CN109253342A - A kind of pipe walking robot - Google Patents
A kind of pipe walking robot Download PDFInfo
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- CN109253342A CN109253342A CN201811343257.1A CN201811343257A CN109253342A CN 109253342 A CN109253342 A CN 109253342A CN 201811343257 A CN201811343257 A CN 201811343257A CN 109253342 A CN109253342 A CN 109253342A
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- 230000009184 walking Effects 0.000 title claims abstract description 52
- 238000009434 installation Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000003319 supportive effect Effects 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect 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
- 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
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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
- F16L2101/30—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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipe walking robots, including rack components, running gear, travel driving unit, radial support component, lead-screw driving device；Lead-screw driving device is located at robot interior, and running gear is located at shell outside；Lead-screw driving device can drive radial support component to make running gear radially extendable or gathering, so as to adapt to the pipeline of different-diameter, spring bracing can prevent from damaging robot or pipeline due to the pressure for leading to traveling wheel and inner wall of the pipe because adjusting is excessive is excessive simultaneously, travel driving unit can respectively drive three groups of running gears at robot rear portion, so that robot has stronger driving force；The present invention has many advantages, such as good pipeline adaptability, stronger tractive force and good reliability.
Description
Technical field
The present invention relates to robot field more particularly to a kind of pipe walking robots.
Background technique
With the development of society and advancement of technology, it is each to be widely used in petroleum, natural gas and water etc. for pipe transportation technology
Transportation applications.But pipeline transportation invariably accompanies, burn into blocking even ruptures inside pipeline, this very easy initiation is a series of
Transportation problem.Therefore, it is necessary to the operations such as cleaned, detected to pipeline inside, one kind is needed to can be used for walking inside pipeline
Mechanism.Many researchers study regarding to the issue above, have developed a variety of mechanisms that can be used for walking inside pipeline, institute
The mode of walking has wheeled, crawler type, spiral etc., and achieves corresponding achievement.Such as Chinese patent literature
CN106015829B discloses a kind of pipe robot, and the walking manner of the robot adapts to different tube diameters, no using wheeled
The pipeline of similar shape, and obstacle climbing ability is stronger, and this robot caliber adapts to rely primarily on the flexible of fixed spring, works as caliber
When changing greatly spring can because elastic force deficiency cause wheel and inner wall of the pipe pressure it is small due to slipping phenomenon occurs；Chinese patent text
It offers CN102425709B and discloses a kind of pipe robot walking mechanism, which does not need external spring force and form seal force
System makes transmission mechanism integrated with regulating mechanism so that structure is simpler, but is somebody's turn to do by worm drive Planetary Gear Transmission
Mechanism is due to the planetary gear phase separation of worm screw and three directions, and when the obstacles such as protrusion occurs in pipeline, three direction planets are rotated
Dynamic angle is inconsistent, causes three turbines inconsistent to worm screw active force, is easy to cause the damage of mechanism.Regardless of which kind of row used
Walk mode, the performance indicator of pipe robot mainly has biggish driving force, good caliber adaptability and reliable
Property.
Therefore, how existing pipe robot is improved, it is made to overcome the above problem, be those skilled in the art
A problem urgently to be resolved.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of structure is simple, driving force is big, and adapts to
The pipe robot of different-diameter pipeline.
The technical problems to be solved by the invention are realized using following technical scheme.
Specific embodiment:
In order to which the objects and advantages for making technological means of the invention, reaching more clearly are expressed, with reference to the accompanying drawing and have
Present invention is further described in detail for body embodiment.It should be appreciated that specific embodiment described herein is only used to explain
The present invention is not intended to limit the present invention.
Pipe walking robot, including rack components, running gear, travel driving unit, radial support component, lead screw pass
Dynamic device.
Wherein, the rack components includes rack, two cover board of front and back.The rack is the regular hexagonal prism of a both ends uncovered
Shell, rack side offer rectangular v notch v, and rectangular v notch v shares six, and each three notches in front and back are evenly arranged on hexagonal prisms side
Face；The cover board is two regular hexagon thin plates, is located at rack both ends, offers circumferential notch among cover board, pass through bolt respectively
It is connect with the both ends of rack；
The running gear is six groups, each three groups of front and back, wherein three groups of front is passive group, is played a supportive role, behind
Three groups of driving groups, six groups are evenly arranged on shell outside, including walking leg support, walking leg, traveling wheel.Wherein every group of walking leg
Bracket is two, is symmetrically fixed in by the rectangular v notch v of shell outside by screw respectively；One end of the walking leg, which rotates, to be connected
It connects on walking leg support, so that running gear can radially unfold；The traveling wheel and the rotation connection of walking leg one end, with pipeline
Inner wall contact.
