CN108317339A - A kind of pipeline rotation detection robot diameter changing mechanism - Google Patents
A kind of pipeline rotation detection robot diameter changing mechanism Download PDFInfo
- Publication number
- CN108317339A CN108317339A CN201810233066.3A CN201810233066A CN108317339A CN 108317339 A CN108317339 A CN 108317339A CN 201810233066 A CN201810233066 A CN 201810233066A CN 108317339 A CN108317339 A CN 108317339A
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- China
- Prior art keywords
- gear
- wheel
- diameter changing
- rotation detection
- sliding block
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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
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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 present invention relates to a kind of pipelines to rotate detection robot diameter changing mechanism, the support diameter changing device for being arranged symmetrically in rotation detection device both sides by two groups forms, and includes intermediate gear, Transmission gear, gear wheel, connecting rod, sliding block, wheel mount, wheel, cushioning supportive bar and other connectors：Intermediate gear, Transmission gear and gear wheel are used for passing power；Connecting rod is attached with gear wheel and sliding block, to which the rotation of gear wheel is converted to the diametrical movement of sliding block；Slips end is equipped with wheel mount, and wheel is housed thereon.Pipeline provided by the invention rotation detection robot diameter changing mechanism, which solves the prior art and can not provide detection device, stablizes support, the rotary operation space of device for detecting occupation, the problems such as structure is not compact enough, the pipeline environment of different-diameter is not only adapted to, and so that pipe robot is carried out rotation and detects and there is good excessively curved performance；Also the pipeline rotary operation equipment of reducing can be needed to be used cooperatively with other.
Description
Technical field
The present invention relates to pipeline robot technique fields, are used cooperatively more particularly to a kind of and rotary detection device
Detecting robot of pipe diameter changing mechanism.
Background technology
Currently, the non-destructive testing device provisioned in detecting robot of pipe is mostly fixed, it is therefore desirable to usage quantity compared with
More probes is to cover pipeline comprehensively.Such as Shanghai Communications University Zhang Yun it is big in 2007 doctoral thesis " gas piping detect
In robot system and its movement control technology research ", the detection device proposed for the pipeline of 400 ~ 650mm of Φ uses three
12 groups of probes, structure are sufficiently complex.Probe quantity, simplified integrally-built purpose are reduced to reach, rotary inspection should be taken
Survey scheme.
In order to improve the operation scope of application, pipe robot is generally configured with diameter changing mechanism to adapt to different calibers.According to
Literature search, pipe robot diameter changing mechanism mostly use parallel four-bar structure, such as the big coal gas proposed in above-mentioned paper of Zhang Yun
Detecting robot of pipe, application No. is the pipeline cleaning robot of 200610097974.1 patent disclosure, Zhang Feng to exist《Mining machine
Tool》The coal mine pipeline detection proposed in " reducing coal mine pipeline detects the design of robot " text that 8th phase in 2011 delivers
Robot has been all made of this reducing mode.But for rotation detection device, will be existed using this diameter changing mechanism very big
The problem of.In detection process, to ensure measurement accuracy, detection device, which should obtain, stablizes support to keep attitude stabilization.Such as
If fruit is arranged in parallel four-bar structure centre position, then horizontal bars will seriously interfere the rotary motion of detection device.
But if being arranged on the outside of parallel four-bar structure, then other mechanism is needed to solve the problems, such as support.In addition this
The axial dimension of structure is longer, and robot can be caused to have prodigious difficulty when passing through bend pipe.
Invention content
A kind of diameter changing mechanism is provided it is an object of the invention to the deficiency for background technology, pipe robot is made to have
The adaptability of different tube diameters simultaneously realizes rotation detection, compact-sized to meet the requirement of robot bend pipe passability.
The present invention uses following technical scheme：
A kind of pipeline rotation detection robot diameter changing mechanism, including be arranged symmetrically in the left sides of 14 both sides of rotation detection device and set support
Support diameter changing device is set on diameter changing device and the right side, and the left and right support diameter changing device of setting is including gear fixing body 1, intermediate gear
2, Transmission gear 3, gear wheel 4, outer diameter regulating member and it is fixedly mounted with disk 10；Three Transmission gears 3 simultaneously with intermediate gear 2
It is engaged with gear wheel 4；The outer diameter regulating member is three groups, is distributed with 120 ° of the even angle in space, every group of outer diameter tune
It includes connecting rod 5, sliding block 9, wheel mount 7, wheel 6 and buffering supporting rod 8 to save component.
Further technical solution, the intermediate gear 2, Transmission gear 3, gear wheel 4 are arranged in the gear installation
The inside of body 1, intermediate gear 2 are mounted on jackshaft 19, and Transmission gear 3 is mounted on the column of 1 inside of gear fixing body, tooth
The inner face of wheel fixing body 1 is connected with the disk 10 that is fixedly mounted with.
