CN109681719A - A kind of electromagnetic drive type pipe robot - Google Patents
A kind of electromagnetic drive type pipe robot Download PDFInfo
- Publication number
- CN109681719A CN109681719A CN201811581130.3A CN201811581130A CN109681719A CN 109681719 A CN109681719 A CN 109681719A CN 201811581130 A CN201811581130 A CN 201811581130A CN 109681719 A CN109681719 A CN 109681719A
- Authority
- CN
- China
- Prior art keywords
- cam
- casing
- supporting leg
- preceding body
- rear body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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 invention discloses a kind of electromagnetic drive type pipe robots, including preceding body, telescoping electromagnetic iron and rear body, preceding body is identical with rear housing construction and front and back is symmetrical arranged, telescoping electromagnetic iron is arranged between preceding body and rear body, and be connected between preceding body by spring one, it is connected between rear body by spring two；Preceding body includes casing and rotating electromagnet, it is radially uniform on the side wall of casing to open up several through-holes, it is equipped with the supporting leg that can be stretched in through-hole in through-hole, rotation cam is equipped in casing, rotation cam rotation can drive the supporting leg on chassis sidewall flexible along through-hole；Rotating electromagnet is fixed on the outside of the end plate of casing, and its rotating output shaft passes through end plate and is connected with rotation cam and drives rotation cam positive and negative rotation, and the front end of casing is equipped with front end-plate.Structure of the invention compact layout, support force is reliable, can be applied to job requirements in various micro-tubes.
Description
Technical field
The present invention relates to a kind of pipe robots, and in particular to a kind of electromagnetic drive type pipe robot belongs to pipeline inspection
Measurement equipment technical field.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, under the remote control operation or computer controlled automatic of staff, carries out a systems such as defect of pipeline, detection, reparation
Mechanical, electrical, the instrument integral system of column pipeline operations.It is broadly divided into flow-type robot, wheeled machine according to drive mode classification
Device people, caterpillar type robot, stomach wall formula robot, walking robot, squirmy robot, helical driving type robot and
Snake-like robot.
Wherein, squirmy robot is exactly as its name suggests the pipe robot to be advanced using the flexible wriggling of itself.Mesh
Preceding common squirmy robot number of drives is more, and drive control is complicated, and multiple power is needed just to be able to achieve positive and negative two-way row
It walks and turns to；But with both at home and abroad to micro-tube detection operation automation and intelligent operation demand constantly increase, it is existing
Robot driver's arrangement space critical constraints of this structure, especially vertical pipeline or heavy load walking often need to compared with
Big driving force, to prevent robot unstability from falling or skid, therefore existing creeping motion type pipe robot be difficult to adapt to it is miniature
The job requirements of pipeline.
Summary of the invention
In order to overcome various deficiencies of the existing technology, the present invention provides a kind of electromagnetic drive type pipe robot, knot
Structure compact layout, support force is reliable, can be applied to job requirements in various micro-tubes, applied widely.
In order to achieve the above-mentioned object of the invention, a kind of electromagnetic drive type pipe robot of the present invention, including preceding body, flexible electricity
Magnet and rear body, preceding body is identical with rear housing construction and front and back is symmetrical arranged, and the setting of telescoping electromagnetic iron is in preceding body with after
Between body, and it is connected between preceding body by spring one, is connected between rear body by spring two；
Preceding body includes casing and rotating electromagnet, radially uniform on the side wall of casing to open up several through-holes, is set in through-hole
There is the supporting leg that can be stretched in through-hole, rotation cam is equipped in casing, rotation cam rotation can drive on chassis sidewall
Supporting leg it is flexible along through-hole；Rotating electromagnet is fixed on the outside of the end plate of casing, and its rotating output shaft passes through rear end
Plate is connected with rotation cam and drives rotation cam positive and negative rotation, and the front end of casing is equipped with front end-plate.
Further, the supporting leg is three groups, and cam is clover-leaf cam, and the cam and supporting leg are by feeromagnetic metal
It is made to which the two generates magnetic attraction, so that the two is kept fitting, and each leaf effect curves of cam are outwardly convex camber line.
Further, the outer ledge of the front end-plate is uniformly equipped with several directive wheels.Guiding based on directive wheel is made
With and telescoping electromagnetic iron both ends spring it is flexible, Robot bend pipe walk when, machine human organism can be in spring junction
It bends, thus smooth excessively curved.