The travel driving unit is three groups, and for driving three groups of traveling wheels behind robot, every group includes first motor
Seat, first motor, first gear, second gear, driving pulley, driven pulley, driving band.Wherein three groups of first motor seats
Shell outside middle section is fixed in by screw respectively, the installation and fixation for first motor；Three groups of first motors
Specification it is identical, be mounted on motor cabinet by screw, provide power for three groups of traveling wheels below；The first gear is cylinder
Gear is connect with first motor by flat key；The second gear is conical gear, pivot center and walking leg pivot center weight
It closes, and is engaged with first gear；It the driving pulley and second gear coaxial line and rotates synchronously；The driven pulley with
It traveling wheel coaxial line and rotates synchronously, passes through driving band connection, the power of first motor between driving pulley and driven pulley
It is transferred to traveling wheel by first gear, second gear, driving pulley and driven pulley, and then keeps robot mobile.
The radial support component is used to adjust circumferentially extending or the gathering of running gear, including fixed frame, spring supporting
Frame, the first strut, the second strut.Wherein, the fixed frame is two, divides a side for being bolted on machine frame inside
On, it is uniformly arranged on each fixed frame there are three hinge hole；The spring bracing is six, is used to support six groups of walking dresses
It sets, each spring support one end and the rotation connection of walking leg one end provide support for the circumferentially extending or gathering of running gear, make
The inner wall of the pipe for obtaining traveling wheel and different-diameter can be kept in contact, and can be prevented because running gear radiai adjustment is excessive
Or some raised obstacles etc. of inner wall of the pipe make pressure between traveling wheel and inner wall of the pipe excessive in walking；First strut
Both ends are provided with hinge hole, and wherein one end and spring bracing are hinged；Second strut both ends are also equipped with hinge hole, wherein
One end and one end of the first strut and spring bracing are hinged, and the other end is hinged with fixed frame；
The lead screw gear is located at machine frame inside, including lead screw, feed screw nut, the second motor cabinet, the second motor,
Three gears, the 4th gear, bearing support assemblies.Wherein, the lead screw is two-way lead screw, positioned at the inside of rack, front and back difference
Equipped with one section of screw thread, screw thread it is contrary, be provided with keyway in the middle part of lead screw；The feed screw nut be two, respectively with lead screw
The threaded connection of rear and front end, there are three hinge holes for each feed screw nut side setting, when lead screw is rotated to a direction, spiral shell
Two feed screw nuts on line are separated or are drawn close to both ends；Second motor cabinet is mounted on the inside one of rack by bolt
Installation and fixation on a side, for the second motor；Second motor is mounted on the second motor cabinet by screw, is silk
The rotation of thick stick provides power；The third gear is roller gear, is connect by flat key with the second motor；4th gear is
Roller gear is connected to the intermediate position of lead screw by flat key, and engaged with third gear, and the power of the second motor passes through the
Three gears, the 4th gear are transferred to lead screw, rotate it along axis.
The spring bracing includes support frame, slide bar, spring, sliding sleeve.Wherein, support frame as described above is U-shaped, with walking leg
Hingedly, support is provided for the stretching, extension of running gear or gathering, and bottom is equipped with threaded hole；Described slide bar one end is provided with spiral shell
Line is connect with support frame bottom, and the other end is inserted into sliding sleeve, can be mobile relative to sliding sleeve；The spring pocket is mounted on slide bar, and
Between support frame and sliding sleeve；One end of the sliding sleeve is sleeved on slide bar, and the other end is provided with hinge hole, is used for first
Bar and the second strut it is hinged；
The bearing support assemblies include bearing block bearing, bearing (ball) cover, axial lock nut.Two bearing blocks lead to respectively
Cross the intermediate position that screw is fixedly mounted on former and later two cover boards, the installation for bearing；The bearing is two rolling bearings,
It is separately mounted on former and later two bearing blocks, the radial support for lead screw；The bearing (ball) cover is two and is located in rack
Both ends are connected by screw to bearing block, the fixation for bearing；The axial lock nut is two and is mounted on lead screw two
End, being adjusted axially and fixing for lead screw.