The both ends of further technical solution, the connecting rod 5 are hinged with the gear wheel 4 and the sliding block 9 respectively, institute
It states sliding block 9 to be fixedly mounted in the radial groove on disk 10 mounted on described, end is filled with the wheel mount 7, in the sliding block 9
The cushioning supportive bar 8 is connected to by articulated manner between the wheel mount 7, the wheel 6 is mounted in the wheel
The end of installation part 7.
Further technical solution, the left and right support diameter changing device of setting are connected by the jackshaft 19 to ensure
Synchronization action is kept both during reducing.
Above-mentioned technical proposal is used, compared with the prior art, the invention has the advantages that：It can be pipeline rotation detection
Device, which provides, to be stablized support and does not interfere it to be freely rotated, it is ensured that pipe robot is carried out rotation detection scheme；It contracts significantly
The whole axial dimension of short tube pipeline robot, makes robot that can be passed through in various complex grids；Robot has
Good caliber adaptability, two groups of support diameter changing device synchronization actions when reducing adjusts adjust reliability height, easy to operate.
Description of the drawings
Fig. 1 is the left explosive view for setting support diameter changing device in the present invention.
Fig. 2 is the assembling schematic diagram of diameter changing mechanism provided by the invention and detection device.
Fig. 3 is the front view of Fig. 2.
Fig. 4 is the right view of Fig. 2.
Wherein, 1, gear fixing body；2, intermediate gear；3, Transmission gear；4, gear wheel；5, connecting rod；6, wheel；7, it takes turns
Sub- installation part；8, cushioning supportive bar；9, sliding block；10, it is fixedly mounted with disk；11, thrust bearing；12, bearing；13, thrust bearing；14, it revolves
Turn detection device；15, mounting blocks；16, reducing lock screw；17, adapter；18, installing matrix；19, jackshaft.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further details, but the present invention is not limited to this
A little embodiments.
As shown in Figures 1 to 4, a kind of pipeline rotation detection robot diameter changing mechanism, including it is arranged symmetrically in rotation detection
Support diameter changing device is set on a left side for 14 both sides of device and support diameter changing device is set on the right side, and left and right support diameter changing device of setting is mounted on centre
The both ends of axis 19 are attached by jackshaft 19, so that it is guaranteed that the two remains synchronization action during reducing.Left,
The right side set support diameter changing device include gear fixing body 1, intermediate gear 2, Transmission gear 3, gear wheel 4, outer diameter regulating member and
It is fixedly mounted with disk 10.Three Transmission gears 3 are engaged with intermediate gear 2 and gear wheel 4 simultaneously, to by power between into
Row transmits.
As shown in Fig. 1, Fig. 3, Fig. 4, intermediate gear 2, Transmission gear 3, gear wheel 4 are arranged in the interior of gear fixing body 1
Portion, intermediate gear 2 are mounted on jackshaft 19, and Transmission gear 3 is mounted on the column of 1 inside of gear fixing body, gear installation
The inner face of body 1 is connected with disk 10 is fixedly mounted with.
As shown in Figure 1, Figure 3,4 exterior portion of gear wheel is ring gear, and the one of thrust bearing 13 is set on external cylindrical surface
Another lasso of a lasso, the bearing is arranged in the annular convex platform on 1 medial surface of gear fixing body, to make gear wheel 4
Axial position fixed.Annulus is set in the outer circle of 4 inboard portion of gear wheel, be uniformly distributed on annulus there are three connection
Block, it is by link block that gear wheel 4 and connecting rod 5 is hinged.
As Figure 1 and Figure 4, outer diameter regulating member is three groups, is distributed with 120 ° of the even angle in space, every group of outer diameter tune
It includes connecting rod 5, sliding block 9, wheel mount 7, wheel 6 and buffering supporting rod 8 to save component；Connecting rod 5 with certain radian with
Prevent the outer profile in rotation process with gear wheel 4 from interfering, its one end is mutually cut with scissors with the link block on 4 excircle of gear wheel
It connects, the lateral surface of the other end and sliding block 9 is hinged；There is elongated boss to be used for and be fixedly mounted on disk 10 on the medial surface of sliding block 9
Radial groove match, end is filled with wheel mount 7, passes through hinge between the lateral surface and wheel mount 7 of sliding block 9
The mode of connecing is also connected with cushioning supportive bar 8；Cushioning supportive bar 8 has elastic element, plays the role of certain buffering absorbing, and make
Diameter changing mechanism has certain obstacle climbing ability；There are one U-shaped components for the end welding of wheel mount 7, in the centre of the component
It is fixed equipped with wheel 6, and by axis pin.