Further, the centre on the outside of front end-plate is equipped with camera.For shooting situation in micro-tube, and by image
It is transmitted to outer end control system.
Further, preceding body, telescoping electromagnetic iron and rear body all have two states, when cam rotate counterclockwise to it is convex
When camber of wheels highest point and supporting leg contact, the supporting leg in preceding body and rear body stretches out and supports tube wall, when cam up time
Needle is rotated to cam curved surface minimum point and supporting leg when contacting, and the supporting leg in preceding body and rear body retracts release support tube
Wall, and the state of preceding body and rear body is opposite always；Telescoping electromagnetic iron makes telescoping electromagnetic iron under electromagnetic driving force effect
Telescopic rod is stretched out or is retracted, so that preceding body and the spacing of rear body be made to increase or reduce.
Machine human organism is under the action of telescoping electromagnetic iron in axial elongation or contraction state to realize that wriggling advances.
The present invention drives the support of preceding body and rear body using rotating electromagnet as driving structure, in electromagnetic driving force
Leg is flexible, and is advanced using the wriggling of the preceding body of flexible pulling of telescoping electromagnetic iron or rear body, and integral structure layout is more
It is compact, it is suitable for layout in micro-tube；And rotating electromagnet driving is more convenient relative to motor driven, controller is arranged more
Simply, it replicates and promotes convenient for Practical Project；The soft bullet of guiding role and telescoping electromagnetic iron both ends spring based on directive wheel
Property, when Robot bend pipe is walked, machine human organism can bend in spring junction, thus smooth excessively curved；The knot of cam
Structure and curvilinear path can flexible design as needed, and the size of support force depends on power of electromagnet and cam curve slope,
Therefore it can be adapted for the micro-tubes such as horizontal pipe, vertical pipe and crooked pipeline, therefore the scope of application is wider.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is preceding body explosive view in the present invention；
Fig. 3 is preceding body schematic diagram of movements in the present invention；
Fig. 4 is application schematic diagram in miniature straight tube and bend pipe of the embodiment of the present invention；
In figure: 1, camera；2, preceding body；2-1, front end-plate；2-2, cam；2-3, casing；2-4, supporting leg；2-5, after
End plate；2-6, rotating electromagnet；2-7, directive wheel；3, spring one；4, telescoping electromagnetic iron；5, spring two；6, rear body.
Specific embodiment
The present invention is described in detail in the following with reference to the drawings and specific embodiments.In the present embodiment, pipeline is indicated with P.
As shown in Figures 1 to 4, a kind of electromagnetic drive type pipe robot, including preceding body 2, telescoping electromagnetic iron 4 and rear machine
Body 6, preceding body 2 is identical with rear 6 structure of body and front and back is symmetrical arranged, and telescoping electromagnetic iron 4 is arranged in preceding body 2 and rear body 6
Between, and be connected between preceding body 2 by spring 1, it is connected between rear body 6 by spring 25；
Preceding body 2 includes casing 2-3 and rotating electromagnet 2-6, on the side wall of casing 2-3 it is radially uniform open up it is several logical
Hole, through-hole is interior to be equipped with the supporting leg 2-4 that can be stretched in through-hole, and rotation cam 2-2, rotation cam 2-2 are equipped in casing 2-3
Rotation can drive the supporting leg on casing 2-3 side wall flexible along through-hole；After rotating electromagnet 2-6 is fixed on casing 2-3
On the outside of end plate 2-5, and its rotating output shaft passes through end plate 2-5 and is connected with rotation cam 2-2 and drives rotation cam 2-2 positive and negative
Turn, the front end of casing 2-3 is equipped with front end-plate 2-1.
Further, the supporting leg 2-4 is three groups, and cam 2-2 is clover-leaf cam, and the cam 2-2 is by ferromagnetism material
Material is made, and the cam 2-2 and supporting leg 2-4 are made of feeromagnetic metal, so that the two generates magnetic attraction, the two is made to keep patch
It closes, the curved section defined in clover-leaf cam 2-2 for driving Retractive leg 2-4 generation telescopic displacement to act on is effect curves, cam
Each leaf effect curves be outwardly convex camber line.