In use, the second motor first works, lead screw rotation is driven by third gear, the 4th gear, so that two lead screws
Nut is separated to both ends, due to being respectively articulated with three the first struts on two lead screws, and the first strut and the second strut, spring branch
Support is hinged, and the second strut and fixed frame are hinged, so spring bracing will move radially, and then receives running gear radially
Hold together, when collapsing to service pipe diameter, pipe robot can be placed in service pipe.Then the second motor rotates backward,
Make running gear circumferentially extending, when the pressure of traveling wheel and inner wall of the pipe, which is adjusted to, is suitble to walking, the second motor stops working,
The radiai adjustment before work is completed at this time.First motor task driven first gear, second gear rotation, second gear and active
Belt wheel rotates synchronously, and driven pulley and traveling wheel rotate synchronously, by driving band connection between two belt wheels, so three groups of first motors
Three groups of traveling wheel work will be respectively driven, to realize the walking in pipeline.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention not only can be adapted for the pipeline of different tube diameters, the pressure between traveling wheel and tube wall can also be adjusted,
So that pipe robot is not susceptible to slipping phenomenon in the process of walking.
2. row of the present invention respectively drives three running gears using three motors, so that power is more sufficient.
3. the present invention can guarantee that two feed screw nut walking displacements are identical using two-way lead screw, and then guarantee front and back walking
Device remains identical change during radiai adjustment.
4. the present invention supports running gear using spring bracing, when running gear adjusting is excessive, spring provides peace
Full nargin prevents pressure between traveling wheel and tube wall excessive, and then damages pipeline or pipe robot.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is end visual angle schematic diagram of the invention；
Fig. 3 is schematic diagram of internal structure of the invention；
Fig. 4 is travel driving unit top view of the invention；
Fig. 5 is travel driving unit structural schematic diagram of the invention；
Fig. 6 is radial support component and lead screw gear, running gear connection schematic diagram of the invention；
Fig. 7 is fixed rack structure schematic diagram of the invention；
Fig. 8 is spring bracing structural schematic diagram of the invention；
Fig. 9 is lead screw gear structural schematic diagram of the invention.
Specific embodiment:
In order to which the objects and advantages for making technological means of the invention, reaching more clearly are expressed, with reference to the accompanying drawing and have
Present invention is further described in detail for body embodiment.It should be appreciated that specific embodiment described herein is only used to explain
The present invention is not intended to limit the present invention.
As shown in Figure 1, Figure 2, Fig. 3 pipe walking robot, including rack components 1, running gear 2, travel driving unit 3, diameter
To support component 4, lead screw gear 5.Wherein, the rack components 1 includes rack 11, two cover board 12 of front and back.The machine
Frame 11 is the regular hexagonal prism shell of a both ends uncovered, and 11 side of rack offers rectangular v notch v, and rectangular v notch v shares six, preceding
Each three notches are evenly arranged on hexagonal prisms side afterwards；The cover board 12 is two regular hexagon thin plates, is located at 11 both ends of rack, cover board 12
Centre offers circumferential notch, is connect respectively by bolt with the both ends of rack 11；The running gear 2 is six groups, front and back
Each three groups, wherein three groups of front is passive group, play a supportive role, behind three groups of driving groups, six groups are evenly arranged on the outside of rack 11, packet
Include walking leg support 21, walking leg 22, traveling wheel 23.Wherein every group of walking leg support 21 is two, passes through screw respectively
It is symmetrically fixed in by the 11 rectangular v notch v in outside of rack；One end of the walking leg 22 is rotatably connected on walking leg support 21,
So that running gear 2 can radially unfold；The traveling wheel 23 and the rotation connection of walking 22 one end of leg, contact with the inner wall of pipeline.