As shown in Figure 1 and Figure 2, the main body for being fixedly mounted with disk 10 is disc-shaped structure, has on disk body excircle and is separated by 120 °
Three radial protrusions.It is fixedly mounted with the radial groove that radially ecto-entad is followed successively by circumferentially uniformly distributed three through entire protrusion of disk 10
To constrain the mobile route and three sections of circumferentially arcuate notches of sliding block 9.The centre bore for being fixedly mounted with disk 10 is used for installing jackshaft 19,
Be used for being set with a lasso of thrust bearing 11 between the centre bore and arc-shaped slot for annular convex platform, the bearing it is another
A lasso is assemblied in the central stepped of gear wheel 4.
As shown in Figure 1, Figure 2, Figure 4 shows, the main body of gear fixing body 1 is shell type structure, and excircle has uniformly done at three and cut
It removes, to prevent from interfering with connecting rod 5 in relative movement；There are three spaces each other to be separated by 120 ° on its inner side end
Column is machined with positioning shaft shoulder on each column, for being positioned to the bearing 12 in Transmission gear 3.Gear
The inside curved end of fixing body 1 is attached with disk 10 is fixedly mounted with by screw；Stretch out in the shaft part of 1 outer end face of gear fixing body
Other component for diameter changing mechanism to be rotated to detection robot with pipeline is attached.
As shown in figure 3, when diameter changing mechanism and detection device are assembled, rotation detection device 14 is mounted in by bearing holder (housing, cover)
In installing matrix 18, the axial position of installing matrix 18 is determined by mounting blocks 15.The outer end face of mounting blocks 15 passes through screw
It is connected with adapter 17, adapter 17 is connected further through bolt with disk 10 is fixedly mounted with, and then sets support diameter changing device and rotation by left and right
Turn detection device 14 to link together.Adapter 17 is the ladder-like disk-shaped structure with centre bore, to prevent from sending out between parts
Raw interference, also has three sections of circumferentially arcuate notches for corresponding with the notch being fixedly mounted on disk 10, so as at the end of reducing thereon
Reducing lock screw 16 is installed.
When carrying out reducing operation in the case where predicting pipe diameter, the position of one of wheel 6 is manually adjusted first,
7 opening angle of wheel mount being attached thereto changes.Due between wheel mount 7 and cushioning supportive bar 8, sliding block 9
Triangular structure is formd, then cushioning supportive bar 8 is compressed or elongated, thus with movable slider 9 along the diameter being fixedly mounted on disk 10
It is slided to sliding slot.Because sliding block 9 and connecting rod 5 are hinged, therefore connecting rod 5 is driven to swing, then gear wheel 4 is driven to rotate.Due to
Gear wheel 4 is connected with three groups of outer diameter regulating members, therefore the position of the another two wheel 6 of the side also synchronizes and changes.With
This simultaneously, power is transferred to intermediate gear 2 by gear wheel 4 by Transmission gear 3, and intermediate gear 2 drives jackshaft 19 to rotate.
Then, power is transferred to the intermediate gear 2 in other side support diameter changing device by jackshaft 19, to drive Transmission gear 3, big
Gear 4 rotates, and connecting rod 5 follows swing, and three sliding blocks 9 is driven to move up and down simultaneously so that the radial direction of three wheels 6 of the side
Synchronous variation occurs for position, until six wheels 6 of the left and right sides are formed by the diameter of theoretical circular diameter and detected pipeline
It is identical.Finally, gear wheel 4 is fastened on after reducing lock screw 16 being passed through adapter 17 and the arc-shaped slot being fixedly mounted on disk 10
On inner face, to which the position of gear wheel 4 be locked.It can be seen that left and right set support diameter changing device action holding together
Step, as long as the position of any one wheel changes, then other wheels also synchronous variation.
The present invention can also need reducing with other, be used for joint coating on pipeline and pipe other than being used for rotation detection device
The rotating device of the operations such as road spraying is used cooperatively.
In the description of the present invention, it is to be understood that, term "center", "left", "right", "inner", "outside", "upper",
The orientation or positional relationship of the instructions such as "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this hair
It is bright and progress to simplify description, it does not indicate or imply the indicated device or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
Claims (4)
1. a kind of pipeline rotation detection robot diameter changing mechanism, including it is arranged symmetrically in rotation detection device（14）It sets on a left side for both sides
Support diameter changing device is set on support diameter changing device and the right side, which is characterized in that the left and right support diameter changing device of setting is pacified including gear
Fill body（1）, intermediate gear（2）, Transmission gear（3）, gear wheel（4）, outer diameter regulating member and be fixedly mounted with disk（10）；Described three
Transmission gear（3）While and intermediate gear（2）And gear wheel（4）It is engaged；The outer diameter regulating member is three groups, with space
120 ° of even angle distribution, every group of outer diameter regulating member include connecting rod（5）, sliding block（9）, wheel mount（7）, wheel
（6）With buffering supporting rod（8）.
