CN108953836A - A kind of creeping motion type pipeline driving walking mechanism - Google Patents
A kind of creeping motion type pipeline driving walking mechanism Download PDFInfo
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- CN108953836A CN108953836A CN201810753083.XA CN201810753083A CN108953836A CN 108953836 A CN108953836 A CN 108953836A CN 201810753083 A CN201810753083 A CN 201810753083A CN 108953836 A CN108953836 A CN 108953836A
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- partial
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- 230000007246 mechanism Effects 0.000 title claims abstract description 86
- 230000033001 locomotion Effects 0.000 title claims abstract description 47
- 238000009826 distribution Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000009423 ventilation Methods 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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of creeping motion type pipeline driving walking mechanism.Mainly solve the problems, such as that existing pipeline driving walking mechanism drawing force is lesser.It is characterized by: the drive part of the mechanism is partial gear rackwork, running gear is crank and rocker mechanism, and longitudinal 2 strip slots are provided on body, the cylindrical surface of body is distributed in 180 °；Connecting rod in crank and rocker mechanism is elastic link structure, equipped with walking foot on connecting rod, elastic link is passed through the sliding block on body, it is connected with partial gear, sliding block is connected with body by revolute pair, each walking foot is connected by two groups of crank and rocker mechanisms, and the reciprocating motion of rack gear is converted into rotary motion by partial gear rack gear.This kind of driving walking mechanism is capable of providing great drawing force and is determined by the pressure spring rigidity on connecting rod, and when pressure spring rigidity meets the requirement of required drawing force and hydraulic cylinder is capable of providing enough driving forces, which provides for required drawing force.
Description
Technical field
The present invention relates to a kind of creeping motion type pipelines to drive walking mechanism.
Background technique
Currently in industrial or agricultural, the energy and civil buildings, there is various functions are different, the different pipe of specification
Road.Such as: oil-gas pipeline, ventilation shaft, drainage pipeline etc..When the pipeline used for a long time at present needs cleaning, Measuring error,
Most of related using first closing, opening valve, perhaps pipeline manually carries out clearing up or determining the position to need repairing.However
The pipeline of those local environments danger is that manual work is difficult to complete.This just needs pipe robot to carry out detection dimension to pipeline
Repair or dredge cleaning.Pipe robot is the general designation of pipeline driving walking mechanism and its control system.According to job requirements state
Inside and outside to have developed pipelines robot, pipe robot is divided into seven major class by the difference based on mechanical mechanism.Mainly have: fluid
Driving type pipeline robot, wheel type pipe robot, support wheel type pipe robot, crawler belt type pipeline robot, sufficient formula pipe
Pipeline robot, spiral type pipeline robot, creeping motion type pipe robot.Currently, both at home and abroad in the process for developing pipe robot
In encounter problems, one of problem is exactly: the big drawing force problem of limit long and narrow space.Since pipe robot needs to transport
Carry apparatus for work or towing cable, it is therefore desirable to there are enough drawing forces.This just needs to develop different driving walking mechanisms and carrys out machine
Requirement of the device people to big drawing force.For the big drawing force problem of limit space, a kind of novel creeping motion type pipeline has been invented herein
Walking mechanism is driven, using hydraulic-driven.Driving mechanism uses the higher partial gear rackwork of transmission efficiency.With it is previous
Creeping motion type pipeline driving walking mechanism compare, structure is relatively easy and can be realized biggish drawing force.
Summary of the invention
The invention proposes a kind of novel pipelines to drive walking mechanism, inspiration of the walking mechanism by skiing, row
It walks mode and belongs to creeping motion type.But before its walking manner is different from the pushed aft of previous creeping motion type pipeline driving walking mechanism
The motion mode in portion, front dragging rear portion.It is by crank and rocker mechanism and partial gear rack gear that the pipeline, which drives walking mechanism,
Made of Mechanism Combination.Partial gear rackwork is made of two rack gears and 4 partial gears, and two rack gears replace past
4 partial gears of multiple movement driving rotate simultaneously.Crank and rocker mechanism is connected with walking foot, two ipsilateral crank rocker machines
Structure is connected on the same walking foot, and forms parallelogram law, and the contact surface of walking foot can be made to remain flat
It is dynamic, it can be fitted closely with tube wall, sufficient interval of walking is contacted with tube wall, realizes creeping motion type walking.The driving walking mechanism
Driving mechanism uses partial gear rackwork, and having no has using the mechanism in report as driving mechanism.Power is by liquid
Cylinder pressure provides, and can be realized bigger driving force, to solve the problems, such as that pipeline drives walking mechanism to realize that big drawing force provides
New approaches.