As shown in Fig. 3, Fig. 4 and Fig. 5, the travel driving unit 3 is three groups, for driving three groups of walkings behind robot
Wheel 23, every group includes first motor seat 31, first motor 32, first gear 33, second gear 34, driving pulley 35, driven belt
Wheel 36, driving band 37.Wherein three groups of first motor seats 31 are fixed in 11 outside middle section of rack by screw respectively, use
In the installation and fixation of first motor 32；The specification of three groups of first motors 32 is identical, is mounted on motor cabinet by screw,
Power is provided for three groups of traveling wheels 23 below；The first gear 33 is roller gear, is connect with first motor 32 by flat key；
The second gear 34 is conical gear, and pivot center and walking 22 pivot center of leg are overlapped, and are engaged with first gear 33；
It the driving pulley 35 and 34 coaxial line of second gear and rotates synchronously；The driven pulley 36 and 23 coaxial line of traveling wheel are simultaneously
And rotate synchronously, it is connected between driving pulley 35 and driven pulley 36 by driving band 37, the power of first motor 32 passes through the
One gear 33, second gear 34, driving pulley 35 and driven pulley 36 are transferred to traveling wheel 23, and then keep robot mobile.
As shown in Fig. 3, Fig. 6 and Fig. 7, the radial support component 4 is used to adjust the circumferentially extending or receipts of running gear 2
Hold together, including fixed frame 41, spring bracing 42, the first strut 43, the second strut 44.Wherein, the fixed frame 41 is two, point
It is bolted on a side inside rack 11, is uniformly arranged on each fixed frame 41 there are three hinge hole；It is described
Spring bracing 42 is six, is used to support six groups of running gears 2, and each spring support one end and the rotation of walking 22 one end of leg connect
It connects, provides support for the circumferentially extending or gathering of running gear 2, so that traveling wheel 23 and the inner wall of the pipe of different-diameter are ok
It is kept in contact, and some raised obstacles etc. of inner wall of the pipe excessively or in walking can be prevented because of running gear radiai adjustment
So that pressure is excessive between traveling wheel and inner wall of the pipe.First strut, 43 both ends are provided with hinge hole, wherein one end and spring
Support frame 42 is hinged；Second strut, 44 both ends are also equipped with hinge hole, wherein one end and the first strut 43 and and spring branch
One end of support 42 is hinged, and the other end and fixed frame 41 are hinged；
As shown in Fig. 3, Fig. 9, the lead screw gear 5 is located inside rack 11, including lead screw 51, feed screw nut 52,
Second motor cabinet 53, the second motor 54, third gear 55, the 4th gear 56, bearing support assemblies 57.Wherein, the lead screw 51
For two-way lead screw, positioned at the inside of rack 11, front and back is respectively equipped with one section of screw thread, screw thread it is contrary, set in the middle part of lead screw 51
It is equipped with keyway；The feed screw nut 52 be two, respectively with the threaded connection of 51 rear and front end of lead screw, each 52 side of feed screw nut
There are three hinge holes for face setting, and when lead screw 51 is rotated to a direction, two feed screw nuts 52 on screw thread are separated to both ends
Or it draws close；Second motor cabinet 53 is mounted on the side of inside one of rack 11 by bolt, is used for the second motor 54
Installation and fixation；Second motor 54 is mounted on the second motor cabinet 53 by screw, for lead screw 51 rotation provide it is dynamic
Power；The third gear 55 is roller gear, is connect by flat key with the second motor 54；4th gear 56 is Cylinder Gear
Wheel, the intermediate position of lead screw 51 is connected to by flat key, and engage with third gear 55, and the power of the second motor 54 passes through the
Three gears 55, the 4th gear 56 are transferred to lead screw 51, rotate it along axis.
As shown in figure 8, the spring bracing 42 includes support frame 421, slide bar 422, spring 423, sliding sleeve 424.Wherein,
Support frame as described above 421 be it is U-shaped, with walking leg it is hinged, provide support for the stretching, extension or gathering of running gear 2, and bottom is equipped with
Threaded hole；Described 422 one end of slide bar is provided with screw thread, connect with support frame 421, and the other end is inserted into sliding sleeve 424, can slide relatively
Set 424 is mobile；The spring 423 is sleeved on slide bar 422, and between support frame 421 and sliding sleeve 424；The sliding sleeve
424 one end is sleeved on slide bar 422, and the other end is provided with hinge hole, for the hinged of the first strut 43 and the second strut 44；
As shown in Fig. 3, Fig. 6 and Fig. 9, the bearing support assemblies 57 include 571 bearing 572 of bearing block, bearing (ball) cover
573, axial lock nut 574.Two bearing blocks 571 are fixedly mounted on the middle part of former and later two cover boards 12 by screw respectively
Position, the installation for bearing 572；The bearing 572 is two rolling bearings, is separately mounted on former and later two bearing blocks 571,
Radial support for lead screw 51；The bearing (ball) cover 573 is two and is located at the both ends of rack 11, passes through with bearing block 571
Screw connection, the fixation for bearing 572；The axial lock nut 574 is two and is mounted on 51 both ends of lead screw, is used for lead screw
51 being adjusted axially and fix.
