screw rod between feed screw nut I and feed screw nut II, and the supporting mechanism is on cylinder
Equipped with support wheel, support wheel is connected by pin shaft 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 equipped in support wheel base, spring makes support wheel have the precompression to inner wall of the pipe, in fluid and
Under motor composite drive, support wheel moves cylinder in pipeline along inner wall of the pipe rolling.Cylinder of the present invention at least by
Cylinder I and cylinder II form, and I both ends of cylinder are opening-like, and cylinder II is closed at one end, and the other end is opening-like, I one end of cylinder warp
Flange is connected with leather cup mechanism, and the other end is connected with the support plate in II open end of cylinder and throttle mechanism by bolt through flange
It connects, spring is cased on bolt, the axis of cylinder I can form an angle with the axis of cylinder II with respect to shape, curved to be suitable for
Pipeline.
Choke block in throttle mechanism of the present invention is matched with the inner wall of cylinder I, and the discharge orifice on barrel wall is in
Square hole, discharge orifice are arranged on the barrel of cylinder I opposite between choke block and support plate, i.e., the width of discharge orifice is less than throttling
The spacing of plate and support plate.
The periphery of isolation board of the present invention and cylinder inboard wall are tightly connected, and isolation board and cylinder closed end form and close
Control chamber, motor output shaft or worm screw pass through isolation board and be connected with worm screw or motor output shaft, isolation board and motor output
It is equipped with sealing device between axis or worm screw, prevents the liquid in pipeline from entering control chamber, to guarantee the battery in control chamber, controller
Working condition, the sealing device can be sealing ring, be also possible to seal bearing.
The front end and rear end of cylinder, barrel front end portion and rear end part point is arranged in supporting mechanism of the present invention
Supporting mechanism there are three not setting, three 120 degree of supporting mechanism intervals, the connection of support wheel carrier and support wheel base in supporting mechanism
It is connected in strut, bushing type, support wheel base is in cannula-like, and the perpendicular shape of casing is connected with cylinder, and spring, branch are equipped in casing
Bar one end is inserted in casing, and the other end is equipped with U-bracket, and support wheel is connected through pin shaft with U-bracket, and spring has support wheel
The precompression of oriented inner wall of the pipe, under fluid and motor composite drive, support wheel makes cylinder in pipeline along inner wall of the pipe rolling
Interior movement.
Having the beneficial effect that first is that according to tube fluid to the hydraulic thrust power size of robot for the invention patent, passes through
Adjusting coordination structure can make driving wheel and inner wall of the pipe compress or separate, realize using single fluid driving or fluid and
The composite drive mode that motor combines makes robot have the advantages that stroke is remote, driving force is big, to carry corresponding Working mould
Block provides possibility；Second is that compressing driving wheel and tube wall by pre-tightening coordination spring, so that machine under composite drive state
Device people has obstacle detouring and the ability by bend pipe.
Detailed description of the invention
Attached drawing is a kind of structural schematic diagram and a kind of structural schematic diagram of embodiment of the invention.
Fig. 1 is general structure schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of leather cup mechanism in the present invention.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the structural schematic diagram of throttle mechanism in the present invention.
Fig. 5 is the structural schematic diagram of driving mechanism in the present invention.
Fig. 6 is the scheme of installation that body is driven in the present invention.
Fig. 7 is the left view of Fig. 6.
Fig. 8 is the structural schematic diagram of coordination organization in the present invention.
Marked in the 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), fastening nut (10), sealing ring (11), sealing plate (12), electricity
Machine controller (13), motor (14), battery (15), isolation board (16), clamping plate I (101), leather cup (102), clamping plate II (103), pin
Column (104), split pin (105), preloading spring (106), through-hole (107), worm gear (301), worm screw (302), synchronous belt (303),
Bracket (304), pedestal I (306), pedestal II (307), coordinates bar (401), coordinates spring (402), coordinates silk driving wheel (305)
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), support plate (803).
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawing and by embodiment.