The technical scheme is that this kind of creeping motion type pipeline drives walking mechanism, there is body, be provided with longitudinal direction on body
2 rectangular slots are circumferentially distributed in 180 ° along body；Be equipped in body the left bearing part of rack gear and right bearing part with
And hoofing part unit；The driving walking mechanism further includes having positioned at extra-organismal auxiliary foot unit, and walking foot, and
Elastic link structure.
Wherein, the auxiliary foot unit includes auxiliary wheel, auxiliary wheel connecting shaft, auxiliary wheel support bar, auxiliary wheel support bar
Connecting shaft, auxiliary wheel the first spring connecting pin and auxiliary wheel second spring connecting pin, auxiliary wheel spring, auxiliary wheel support and auxiliary
Bracket attachment screw；The auxiliary wheel is hinged on auxiliary wheel support bar by auxiliary wheel connecting shaft；The auxiliary wheel spring point
Auxiliary wheel support bar and auxiliary wheel branch are not hinged to by auxiliary wheel the first spring connecting pin and auxiliary wheel second spring connecting pin
On frame；The auxiliary wheel support bar is hinged on auxiliary wheel support by auxiliary wheel support bar connecting shaft；The auxiliary wheel support
It is secured on body outer surface by auxiliary wheel support attachment screw；There are 2 groups before and after the auxiliary foot unit, 120 ° outside body
It is evenly distributed on body outer surface.
The elastic link structure includes press spring base, pressure spring, pressure spring cap, walk sufficient connecting pin and connecting rod；The connecting rod is worn
The hole for crossing press spring base bottom is contacted with pressure spring；The elastic link pressure spring is mounted in the space of press spring base and pressure spring cap, pressure spring
Seat is connected with pressure spring cap thread；The walking foot is hinged on pressure spring cap end by sufficient connecting pin of walking；The elastic link knot
Structure has 2 groups, every group 2, and is provided on body into 180 ° of equally distributed 2 same azimuth distributions of longitudinal rectangular slot.
The hoofing part unit include connecting rod, sliding block, connecting rod shaft, partial gear, partial gear connecting shaft,
Sliding bearing, the first rack gear, the second rack gear, gear shaft holder, rack gear left support component and rack gear right support component, hydraulic cylinder
The second fixation member of first fixation member and hydraulic cylinder, engine body end cover attachment screw and engine body end cover；Wherein, the connecting rod passes through
Through-hole on sliding block, is hinged on partial gear by connecting rod shaft；Connecting rod and sliding block form prismatic pair；It is described incomplete
Gear is mounted on partial gear connecting shaft by sliding bearing；Partial gear and partial gear connecting shaft composition rotate
It is secondary；The partial gear connecting shaft is mounted on gear shaft holder；The gear shaft holder is mounted on rack gear left support
On component and rack gear right support component；The partial gear is alternately engaged with the first rack gear and the second rack gear；First tooth
Position is provided with guide groove among item, has guide rail on the second rack gear；Second rack gear can slide in the guide groove of the first rack gear；Described
One rack gear, the second rack gear pass through rack gear left support component and rack gear right support component is connect with hydraulic cylinder；The hydraulic cylinder passes through
Hydraulic cylinder attachment screw is fixed in hydraulic cylinder fixation member.
The hoofing part unit shares 2 groups, every group 2, indulges with what is be provided on body at 180 ° equally distributed 2
To the same azimuth distribution of rectangular slot.
The invention has the following beneficial effects: creeping motion type pipelines proposed by the invention to drive walking mechanism by incomplete tooth
Wheel rack gear reversing mechanism is applied in driving mechanism, and the transmission efficiency of partial gear rackwork is higher.Partial gear tooth
The reciprocating motion of rack gear is converted into partial gear rotary motion by reversing mechanism, and partial gear is equivalent to crank rocker
In crank.The reciprocating motion of rack gear is provided by the linear reciprocating motion of hydraulic cylinder piston, and the thrust that hydraulic cylinder provides is larger,
Sufficiently large driving force can be provided, pipeline driving walking mechanism is made to can be realized sufficiently large drawing force.