In use, the second motor 54 first works, drives lead screw 51 to rotate by third gear 55, the 4th gear 56, make
Two feed screw nuts 52 are separated to both ends, due to being respectively articulated with three the first struts 43 on two lead screws 51, and the first strut 43
Hinged with the second strut 44, spring bracing 42, the second strut 44 and fixed frame 41 are hinged, so spring bracing 42 will be radial
It is mobile, and then collapse running gear 2 radially, when collapsing to service pipe diameter, pipe robot can be placed in instrumentation tubes
In road.Then the second motor 54 rotates backward, and makes 2 circumferentially extending of running gear, when the pressure tune of traveling wheel 23 and inner wall of the pipe
Section to the second motor 54 when suitable walking stops working, and completes the radiai adjustment before work at this time.32 task driven of first motor
First gear 33, second gear 34 rotate, and second gear 34 and driving pulley 35 rotate synchronously, driven pulley 36 and traveling wheel 23
It rotates synchronously, is connected between two belt wheels by driving band 37, so three groups of first motors 32 will respectively drive three groups of 23 works of traveling wheel
Make, to realize the walking in pipeline.
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 above embodiments and description only describe originals 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 both falls in the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (2)
1. a kind of pipe walking robot, it is characterised in that: including rack components, running gear, travel driving unit, radial branch
Support component, lead screw gear；
Wherein, the rack components includes rack, two cover board of front and back；The rack is the regular hexagonal prism shell of a both ends uncovered,
Rack side offers rectangular v notch v, and rectangular v notch v shares six, and each three notches in front and back are evenly arranged on hexagonal prisms side；Institute
Stating cover board is two regular hexagon thin plates, is located at rack both ends, offers circumferential notch among cover board, passes through bolt and rack respectively
Both ends connection；
The running gear be six groups, each three groups of front and back, wherein front three groups be passive group, play a supportive role, behind three groups
Driving group, six groups are evenly arranged on shell outside, including walking leg support, walking leg, traveling wheel；Wherein every group of walking leg support
It is two, is symmetrically fixed in by the rectangular v notch v of shell outside by screw respectively；One end of the walking leg is rotatably connected on
It walks on leg support, so that running gear can radially unfold；The traveling wheel and the rotation connection of walking leg one end, in pipeline
Wall contact；
The travel driving unit is three groups, for driving three groups of traveling wheels behind robot；Every group includes first motor seat,
One motor, first gear, second gear, driving pulley, driven pulley, driving band；Wherein three groups of first motor seats difference
It is fixed in shell outside middle section by screw, the installation and fixation for first motor；The rule of three groups of first motors
Lattice are identical, are mounted on motor cabinet by screw, provide power for three groups of traveling wheels below；The first gear is Cylinder Gear
Wheel, is connect with first motor by flat key；The second gear is conical gear, pivot center and walking leg pivot center weight
It closes, and is engaged with first gear；It the driving pulley and second gear coaxial line and rotates synchronously；The driven pulley with
It traveling wheel coaxial line and rotates synchronously, passes through driving band connection, the power of first motor between driving pulley and driven pulley
It is transferred to traveling wheel by first gear, second gear, driving pulley and driven pulley, and then keeps robot mobile；
The radial support component is used to adjust circumferentially extending or the gathering of running gear, including fixed frame, spring bracing, the
One strut, the second strut；Wherein, the fixed frame is two, divides and is bolted on a side of machine frame inside, often
Hinge hole there are three being uniformly arranged on a fixed frame；The spring bracing is six, is used to support six groups of running gears, each
Spring support one end and the rotation connection of walking leg one end, provide support for the circumferentially extending or gathering of running gear, so that walking
Taking turns can be kept in contact with the inner wall of the pipe of different-diameter, and can prevent because running gear radiai adjustment is excessive or row
The some raised obstacles etc. for walking inner wall of the pipe make pressure between traveling wheel and inner wall of the pipe excessive；First strut both ends are set
It is equipped with hinge hole, wherein one end and spring bracing are hinged；Second strut both ends are also equipped with hinge hole, wherein one end with
One end of first strut and spring bracing is hinged, and the other end is hinged with fixed frame；
The lead screw gear is located at machine frame inside, including lead screw, feed screw nut, the second motor cabinet, the second motor, third tooth
Wheel, the 4th gear, bearing support assemblies；Wherein, the lead screw is two-way lead screw, and positioned at the inside of rack, front and back is respectively equipped with
One section of screw thread, screw thread it is contrary, be provided with keyway in the middle part of lead screw；The feed screw nut is two, respectively and before and after lead screw
The threaded connection at both ends, there are three hinge holes for each feed screw nut side setting, when lead screw is rotated to a direction, on screw thread
Two feed screw nuts to both ends separate or draw close；Second motor cabinet is mounted on the side of inside one of rack by bolt
Installation and fixation on face, for the second motor；Second motor is mounted on the second motor cabinet by screw, is lead screw
Rotation provides power；The third gear is roller gear, is connect by flat key with the second motor；4th gear is cylinder
Gear is connected to the intermediate position of lead screw by flat key, and engaged with third gear, and the power of the second motor passes through third tooth
Wheel, the 4th gear are transferred to lead screw, rotate it along axis.