A kind of pipe robot based on fluid and motor composite drive, by cylinder, leather cup mechanism, throttle mechanism, isolation
Plate, driving mechanism, motor, battery, controller, coordination organization and supporting mechanism composition, cylinder is closed at one end, and the other end is in opening
Shape, the cylinder are at least made of two sections, and section is connected with internode using flange, with convenient for assembly and adaptation work pipeline
Bending, ordinary circumstance cylinder are made of cylinder I and cylinder II, and I both ends of cylinder are opening-like and try orchid, II 1 end seal of cylinder
It closes, the other end is opening-like and is equipped with flange, and the leather cup mechanism is by the leather cup of annular, the clamping plate of the clamping plate I of annular and annular
II composition, the outer diameter of leather cup is greater than the outer diameter of clamping plate I and clamping plate II, to match with the inner wall of pipeline, prevents the liquid in pipeline
Body makes the liquid in pipeline enter cylinder by leather cup inner ring, the internal diameter of leather cup is less than by flowing between inner wall of the pipe and leather cup outer diameter
The outer diameter of clamping plate I and clamping plate II, leather cup are clamped between clamping plate I and clamping plate II, and clamping plate I is connected with clamping plate II by pin, pin
On be cased with preloading spring, pin both ends are equipped with lockhole, be inserted with split pin in lockhole, to prevent shotpin column play, the cylinder
Open end in leather cup mechanism clamping plate I or clamping plate II be connected, cylinder I is generally connected with leather cup mechanism using flange, cylinder
It is successively arranged throttle mechanism and motor-driven mechanism from open end in vivo, throttle mechanism, throttle mechanism are equipped with generally in cylinder I
It is matched with the inner wall of cylinder I, driving mechanism is equipped in cylinder II, the throttle mechanism is by choke block, throttling spring and branch
Fagging composition, choke block are diametrically less than the circular slab of I internal diameter of cylinder, and choke block is connected through bolt with support plate, choke block
Throttling spring is cased on bolt between support plate, throttle mechanism is connected in cylinder through support plate, the corresponding cylinder of throttle mechanism
Body wall is equipped with discharge orifice, and discharge orifice is square hole, and the barrel of cylinder I opposite between choke block and support plate is arranged in discharge orifice
On, i.e., the width of discharge orifice be less than choke block and support plate spacing, isolation board be arranged far from leather cup mechanism cylinder in and with
The closed end of cylinder forms control chamber, and the periphery of ordinary circumstance isolation board and cylinder inboard wall are tightly connected, and isolation board and cylinder seal
Closed end forms closed control chamber, is equipped with motor, battery and electric machine controller in the control chamber of isolation board side, isolation board is another
It is equipped with the driving mechanism in the cylinder of side, driving mechanism includes pedestal I, pedestal II, worm gear, worm screw, bracket, synchronous belt, same
Walk belt wheel and active wheels at, pedestal I is generally connected through flange with cylinder, and one end of worm screw is supported on pedestal I through bearing,
The other end is connected with the motor output shaft for passing through isolation board or is connected with the worm shaft for passing through isolation board, worm screw and three weeks
To the worm wheel for being separated by 120 ° of distributions, each worm gear is supported through worm gear shaft by pedestal II, and pedestal II is that angle is in 120 degree
Support plate, worm gear shaft both ends are connected through bearing or axle sleeve with support plate respectively, and pedestal II is connected through bolt with pedestal I,
Bracket front end is connected through pin shaft with support II, and bracket is H-shaped, and bracket front end is set there are two supporting leg, and it is in U that each supporting leg, which is equipped with,
The sub-stent (as shown in Figure 5) of shape, sub-stent are connected through pin shaft with L-shaped support plate, and bracket can be rotated with relative seat II,
The bracket other end stretches out cylinder through the bracket holes on cylinder and is equipped with rotary shaft, and the axis of rotary shaft is parallel with worm gear axis,
It is respectively equipped with synchronous pulley on worm gear shaft and rotary shaft, driving wheel, worm gear shaft and the synchronized band of rotary shaft are additionally provided in rotary shaft
Wheel, synchronous belt are connected, and motor drives worm gear, worm gear shaft to rotate by worm screw, and the synchronized belt wheel of worm gear shaft, synchronous belt drive rotation
Shaft rotation, rotary shaft drive driving wheel rotation, and driving wheel rotation generates frictional force with inner wall of the pipe, to drive cylinder in pipeline
Interior movement, the motor output shaft or worm screw pass through isolation board and are connected with worm screw or motor output shaft, isolation board and motor