It is specifically described below:
Firstly, this pipeline drives walking mechanism to have novelty on mechanism configuration, the interior of pipe robot theory of mechanisms is enriched
Hold, there is more important theory significance.
Secondly, pipeline driving walking mechanism possesses the advantages of creeping motion type pipeline driving walking mechanism, i.e. walking foot and pipe
The contact area of wall is larger, smaller to the damage of tube wall.And each walking be connected to form enough with crank and rocker mechanism it is parallel
Quadrangular mechanism makes walking foot remain translation, to come into full contact with tube wall, contact area is larger.
Again, what pipeline driving walking mechanism was innovative applies partial gear rack gear reversing mechanism as driving machine
Structure.In previous partial gear rackwork, general partial gear is active, but drives walking mechanism in the pipeline
Partial gear rackwork in using rack drives partial gear rotate.Rack gear is by Driven by Hydraulic Cylinder, by the straight of rack gear
Line moves back and forth the rotary motion for being converted into partial gear.It and in the partial gear rack gear reversing mechanism is two rack gears
Four partial gears of driven rotate simultaneously.
Then, be elastic link with the connecting rod that is connected enough of walking in pipeline driving walking mechanism, thus walk foot with
It is Elastic Contact between tube wall.It is elastic since walking foot is contacted with tube wall, to make pipeline driving walking mechanism in pipeline
When interior walking, there are certain caliber adaptability and obstacle climbing ability.
Finally, using auxiliary foot unit, due to the particularity of the walking manner of pipeline driving walking mechanism, that is, walk
Foot and tube wall are Intermittent Contacts.When walking foot is not contacted with tube wall, body is supported in tube wall by auxiliary foot.Another party
Face, auxiliary foot can make the axis of body identical as the axis direction of pipeline, pipeline made to drive walking mechanism smooth running.
In conclusion the pipeline driving walking mechanism that one kind proposed by the present invention is novel, using a kind of driving machine of type
Structure, i.e. partial gear rack gear reversing mechanism yet there are no report and the mechanism are applied in pipeline driving walking mechanism.Innovation
Property partial gear rack gear reversing mechanism is applied to pipeline driving walking mechanism in, provided for the researcher in the field
New approaches.And the reciprocating motion of rack gear is by Driven by Hydraulic Cylinder, hydraulic cylinder is capable of providing biggish driving force, to make the pipe
Driving walking mechanism in road can be realized biggish drawing force.The structure of previous creeping motion type pipeline driving walking mechanism is more complex,
But structure of the invention is simple and can be realized sufficiently large drawing force.
Detailed description of the invention:
Fig. 1 is this kind of creeping motion type pipeline driving walking mechanism structure chart.
Fig. 2 is this kind of creeping motion type pipeline driving walking mechanism three-dimensional broken away view.
Fig. 3 is the structure chart of hoofing part unit in this kind of creeping motion type pipeline driving walking mechanism.
Fig. 4 is the three-dimensional broken away view of hoofing part unit in this kind of creeping motion type pipeline driving walking mechanism.
Fig. 5 is this kind of creeping motion type pipeline driving walking mechanism partial gear rackwork broken away view.
Fig. 6, Fig. 7, Fig. 8 and Fig. 9 are the introduction figures of partial gear rack gear reversing mechanism motion process.
1- body in figure, 2- assist foot unit, 3- walking foot, 4- elastic link structure, 5- hoofing part unit, 6- auxiliary
Wheel, 7- auxiliary wheel connecting shaft, 8- auxiliary wheel support bar, 9- auxiliary wheel support bar connecting shaft, the connection of the first spring of 10- auxiliary wheel
Pin, 11- auxiliary wheel spring, 12- auxiliary wheel second spring connecting pin, 13- auxiliary wheel support, 14- auxiliary wheel support attachment screw,
15- press spring base, 16- pressure spring, 17- pressure spring cap, 18- elastic link spring, 19- connecting rod, 20- sliding block, 21- link connector pin, 22-
Partial gear, 23- partial gear connecting shaft, 24- sliding bearing, the first rack gear of 25-, the second rack gear of 26-, 27- gear shaft
Fixed frame, 28- rack gear left support component, the first fixation member of 29- hydraulic cylinder, 30- hydraulic cylinder, 31- hydraulic cylinder attachment screw,
32- hydraulic cylinder fixation member attachment screw, 33- rack support hardware attaching screws, the second fixation member of 34- hydraulic cylinder, 35- tooth
Right support component, 36- engine body end cover attachment screw, 37- engine body end cover.