Evagination refers to the direction of camber line protrusion outwardly, deviates from the center of circle；Convex refers to the direction of arc protrusion inwardly, towards circle
The heart.Therefore when actuated by cams Retractive leg 2-4 stretches out, due to using outer lug effect curves, it can effectively avoid cam 2-2 pressure
Angle increases, to avoid the extrapolability for leading to Retractive leg 2-4 because pressure angle is excessive insufficient or can not release.
Further, the outer ledge of the front end-plate 2-1 is uniformly equipped with several directive wheel 2-7.Based on directive wheel 2-7
Guiding role and telescoping electromagnetic iron both ends spring it is flexible, Robot bend pipe walk when, machine human organism can be in bullet
Spring junction bends, thus smooth excessively curved.
Further, the centre on the outside of front end-plate 2-1 is equipped with camera 1.For shooting situation in micro-tube, and will
Image transmission is to outer end control system.
Preceding body 2, telescoping electromagnetic iron 4 and rear body 6 all have two states, as shown in figure 3, when cam 2-2 is counterclockwise
When rotation to cam curved surface highest point and supporting leg 2-4 contacts, the supporting leg 2-4 in preceding body 2 and rear body 6 is stretched out and is supported
Tube wall, when cam 2-2 is rotated clockwise to cam curved surface minimum point and supporting leg 2-4 is contacted, in preceding body 2 and rear body 6
Supporting leg 2-4 retract release support tube wall, and the state of preceding body 2 and rear body 6 is opposite always；As shown in figure 4, flexible electricity
Magnet 4 makes the telescopic rod of telescoping electromagnetic iron stretch out or retract under electromagnetic driving force effect, to make preceding body 2 and rear body
6 spacing increases or reduces.
As shown in figure 4, the schematic diagram that pipe robot is implemented in straight tube and bend pipe, for the convenience of description, by preceding body 2
It presses wall and releases wall-like state and be expressed as A+ and A-, the axial support of telescoping electromagnetic iron 4 and axial shrinkage state are expressed as B
+ and B-, rear body 6 press wall and release wall-like state and be expressed as C+ and C-, and creeping motion type principle available symbols of walking indicate: to the left
When walking, each mechanism status (C+) → (A-) → (B+) → → (A+) → (C-) → (B-) → → (C+) → (A-) → (B+) ...,
To push robot to continue to walk forward；When walking to the right, each mechanism status can be expressed as (A+) → (C-) → (B+) →
→ (C+) → (A-) → (B-) → → (A+) → (C-) → (B+) ..., principle pushes the positive and negative two-way wriggly walking of robot according to this；
Guiding role, spring 3 and 5 based on directive wheel 2-1 it is flexible, Robot bend pipe walk when, machine human organism can be in bullet
The junction of spring 3 and 5 bends, thus smooth excessively curved.
Claims (5)
1. a kind of electromagnetic drive type pipe robot, including preceding body (2), telescoping electromagnetic iron (4) and rear body (6), preceding body
(2) identical with rear body (6) structure and front and back is symmetrical arranged, and telescoping electromagnetic iron (4) is arranged in preceding body (2) and rear body (6)
Between, and be connected between preceding body (2) by spring one (3), it is connected between rear body (6) by spring two (5)；
Preceding body (2) includes casing (2-3) and rotating electromagnet (2-6), on the side wall of casing (2-3) it is radially uniform open up it is several
Through-hole, through-hole is interior to be equipped with the supporting leg (2-4) that can be stretched in through-hole, is equipped with rotation cam (2-2) in casing (2-3), revolves
Rotating cam (2-2) rotation can drive the supporting leg on casing (2-3) side wall flexible along through-hole；Rotating electromagnet (2-6) is solid
It is scheduled on the outside of the end plate (2-5) of casing (2-3), and its rotating output shaft passes through end plate (2-5) and rotation cam (2-2) phase
Connect and drive rotation cam (2-2) positive and negative rotation, the front end of casing (2-3) is equipped with front end-plate (2-1).
2. electromagnetic drive type pipe robot according to claim 1, which is characterized in that the supporting leg (2-4) is three
Group, the cam (2-2) are clover-leaf cam, and cam (2-2) and supporting leg (2-4) are made of feeromagnetic metal, and cam (2-2)
Each leaf effect curves be outwardly convex camber line.
3. electromagnetic drive type pipe robot according to claim 2, which is characterized in that outside the front end-plate (2-1)
Side edge is uniformly equipped with several directive wheels (2-7).