It is equipped with sealing device between output shaft or worm screw, prevents the liquid in pipeline from entering control chamber, to guarantee the battery in control chamber, control
The working condition of device processed, the sealing device can be sealing ring, be also possible to seal bearing, the cylinder body outer wall of driving wheel side
It is equipped with coordination organization, the coordination organization is by coordination bar, coordination bracket, coordination screw rod, coordination spring, I and of feed screw nut
Feed screw nut II forms, and coordinates bracket and is made of preceding coordination bracket and rear bracket of coordinating, coordinating the coordinated bracket of screw both end is in
It is supported on the tubular axis same direction on the cylinder body outer wall of driving wheel side, coordinates bar one end and be connected through sliding sleeve with screw rod,
Coordinating bar can move relative to screw rod is coordinated, and the other end is hinged with the bracket for stretching out cylinder, and preceding coordination bracket coordinates branch with rear
Coordination screw both end in frame is 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 on screw rod and coordinates spring and sliding sleeve, the supporting mechanism is to be equipped with support wheel on cylinder, and support wheel is by pin shaft 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 spring, spring makes support wheel have the precompression to inner wall of the pipe, and under fluid and motor composite drive, support wheel is along pipeline
Inner wall rolling moves cylinder in pipeline, and the front end and rear end of cylinder, barrel front end is arranged in the supporting mechanism
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 strut, bushing type, and support wheel base is in cannula-like, and the perpendicular shape of casing is connected with cylinder, is covered
Spring is equipped in pipe, strut one end is inserted in casing, and the other end is equipped with U-bracket, and support wheel is connected through pin shaft with U-bracket
It connects.
The present invention can be made according to tube fluid to the hydraulic thrust power size of robot by adjusting coordination structure
Driving wheel is compressed or is separated with inner wall of the pipe, realizes the composite drive combined using single fluid driving or fluid with motor
Mode makes robot have the advantages that stroke is remote, driving force is big, provides possibility to carry corresponding operational module；May be used also
Coordinate spring by pre-tightening driving wheel and tube wall compressed so that under composite drive state robot have obstacle detouring with pass through it is curved
The ability of pipe.
Embodiment:
As shown in Figure 1, the present invention is mainly by leather cup mechanism (1), cylinder I (6), throttle mechanism (8), support wheel carrier (5), spiral shell
The components such as bolt (2), motor-driven mechanism (3), coordination organization (4) composition；Bolt (2) connector drum I (6) and cylinder II (9)
Ring flange；There is seal chamber inside cylinder II (9), 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) mainly by
Leather cup (102), clamping plate I (101), clamping plate II (103), pin (104), split pin (105) and preloading spring (106) composition, folder
It is connected between plate I (101) and clamping plate II (103) by pin (104), carries out position restriction, pin by split pin (105) on the outside of two plates
It is cased with above column preloading spring (106), leather cup (102) is placed between two clamping plates；Lead in cylinder I (6) inside, both ends are flange
Dish structure, far from leather cup mechanism (1) cylinder on open there are 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 support plate (803) composition, support plate (801) connects with the ring flange of cylinder I (6) end, choke block (801) and
It is connected between support plate (803) by throttling spring (802).
As shown in figure 5, motor-driven mechanism (3) is mainly by worm gear (301), worm screw (302), synchronous belt (303), bracket
(304), driving wheel (305), pedestal I (306) and pedestal II (307) composition, one end of worm screw (301) is supported on pedestal I (306)
On, and matched in the worm gear (301) of three circumferentially spaced apart 120 ° of distributions, each worm gear (301) is by adjacent pedestal II
(307) it supporting, is connected by screw between pedestal I (306) and pedestal II (307), bracket (304) connects with support II (307),
And it can be rotated with relative seat II (307), the both ends of synchronous belt (303) are respectively and where worm gear (301) and driving wheel (305)
Synchronous pulley on axis 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) and coordination screw rod (403) composition, one end of the coordination structure (4) connect with two brackets (304),
Can be rotated relative to bracket (304), the other end respectively with feed screw nut II (405) and coordinate spring (402) and connect, can be along
Coordinate screw rod (403) sliding, coordinates the outer surface that screw rod (403) are fixed on cylinder II (9), there is screw rod spiral shell engaged therewith thereon
Female I (404) and 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) and
The upper end of support spring (504) composition, support spring (504) is contacted with support wheel carrier (502) bottom, is supported wheel carrier (502)
Bottom can be mobile along support wheel base (503) inner surface.