Specific embodiment: the present invention will be further explained below with reference to the attached drawings.
Firstly, in conjunction with attached drawing, whole description is made to a kind of creeping motion type pipeline driving walking mechanism of the present invention: as schemed
Shown in 1, in conjunction with Fig. 3, Fig. 4, this kind of pipeline drives walking mechanism, has body 1, and longitudinal 2 rectangular slots are provided on body, are in
180 ° are evenly distributed.Hoofing part unit 5 and rack support component 28 and 35 are placed in body, hydraulic cylinder is fixed
Component 29 and 24.The main function of body 1 is to play the role of the other each sections of connection and the other components of installation.In addition, should
Pipeline driving walking mechanism mainly includes auxiliary foot unit 2, elastic link structure 4 and walking foot 3.The walking foot 3 is cut with scissors
It connects in two elastic link structures 4, constitutes parallelogram mechanism, driven by hoofing part unit 5, walking foot 3 is made to begin
It is translatable, is intermittently contacted with tube wall eventually.Body 1 is walked by walking foot 3 and the stiction creeping motion type that tube wall is formed.Divide below
Other composition and working principle to these units is illustrated.
Firstly, introducing auxiliary foot unit 2, as shown in Figure 2.The auxiliary foot unit 2 is by auxiliary wheel 6, auxiliary wheel connecting shaft
7, auxiliary wheel support bar 8, auxiliary wheel support bar connecting shaft 9, auxiliary wheel spring connecting pin 10 and 12, auxiliary wheel spring 11, auxiliary
Wheel support 13, auxiliary wheel support attachment screw 14 etc. are constituted.There are 2 groups of auxiliary foot units in front and back, and every group has 3 auxiliary foot units 2,
120 degree are evenly distributed on the outer surface of body 1；The auxiliary wheel 6 is hinged to auxiliary wheel support bar by auxiliary wheel connecting shaft 7
On 8；The auxiliary wheel spring 11 is hinged to auxiliary wheel support bar 8 and auxiliary wheel by auxiliary wheel spring connecting pin 10 and 12 respectively
On bracket 13；The auxiliary wheel support bar 8 is hinged on auxiliary wheel support 13 by auxiliary wheel support bar connecting shaft 9；It is described auxiliary
Wheel support 13 is helped to be secured on 1 outer surface of body by auxiliary wheel support attachment screw 14；The auxiliary foot unit 2 is in walking foot 3
When not contacted with tube wall, body 1 is supported in pipeline.Because the auxiliary foot unit 2 is distributed in body outer surface in 120 °
On, so that body is in symmetric State, movement is steady.The auxiliary foot unit 2 uses elastic construction, makes this kind of pipeline driving row
Mechanism is walked to contact with tube wall elasticity, when pipeline driving walking mechanism encounters raised or sunken when walking in the pipeline,
It is unlikely to be stuck.
Secondly, introducing elastic link structure 4, as shown in Figure 2.The elastic link structure 4 by press spring base 15, pressure spring 16,
Pressure spring cap 17, walk sufficient connecting pin 18, connecting rod 19 etc. are constituted；The connecting rod 19 passes through the hole of 15 bottom of press spring base.The pressure spring
18 are mounted in the space of press spring base 15 and pressure spring cap 17, and 16 one end of pressure spring is contacted with the boss of connecting rod 19, the other end and pressure spring
17 interior contact of cap, press spring base 15 and pressure spring cap 17 are threadedly coupled；The elastic link structure 4 has 2 groups, and every group 2, with body
On be provided at 180 ° of equally distributed 2 longitudinal same azimuth distributions of rectangular slot.The walking foot 3 passes through walking foot connection
Pin 18 is hinged on 17 end of pressure spring cap.Walking foot shares 2, is all to be translatable, intermittently contacts with inside pipe wall.The pressure spring
Drawing force needed for 16 rigidity drives walking mechanism as pipeline determines.Elastic link structure 4 makes walking foot 3 be when contacting with tube wall
Elasticity, it also can guarantee that pipeline driving walking mechanism is passed through when pipeline internal projection or recess, make it have certain
Obstacle climbing ability and caliber adaptability.