2. a kind of pipe walking robot according to claim 1, it is characterised in that: the spring bracing includes support
Frame, slide bar, spring, sliding sleeve, wherein support frame as described above be it is U-shaped, with walking leg it is hinged, for running gear stretching, extension or gathering mention
For support, and bottom is equipped with threaded hole；Described slide bar one end is provided with screw thread, connect with support frame bottom, other end insertion
It, can be mobile relative to sliding sleeve in sliding sleeve；The spring pocket is mounted on slide bar, and between support frame and sliding sleeve；The sliding sleeve
One end be sleeved on slide bar, the other end is provided with hinge hole, for the hinged of the first strut and the second strut；
The bearing support assemblies include bearing block bearing, bearing (ball) cover, axial lock nut；Two bearing blocks pass through spiral shell respectively
Nail is fixedly mounted on the intermediate position of former and later two cover boards, the installation for bearing；The bearing is two rolling bearings, respectively
It is mounted on former and later two bearing blocks, the radial support for lead screw；The bearing (ball) cover is located at for two at the both ends of rack,
It is connected by screw to bearing block, the fixation for bearing；The axial lock nut is two and is mounted on lead screw both ends, is used for
Lead screw being adjusted axially and fixing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811343257.1A CN109253342A (en) | 2018-11-13 | 2018-11-13 | A kind of pipe walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811343257.1A CN109253342A (en) | 2018-11-13 | 2018-11-13 | A kind of pipe walking robot |
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| Publication Number | Publication Date |
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| CN109253342A true CN109253342A (en) | 2019-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811343257.1A Pending CN109253342A (en) | 2018-11-13 | 2018-11-13 | A kind of pipe walking robot |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109718973A (en) * | 2019-02-26 | 2019-05-07 | 安徽理工大学 | A kind of paint-spray robot |
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| CN113586840A (en) * | 2021-07-28 | 2021-11-02 | 中国人民解放军陆军工程大学 | Pipeline robot capable of self-adapting to pipe diameter and curve |
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| CN114055770A (en) * | 2021-12-01 | 2022-02-18 | 杭州电子科技大学 | Mechanical composite pipeline preparation method based on hydraulic drive |
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| CN115479178A (en) * | 2021-06-16 | 2022-12-16 | 国核电站运行服务技术有限公司 | Pipeline crawling device and pipeline detection system |
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| CN109718973A (en) * | 2019-02-26 | 2019-05-07 | 安徽理工大学 | A kind of paint-spray robot |
| CN109899619A (en) * | 2019-03-06 | 2019-06-18 | 北京隆科兴科技集团股份有限公司 | A kind of Stageless gear shifting formula position adjustment and method suitable for support leg mechanism |
| CN109899619B (en) * | 2019-03-06 | 2019-12-13 | 北京隆科兴科技集团股份有限公司 | Stepless gear-shifting type position adjusting system and method suitable for supporting leg mechanism |
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | Pipeline inspection robot |
| CN110747966A (en) * | 2019-11-08 | 2020-02-04 | 九江职业技术学院 | Concrete drain pipe detects and mending leakage robot |