The working principle of the invention: robot is put into pipeline by specific pipeline branch mouth, fluid is to clamping plate I
(101) there is hydraulic coupling, push pipe robot to advance, while clamping plate I (101) is close to clamping plate II (103), and to pre-
Tight spring (106) and leather cup (102) have a strong effect, so that preloading spring (106) and leather cup (102) compressive deformation, leather cup
(102) radial dilatation, deformed leather cup (102) can be bonded inner wall of the pipe, increase hydraulic coupling to pipe robot
Active area.Fluid enters cylinder I (6) from the through-hole (107) on leather cup mechanism (1), applies hydraulic coupling to choke block (801), makes
Choke block (801) compression throttling spring (802) is simultaneously close to support plate (803), while choke block (801) and discharge orifice (7) shape
It is open at one, fluid is allowed to continue to flow out robot forward along opening, thus throttle mechanism (1), which is realized, drives robotic fluid
Speed control when dynamic, makes the fluid driving speed of robot tend to be steady.
When hydraulic thrust power of the fluid to robot is smaller, pipe robot is mutually tied using fluid driving with motor driven
The composite drive mode of conjunction is powered motor (14) by battery (15), electric machine controller (13) controls motor (14)
Revolving speed, motor (14) first deliver torque to worm screw (302), and then worm screw (302) is intermeshed and leads to three worm gears (301)
It crosses three synchronous belts (303) and movement is transmitted to three driving wheels (305) respectively, by between driving wheel (305) and inside pipe wall
Friction push pipe robot advance.
Coordination organization (4) can drive to avoid fluid and interfere with each other between motor driven.As shown in figure 5, working as fluid liquid
When pressure is larger, power only is provided for pipe robot enough with fluid driving, feed screw nut II (405) is screwed at this time, makes silk
Stem nut II (405) compression coordinates spring (402) and pushes to coordinate bar (401) along coordinating screw rod (403) to feed screw nut I
(404) direction is mobile, bracket (304) rotates clockwise an angle when run robot in pipe driving wheel (305) with manage
Road inner wall does not contact, and realizes that motor driven will not interfere fluid to drive；When hydraulic is smaller, needing motor driven is machine
Device people provides certain power, and feed screw nut II (405) is screwed to the left end for coordinating screw rod (403) first, is then passed through
Screw feed screw nut I (404) to the left, make coordinate spring (402) have must pretightning force, pretightning force by coordinate bar (401)
And bracket (304) contacts driving wheel (305) with inside pipe wall, this firmly beforehand means belong to a kind of flexible preload, meet for robot
Soft readjustment is realized when to obstacle or caliber change.