In addition, hoofing part unit 5 is introduced, referring to Fig. 3, Fig. 4, Fig. 5.The hoofing part unit 5 is by connecting rod 19, cunning
Block 20, connecting rod shaft 21, partial gear 22, partial gear connecting shaft 23, sliding bearing 24, the first rack gear 25, second
Rack gear 26, gear shaft holder 27, rack gear or so support member 28 and 35, the first, second fixation member of hydraulic cylinder 29 and 34, liquid
The composition such as cylinder pressure 30；It is provided with longitudinal 2 strip slots on body 1, is evenly distributed at 180 °；The sliding block 20 is tied by itself
Structure pin shaft and the sliding block connecting component on body are hinged；The sliding block 20 constitutes revolute pair with body 1.The connecting rod 19, which passes through, to be slided
The hole of block 20, one end is hinged by connecting rod shaft and partial gear 22, and the other end is contacted with projection section with pressure spring 16；
The connecting rod 19 constitutes prismatic pair with sliding block 20.The partial gear 22 is hinged on gear by partial gear connecting shaft 23
On shaft holder 27；The gear shaft holder 27 is fixed on body 1；The partial gear 22 passes through connecting rod shaft 21
It is hinged with connecting rod 19；The partial gear 22 constitutes revolute pair with gear shaft holder 27, also constitutes revolute pair with connecting rod 19；
The partial gear 22, connecting rod 19, sliding block 20, body 1 constitute crank and rocker mechanism.The intermediate position of first rack gear 25
With guide groove, guide rail is had on the second rack gear 26, the guide rail of the second rack gear 26 can slide in the guide groove of the first rack gear 25；Institute
It states the first rack gear 25 and the second rack gear 26 constitutes prismatic pair；First rack gear 25, the second rack gear 26 are mounted on rack gear branch component
On 28 and 35；First rack gear 25, the second rack gear 26 are engaged by contact with four partial gears 22；First rack gear
25, the second rack gear 26 is connected with the piston rod of hydraulic cylinder 30, is moved back and forth by Driven by Hydraulic Cylinder；First rack gear 25,
Second rack gear 26 is engaged by contact, alternating with four partial gears 22, and partial gear rack gear reversing mechanism is constituted, will
Straight reciprocating motion is converted to rotary motion.The hoofing part unit shares 2 groups, every group 2, be provided on body at
180 ° of equally distributed 2 same azimuth distributions of longitudinal rectangular slot.First rack gear 25, the second rack gear 26 replace with four not
Complete gear engagement, makes it while rotating, and so that walking foot 3 is translatable by above-mentioned hoofing part unit 5.
The partial gear 22, connecting rod 19, sliding block 20, body 1 constitute crank and rocker mechanism.
By contact, alternating is engaged with four partial gears 22, is constituted for first rack gear 25, the second rack gear 26
Partial gear rack gear reversing mechanism, is converted to rotary motion for straight reciprocating motion.
In the following, introducing the motion process of partial gear rack gear reversing mechanism first:
Referring to Fig. 6, Fig. 7, Fig. 8 and Fig. 9, the first rack gear 25, the second rack gear 26 are by Driven by Hydraulic Cylinder linear reciprocating motion.First tooth
Item 25, the second rack gear 26 are alternately engaged with four partial gears 22, drive its rotary motion, a cycle of movement can divide
For four-stage.
First stage: referring to Fig. 6, being illustrated as the initial position of rack-and-pinion, and the first rack gear 25 moves right at this time, that is, pushes away
Journey drives 2 partial gears in upside to rotate clockwise, and the partial gear of downside 2 rotates counterclockwise.
Second stage: referring to Fig. 7, while the first 25 rise of rack gear, 26 quick return of the second rack gear returns to the right side and stops
Point waits to be engaged
Phase III: referring to Fig. 8, for the first rack gear 25 after the distance for having moved a stroke, the last tooth of partial gear 22 will
It is disengaged from the first rack gear, first tooth enters the engaging-in point engaged with the second rack gear 26.