4. electromagnetic drive type pipe robot according to claim 3, which is characterized in that on the outside of front end-plate (2-1)
Between camera (1) is installed.
5. according to claim 1 to electromagnetic drive type pipe robot described in 4 any claims, which is characterized in that preceding machine
Body (2), telescoping electromagnetic iron (4) and rear body (6) all have two states, when cam (2-2) rotates counterclockwise to cam curved surface
When highest point and supporting leg (2-4) are contacted, the supporting leg (2-4) in preceding body (2) and rear body (6) stretches out and supports tube wall,
When cam (2-2) is rotated clockwise to cam curved surface minimum point and supporting leg (2-4) is contacted, preceding body (2) and rear body (6)
In supporting leg (2-4) retract release support tube wall, and the state of preceding body (2) and rear body (6) is opposite always；Telescoping electromagnetic
Iron (4) electromagnetic driving force effect under make telescoping electromagnetic iron (4) telescopic rod stretch out or retract, thus make preceding body (2) and
The spacing of body (6) increases or reduces afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811581130.3A CN109681719A (en) | 2018-12-24 | 2018-12-24 | A kind of electromagnetic drive type pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811581130.3A CN109681719A (en) | 2018-12-24 | 2018-12-24 | A kind of electromagnetic drive type pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109681719A true CN109681719A (en) | 2019-04-26 |
Family
ID=66188983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811581130.3A Pending CN109681719A (en) | 2018-12-24 | 2018-12-24 | A kind of electromagnetic drive type pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109681719A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395273A (en) * | 2019-07-31 | 2019-11-01 | 张启辉 | A kind of step-by-step movement rail vehicle and its movement technique |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
| CN111558905A (en) * | 2020-06-02 | 2020-08-21 | 中山市泰帝科技有限公司 | Elastic grinding knife sharpener |
| CN112047111A (en) * | 2020-09-03 | 2020-12-08 | 安徽海螺集团有限责任公司 | Detection sample transportation equipment of intelligence cement mill |
| CN113617756A (en) * | 2021-07-12 | 2021-11-09 | 杭州电子科技大学 | Magnetic drive soft robot for cleaning pipeline and working method thereof |
| CN114263471A (en) * | 2021-12-27 | 2022-04-01 | 湖南海润电气有限公司 | Mobile robot for overhauling cutter head of shield machine |
| CN114484140A (en) * | 2022-01-24 | 2022-05-13 | 黄帅 | Shock attenuation resistance to compression type cement tubular column |
| CN114798617A (en) * | 2022-04-24 | 2022-07-29 | 杭州电子科技大学 | Pipeline cleaning robot |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN116293194A (en) * | 2023-03-03 | 2023-06-23 | 韶关学院 | Pipeline robot running gear |
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| CN110395273A (en) * | 2019-07-31 | 2019-11-01 | 张启辉 | A kind of step-by-step movement rail vehicle and its movement technique |
| CN110395273B (en) * | 2019-07-31 | 2021-11-09 | 张启辉 | Stepping type rail carrier and movement method thereof |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
| CN111558905A (en) * | 2020-06-02 | 2020-08-21 | 中山市泰帝科技有限公司 | Elastic grinding knife sharpener |
| CN112047111A (en) * | 2020-09-03 | 2020-12-08 | 安徽海螺集团有限责任公司 | Detection sample transportation equipment of intelligence cement mill |
| CN113617756A (en) * | 2021-07-12 | 2021-11-09 | 杭州电子科技大学 | Magnetic drive soft robot for cleaning pipeline and working method thereof |
| CN114263471A (en) * | 2021-12-27 | 2022-04-01 | 湖南海润电气有限公司 | Mobile robot for overhauling cutter head of shield machine |
| CN114484140A (en) * | 2022-01-24 | 2022-05-13 | 黄帅 | Shock attenuation resistance to compression type cement tubular column |
| CN114798617A (en) * | 2022-04-24 | 2022-07-29 | 杭州电子科技大学 | Pipeline cleaning robot |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN115056873B (en) * | 2022-05-31 | 2023-10-20 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN116293194A (en) * | 2023-03-03 | 2023-06-23 | 韶关学院 | Pipeline robot running gear |
| CN116293194B (en) * | 2023-03-03 | 2023-09-22 | 韶关学院 | Pipeline robot running gear |
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Application publication date: 20190426 |