The basic principles, main features and advantages of the 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, and the description in above embodiments and description only illustrates original of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, 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 (4)
1. a kind of pipe robot based on fluid and motor composite drive, it is characterised in that by cylinder, leather cup mechanism, throttling machine
Structure, isolation board, driving mechanism motor, battery, controller, coordination organization and supporting mechanism composition, the cylinder is by I He of cylinder
Cylinder II form, I both ends of cylinder are opening-like, and cylinder II is closed at one end, and the other end is opening-like, I one end of cylinder through flange with
Leather cup mechanism is connected, and the other end is connected with the support plate in II open end of cylinder and throttle mechanism by bolt through flange, spiral shell
Spring is cased on bolt, the leather cup mechanism is made of the clamping plate II of the leather cup of annular, the clamping plate I of annular and annular, outside leather cup
Diameter is greater than the outer diameter of clamping plate I and clamping plate II, and the internal diameter of leather cup is less than the outer diameter of clamping plate I and clamping plate II, and leather cup is clamped in I He of clamping plate
Between clamping plate II, clamping plate I is connected with clamping plate II by pin, and preloading spring, the open end of the cylinder and leather cup are cased on pin
Clamping plate I or clamping plate II in mechanism are connected, and are successively arranged throttle mechanism and driving mechanism, the section from open end in cylinder
Stream mechanism is made of choke block, throttling spring and support plate, and choke block is diametrically less than the circular slab of I internal diameter of cylinder, choke block
It is connected through bolt with support plate, throttling spring is cased on the bolt between choke block and support plate, throttle mechanism connects through support plate
It connecing in cylinder I, the choke block in throttle mechanism is matched with the inner wall of cylinder I, and the discharge orifice on I wall of cylinder is square hole,
Discharge orifice is arranged on the barrel of cylinder I opposite between choke block and support plate, i.e., the width of discharge orifice is less than choke block and branch
The spacing of fagging, isolation board are arranged in the cylinder II far from leather cup mechanism and form control chamber, isolation with the closed end of cylinder II
It is equipped with motor, battery and electric machine controller in the control chamber of plate side, is equipped with the driving in the cylinder II of the isolation board other side
Mechanism, driving mechanism include pedestal I, pedestal II, worm gear, worm screw, bracket, synchronous belt, synchronous pulley and active wheels into pedestal
I is connected with the inner wall of cylinder II, and one end of worm screw is supported on pedestal I through bearing, the other end and the motor for passing through isolation board
Output shaft is connected, and the worm wheel of worm screw and three circumferentially spaced apart 120 ° of distributions, each worm gear is through worm gear shaft by pedestal
II support, pedestal II are connected with pedestal I, and bracket one end is connected through pin shaft with pedestal II, and the bracket other end is through on cylinder II
Bracket holes stretch out cylinder II and be equipped with rotary shaft, rotary shaft is equipped with driving wheel, and bracket can rotate relative to pedestal II, worm gear
Axis is connected with the synchronized belt wheel of rotary shaft, synchronous belt, and II outer wall of cylinder of driving wheel side is equipped with coordination organization, described
Coordination organization is made of coordination bar, coordination bracket, coordination screw rod, coordination spring, feed screw nut I and feed screw nut II, coordinates silk
The coordinated bracket in bar both ends coordinates bar one in being supported on II outer wall of cylinder of driving wheel side with the II axis same direction of cylinder
End is connected through sliding sleeve with screw rod is coordinated, and coordinating bar can move through sliding sleeve relative to screw rod is coordinated, and coordinates the bar other end and stretches out
The bracket of cylinder II is hinged, and the coordination screw both end coordinated in bracket is respectively equipped with feed screw nut I and feed screw nut II, screw rod
Coordination spring is cased on coordination screw rod between nut I and feed screw nut II, the supporting mechanism is that support is equipped on cylinder
Wheel, support wheel are connected by pin shaft with support wheel carrier, and support wheel carrier is connected with support wheel base, and support wheel base is fixed on cylinder
On outer wall, spring is equipped in support wheel base, spring makes support wheel have the precompression to inner wall of the pipe, compound in fluid and motor
Under driving, support wheel moves cylinder in pipeline along inner wall of the pipe rolling.
2. a kind of pipe robot based on fluid and motor composite drive according to claim 1, it is characterised in that every
Periphery and II inner wall of cylinder from plate are tightly connected, and isolation board and II closed end of cylinder form closed control chamber, motor output
Axis or worm screw pass through isolation board and are connected with worm screw or motor output shaft, and sealing is equipped between isolation board and motor output shaft or worm screw
Device.
3. a kind of pipe robot based on fluid and motor composite drive according to claim 1, it is characterised in that branch
Support mechanism is arranged in the front end and rear end of cylinder, and barrel front end portion and rear end part are respectively equipped with three supporting mechanisms, and three
120 degree of a supporting mechanism interval.
4. a kind of pipe robot based on fluid and motor composite drive 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 strut, bushing type, and support wheel base is in cannula-like, and casing is in hang down
Straight shape is connected with cylinder, and spring is equipped in casing, and strut one end is inserted in casing, and the other end is equipped with U-bracket, support wheel warp
Pin shaft is connected with U-bracket.
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| Application Number | Priority Date | Filing Date | Title |
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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 CN107314191A (en) | 2017-11-03 |
| CN107314191B true CN107314191B (en) | 2019-03-12 |
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