Fourth stage: referring to Fig. 9, the first rack gear 25 first stops, and the second rack gear 26 moves downward, i.e. rise, drives four
A partial gear 22 continues to rotate.Then 25 quick return of the first rack gear returns to left stop, i.e. initial position, waits endless
All gear head tooth enters engagement.
Then the course of work of this kind of creeping motion type pipeline driving walking mechanism is introduced.Referring to Fig. 1, Fig. 3, partial gear 22
It is driven and is rotated by rack gear 25 and 26, partial gear 22 drives crank and rocker mechanism movement.Two groups of ipsilateral crank and rocker mechanisms
It is connected on the same walking foot 3 by elastic link structure 4, makes sufficient translation of walking, the contact of interval tube wall makes body creeping motion type
Advance.Specific work process is divided into four-stage:
First stage: foot 3 of walking is not contacted with tube wall, and body is by the support of auxiliary wheel 6 in pipeline, and body 1 is not to forward at this time
It walks, is in halted state.
Second stage: walking foot 3 is just contacted with tube wall, and active force will be generated between tube wall.With partial gear
22 rotation, the pressure spring 16 on connecting rod 19 are compressed, and generate sufficiently large normal pressure between walking foot 3 and tube wall, 3 phases of foot of walking
It is static for tube wall.When partial gear 22 continues to rotate, it will driving body advances.
Phase III: reach maximum value with vertical state, the pressure between walking at this time sufficient 3 and tube wall at connecting rod 19, press
The decrement of spring also reaches maximum value.
Fourth stage: partial gear 22 turns over certain angle, and body has advanced certain distance.Walking foot 22 will at this time
It is disengaged with tube wall.Active force between walking foot and tube wall is gradually reduced, and is zero until disappearing.When partial gear 22 after
When continuous rotation, it will return to the first stage.Hereafter it will repeat the above process.
A kind of creeping motion type pipeline proposed by the invention drives walking mechanism, can be applied in Φ 300- Φ 400mm pipeline.
Innovative is applied to partial gear rackwork in hoofing part unit, has very big innovative significance, for the field
Researcher provide new approaches.The transmission efficiency of partial gear rackwork is higher, and energy loss is less.Furthermore rack gear
It is that sufficiently large driving force is capable of providing by Driven by Hydraulic Cylinder, so that pipeline driving walking mechanism be made to can be realized enough
Big drawing force.It is Elastic Contact that the pipeline, which drives between walking mechanism and tube wall, has certain obstacle climbing ability and caliber suitable
Should be able to power, have very high practical application value.
Claims (2)
1. a kind of creeping motion type pipeline drives walking mechanism, have body (1), it is characterised in that: be provided on body (1) 2 longitudinal
Rectangular slot is circumferentially distributed in 180 ° along body；The left bearing part of rack gear (28) and right supporting part are installed in body (1)
Part (35) and hoofing part unit (5)；The driving walking mechanism further includes having positioned at extra-organismal auxiliary foot unit (2),
And walk foot (3) and elastic link structure (4)；
Wherein, the auxiliary foot unit (2) includes auxiliary wheel (6), auxiliary wheel connecting shaft (7), auxiliary wheel support bar (8), auxiliary
Wheel support bar connecting shaft (9), auxiliary wheel the first spring connecting pin (10) and auxiliary wheel second spring connecting pin (12), auxiliary wheel bullet
Spring (11), auxiliary wheel support (13) and auxiliary stand attachment screw (14)；The auxiliary wheel (6) passes through auxiliary wheel connecting shaft (7)
It is hinged on auxiliary wheel support bar (8)；The auxiliary wheel spring (11) respectively by the first spring of auxiliary wheel connecting pin (10) and
Auxiliary wheel second spring connecting pin (12) is hinged on auxiliary wheel support bar (8) and auxiliary wheel support (13)；The auxiliary wheel branch
Hack lever (8) is hinged on auxiliary wheel support (13) by auxiliary wheel support bar connecting shaft (9)；The auxiliary wheel support (13) is by auxiliary
Wheel support attachment screw (14) is helped to be secured on body (1) outer surface；There are 2 groups before and after the auxiliary foot unit (2), along body
Outer 120 ° are evenly distributed on body outer surface；