2. a kind of pipeline rotation detection robot diameter changing mechanism according to claim 1, which is characterized in that the center tooth
Wheel（2）, Transmission gear（3）, gear wheel（4）It is arranged in the gear fixing body（1）Inside, intermediate gear（2）In being mounted on
Countershaft（19）On, Transmission gear（3）Mounted on gear fixing body（1）On the column of inside, gear fixing body（1）Inner face with
It is described to be fixedly mounted with disk（10）It is connected.
3. a kind of pipeline rotation detection robot diameter changing mechanism according to claim 1, which is characterized in that the connecting rod
（5）Both ends respectively with the gear wheel（4）With the sliding block（9）It is hinged, the sliding block（9）It is fixedly mounted with disk mounted on described
（10）On radial groove in, end is filled with the wheel mount（7）, in the sliding block（9）With the wheel mount
（7）Between the cushioning supportive bar is connected to by articulated manner（8）, the wheel（6）Mounted in the wheel mount（7）'s
End.
4. a kind of pipeline rotation detection robot diameter changing mechanism according to claim 1,2, which is characterized in that the left side,
It sets support diameter changing device and passes through the jackshaft in the right side（19）It is connected to ensure that the two keeps synchronization action during reducing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810233066.3A CN108317339A (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810233066.3A CN108317339A (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108317339A true CN108317339A (en) | 2018-07-24 |
Family
ID=62898676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810233066.3A Withdrawn CN108317339A (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108317339A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766297A (en) * | 2020-06-30 | 2020-10-13 | 三一汽车制造有限公司 | Conveying pipe detection device and conveying pipe detection system |
| CN117067234A (en) * | 2023-10-11 | 2023-11-17 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
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| EP0338643A1 (en) * | 1988-04-19 | 1989-10-25 | De Haan Mechatronics B.V. | Tube drive robot |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN103883841A (en) * | 2014-04-16 | 2014-06-25 | 兰州理工大学 | Tapered pipeline robot moving device |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| US20160223123A1 (en) * | 2015-02-02 | 2016-08-04 | Research & Business Foundation Sungkyunkwan University | Robot for inspection of pipeline using multi-output differential module |
| CN105927820A (en) * | 2016-07-07 | 2016-09-07 | 西南石油大学 | Pipeline robot capable of active steering |
| CN106996498A (en) * | 2017-05-13 | 2017-08-01 | 承德石油高等专科学校 | One kind wheel carries out tandem pipe robot |
| CN206911875U (en) * | 2017-07-12 | 2018-01-23 | 湖北工业大学 | A kind of adjustable pipeline cleaning robot of diameter |
| CN107676570A (en) * | 2017-11-02 | 2018-02-09 | 西安石油大学 | Self-adapting pipe robot under complex working condition |
| CN208138704U (en) * | 2018-03-21 | 2018-11-23 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
-
2018
- 2018-03-21 CN CN201810233066.3A patent/CN108317339A/en not_active Withdrawn
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0338643A1 (en) * | 1988-04-19 | 1989-10-25 | De Haan Mechatronics B.V. | Tube drive robot |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN103883841A (en) * | 2014-04-16 | 2014-06-25 | 兰州理工大学 | Tapered pipeline robot moving device |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| US20160223123A1 (en) * | 2015-02-02 | 2016-08-04 | Research & Business Foundation Sungkyunkwan University | Robot for inspection of pipeline using multi-output differential module |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| CN105927820A (en) * | 2016-07-07 | 2016-09-07 | 西南石油大学 | Pipeline robot capable of active steering |
| CN106996498A (en) * | 2017-05-13 | 2017-08-01 | 承德石油高等专科学校 | One kind wheel carries out tandem pipe robot |
| CN206911875U (en) * | 2017-07-12 | 2018-01-23 | 湖北工业大学 | A kind of adjustable pipeline cleaning robot of diameter |
| CN107676570A (en) * | 2017-11-02 | 2018-02-09 | 西安石油大学 | Self-adapting pipe robot under complex working condition |
| CN208138704U (en) * | 2018-03-21 | 2018-11-23 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766297A (en) * | 2020-06-30 | 2020-10-13 | 三一汽车制造有限公司 | Conveying pipe detection device and conveying pipe detection system |
| CN117067234A (en) * | 2023-10-11 | 2023-11-17 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
| CN117067234B (en) * | 2023-10-11 | 2023-12-22 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20180724 |