| CN110955240A (en) * | 2019-11-14 | 2020-04-03 | 国网山西省电力公司大同供电公司 | Temperature detection system for special-shaped narrow cavity |
| CN111059408A (en) * | 2019-12-03 | 2020-04-24 | 响水县正响建设发展有限公司 | Wheel set defectoscope of adjustable running gear wheel base |
| CN111365563A (en) * | 2020-03-26 | 2020-07-03 | 湖北楚天卓越工程技术有限公司 | Running gear for detecting internal quality of concrete pipeline and operation method |
| CN111571081B (en) * | 2020-06-01 | 2022-05-27 | Dig自动化工程（武汉）有限公司 | Pipeline inner wall welding robot |
| CN111571081A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Pipeline inner wall welding robot |
| CN112044884A (en) * | 2020-08-27 | 2020-12-08 | 华东送变电工程有限公司 | Cable conduit mediation cleaning machines people |
| CN112032470A (en) * | 2020-09-14 | 2020-12-04 | 胡玉婷 | Pipeline disinfection robot |
| CN112283494A (en) * | 2020-10-09 | 2021-01-29 | 姚小武 | Pipeline running trolley capable of realizing multi-azimuth rotating running |
| CN112319641A (en) * | 2020-10-16 | 2021-02-05 | 安徽鑫洋机电有限公司 | Variable-diameter petroleum pipeline inner wall inspection robot |
| CN112524394A (en) * | 2020-12-01 | 2021-03-19 | 北京建筑大学 | Double V-shaped pipeline robot |
| CN112548479A (en) * | 2020-12-09 | 2021-03-26 | 苏州阿甘机器人有限公司 | High-precision pipeline connection auxiliary robot and working method |
| CN112503303A (en) * | 2020-12-16 | 2021-03-16 | 浙江科特地理信息技术有限公司 | Movable pipeline detector moving mechanism |
| CN112963661A (en) * | 2021-03-05 | 2021-06-15 | 郑州科技学院 | Intelligent detection device based on automation |
| CN115479178A (en) * | 2021-06-16 | 2022-12-16 | 国核电站运行服务技术有限公司 | Pipeline crawling device and pipeline detection system |
| CN113446458A (en) * | 2021-06-28 | 2021-09-28 | 北京林业大学 | Intelligent pipeline walking robot |
| CN113586840A (en) * | 2021-07-28 | 2021-11-02 | 中国人民解放军陆军工程大学 | Pipeline robot capable of self-adapting to pipe diameter and curve |
| CN113732615A (en) * | 2021-09-16 | 2021-12-03 | 国家石油天然气管网集团有限公司 | Oil and gas pipeline welding slag protection device and method |
| CN113732615B (en) * | 2021-09-16 | 2023-08-22 | 国家石油天然气管网集团有限公司 | Slag protection device and method for welding oil and gas pipeline |
| CN114055770A (en) * | 2021-12-01 | 2022-02-18 | 杭州电子科技大学 | Mechanical composite pipeline preparation method based on hydraulic drive |
| CN114110300A (en) * | 2021-12-22 | 2022-03-01 | 中国原子能科学研究院 | Pipeline exploration robot |
| CN114776933A (en) * | 2022-05-24 | 2022-07-22 | 安徽信息工程学院 | Pipeline walking robot |
| WO2023226806A1 (en) * | 2022-05-24 | 2023-11-30 | 安徽信息工程学院 | Walking robot in pipeline |
| CN115076512A (en) * | 2022-07-07 | 2022-09-20 | 中北大学 | Self-adaptation pipeline detection cleaning device of high drive power |
| CN115076512B (en) * | 2022-07-07 | 2023-10-03 | 中北大学 | Self-adaptive pipeline detection cleaning device with high driving force |
| CN115064999B (en) * | 2022-08-16 | 2022-11-15 | 山东迈易特传动有限公司 | A electric wire erection equipment for underground line |
| CN115064999A (en) * | 2022-08-16 | 2022-09-16 | 山东迈易特传动有限公司 | A electric wire erection equipment for underground line |
| CN116398744A (en) * | 2023-05-04 | 2023-07-07 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
| CN116398744B (en) * | 2023-05-04 | 2023-11-17 | 西南石油大学 | Pipeline robot with full-angle steering adjustment function |
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Application publication date: 20190122 |