The elastic link structure (4) include press spring base (15), pressure spring (16), pressure spring cap (17), walk sufficient connecting pin (18) and
Connecting rod (19)；The hole that the connecting rod (19) passes through press spring base (15) bottom is contacted with pressure spring；Elastic link pressure spring (16) peace
In the space of press spring base (15) and pressure spring cap (17), press spring base (15) and pressure spring cap (17) are threadedly coupled；The walking foot
(3) pressure spring cap (17) end is hinged on by sufficient connecting pin (18) of walking；The elastic link structure has 2 groups, and every group 2, with
Be provided on body (1) at 180 ° of equally distributed 2 longitudinal same azimuth distributions of rectangular slot；
The hoofing part unit (5) includes connecting rod (19), sliding block (20), connecting rod shaft (21), partial gear (22), no
Complete gear connecting shaft (23), sliding bearing (24), the first rack gear (25), the second rack gear (26), gear shaft holder (27), tooth
The second fixed part of left support component (28) and rack gear right support component (35), the first fixation member of hydraulic cylinder (29) and hydraulic cylinder
Part (34), engine body end cover attachment screw (36) and engine body end cover (37)；Wherein, the connecting rod (19) passes through logical on sliding block (20)
Hole is hinged on partial gear (22) by connecting rod shaft (21)；Connecting rod (19) and sliding block (20) form prismatic pair；It is described
Partial gear (22) is mounted on partial gear connecting shaft (23) by sliding bearing (24)；Partial gear (22) with it is endless
All gear connecting shaft (23) forms revolute pair；The partial gear connecting shaft (23) is mounted on gear shaft holder (27)；
The gear shaft holder (27) is mounted on rack gear left support component (28) and rack gear right support component (35)；It is described incomplete
Gear (22) is alternately engaged with the first rack gear (25) and the second rack gear (26)；The intermediate position of first rack gear (25), which is provided with, leads
Slot, the second rack gear have guide rail on (26)；Second rack gear (26) can slide in the guide groove of the first rack gear (25)；First tooth
Item (25), the second rack gear (26) pass through rack gear left support component (28) and rack gear right support component (35) and hydraulic cylinder (30) even
It connects；The hydraulic cylinder (30) is fixed on hydraulic cylinder fixation member (29) by hydraulic cylinder attachment screw (31)；
The hoofing part unit shares 2 groups, and what is be provided on every group 2, with body (1) is vertical at 180 ° equally distributed 2
To the same azimuth distribution of rectangular slot.
2. a kind of creeping motion type pipeline according to claim 1 drives walking mechanism, it is characterised in that: the incomplete tooth
Wheel (22) is rotated by the first rack gear (25) and the second rack gear (26) driven；I.e. when the first rack gear (25) rise, with 4
A partial gear engages simultaneously, driving partial gear rotation；When the second rack gear (26) rise, the first rack gear (25) and 4
A partial gear is disengaged from, and 4 partial gears make its rotation by the second rack gear (26) driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753083.XA CN108953836B (en) | 2018-07-10 | 2018-07-10 | Peristaltic pipeline driving walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753083.XA CN108953836B (en) | 2018-07-10 | 2018-07-10 | Peristaltic pipeline driving walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108953836A true CN108953836A (en) | 2018-12-07 |
| CN108953836B CN108953836B (en) | 2020-06-23 |
Family
ID=64482760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810753083.XA Expired - Fee Related CN108953836B (en) | 2018-07-10 | 2018-07-10 | Peristaltic pipeline driving walking mechanism |
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| CN112858308A (en) * | 2021-01-18 | 2021-05-28 | 山东大学 | Disease underwater detection device for water pipeline in operation period |
| CN113289989A (en) * | 2021-07-27 | 2021-08-24 | 江苏瑞冠智能科技有限公司 | Robot for cleaning inside of equipment based on visual detection function |
| CN114034764A (en) * | 2022-01-08 | 2022-02-11 | 北京国电瑞源科技发展有限公司 | Electromagnetic method device and method for detecting broken wire of PCCP (prestressed concrete Cylinder pipe) |
| CN114636050A (en) * | 2022-05-20 | 2022-06-17 | 武汉理工大学 | Structured light scanning type pipeline flaw detection robot and method |
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