CN201344337Y - Pipeline moving mechanism - Google Patents
Pipeline moving mechanism Download PDFInfo
- Publication number
- CN201344337Y CN201344337Y CNU2008202318818U CN200820231881U CN201344337Y CN 201344337 Y CN201344337 Y CN 201344337Y CN U2008202318818 U CNU2008202318818 U CN U2008202318818U CN 200820231881 U CN200820231881 U CN 200820231881U CN 201344337 Y CN201344337 Y CN 201344337Y
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- forward drive
- spring
- connecting rod
- driving mechanism
- pipeline
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Abstract
The utility model relates to a pipeline moving mechanism, and belongs to the technical field of the pipeline robot engineering. The pipeline moving mechanism comprises an advancing drive mechanism, a receding drive mechanism, a support mechanism, a transmission mechanism, a linkage mechanism and a locking mechanism; wherein, the advancing drive mechanism is connected with the receding drive mechanism through a first transmission mechanism and is connected with a motor in the support mechanism through a second transmission mechanism; the linkage mechanism and the locking mechanism are arranged between the advancing drive mechanism and the first transmission mechanism; and the receding driven mechanism is connected with a friction adjusting mechanism. The utility model has strong adaptability. The moving direction can be automatically adjusted through the mechanical part to prevent obstacles from being stuck in the pipeline. The synchronous movement of driving arms can be realized through the linkage mechanism. With the locking mechanism, when the advancing drive arm contracts towards the pipeline center due to the obstacles, the locking mechanism limits the rotation of the advancing drive arm, the path is converted through the power output, the receding drive arm rotates and generates backward driving force, and then the robot moves in the opposite direction.
Description
Technical field
The invention belongs to the pipeline robot field of engineering technology, particularly relate to a kind of in pipeline the pipe moving mechanism of investigation job.
Background technique
Along with development economic and society, pipeline has obtained using widely because of its convenience and Economy as main fluid (rock gas, oil, water etc.) means of delivery.But along with the increase of service life, wearing out inevitably can appear in pipeline, corrodes or be subjected to the destruction of external construction.If untimely processing not only brings enormous economic loss to country in case have an accident, also can cause serious pollution to environment.Therefore pipeline is carried out regular prospecting and safeguards just seeming very necessary.It is exactly a kind of effective equipment of checking pipeline that pipeline is detected robot.At present, be used for pipeline detect the walking in pipe motion of mechanism form of robot mainly contain wheeled, crawler, resilient support formula, leg formula, Inchworm type, or the like, mainly realize the adaptation of pipeline environment, the pipeline environment adaptability deficiency of mobile mechanism by automatical control system.At document M.Horodinca, L.Doroftei, E.Mignon, that mentions among the A.Preumont. " A simplearchitecture for in-pipe inspection robots " is made up of stator, rotor, support arm, driving arm and helical wheel based on movable robot in the pipeline of screw drives principle.Motor is housed on the stator, and motor output shaft links to each other with rotor, the rotation of driven by motor rotor.Epitrochanterian helical wheel can be around the axis rotation of self, and helical wheel also rotates during the rotor rotation, and robot just can travel forward.Though this mechanism can realize seesawing in the pipeline, when foreign matter being arranged in the pipe or obstacle is arranged, robot often can not surmount obstacles.If there is not special protection to be easy to regard to stuck in the middle of pipeline; Because this kind mobile mechanism is self-powered, do not have connecting physically again, when robot is stuck in the middle of the pipeline, brought difficulty to stand-by service with the external world.
Summary of the invention
In order to solve the technical problem of above-mentioned existence, the invention provides a kind of pipe moving mechanism.It is the direction of advance and the direction of retreat of regulating robot body by mechanical mechanism itself, does not need other electric control operation.
Technological scheme of the present invention is:
The present invention includes forward drive mechanism, retreat driving mechanism, supporting mechanism, driving mechanism, linking mechanism and locking mechanism, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected with motor in the supporting mechanism by second driving mechanism, between the forward drive mechanism and first driving mechanism, linking mechanism and locking mechanism are installed, are connected with friction force adjustment mechanism on the driving mechanism described retreating.
Described linking mechanism comprises pilot sleeve, the connecting rod that is installed on forward drive mechanism forward drive arm, the top rotary table that is installed on the first driving mechanism transmission shaft end, lower rotary table and first spring, upper and lower rotating disk all has the V-type groove along the circumference same position, and the V-type channel opening direction of upper and lower rotating disk is opposite, connecting rod is a T type structure, middle end is connected with the forward drive arm by pilot sleeve, first spring, two ends are installed on respectively in the V-type groove of upper and lower rotating disk in addition, and can slide along the sidewall of V-type groove.
Described pilot sleeve is the disk that has pipe, and the pipe center hole is a lockpin hole.Described lockpin hole cross section is square.The shape of described connecting rod middle end for matching with the pipe lockpin hole of pilot sleeve.
Described locking mechanism is sliding plate, connecting rod and second spring, second spring is installed between upper and lower rotating disk, sliding plate places the top of top rotary table, be fixed on the first driving mechanism transmission shaft, have the draw-in groove that matches with connecting rod along the V-type groove of the corresponding upper and lower rotating disk of sliding plate circumference and the position of connecting rod.
Described friction force adjustment mechanism comprises friction plate, spring and adjusts screw, spring is installed in friction plate and has at least two poles, the 3rd spring is installed in the pole of friction plate and goes up and contact with the adjustment screw, in the 3rd spring and adjustment screw all placed in the trailing wheel frame that retreats driving mechanism, another surface of friction plate contacted with supporting mechanism.
Advantage of the present invention is that adaptability is strong.Since its structure by forward drive mechanism, retreat driving mechanism, supporting mechanism is formed, when ducted obstacle surpasses the robot obstacle climbing ability, this mobile mechanism can rely on mechanical part to adjust movement direction automatically, stuck in pipeline to prevent by obstacle, this process does not need extraneous control.Because it has linking mechanism, when one of them forward drive arm runs into obstacle and when shrank at the center, by the linking mechanism interlock, remaining forward drive arm also will shrink to the center, the realization driving arm is synchronized with the movement.Because it has locking mechanism, when the driving arm that advances runs into obstacle when pipeline center shrinks, locking mechanism has limited the rotation of forward drive arm, power output this moment transduction pathway, retreat driving arm rotation and generation driving force backward, at this moment robot moves in the opposite direction.
Description of drawings
Fig. 1 is a profile plane structure schematic representation of the present invention.
Fig. 2 is a construction profile schematic representation of the present invention.
Fig. 3 is the internal structure schematic representation of Fig. 2.
Fig. 4 is the plane structure schematic representation of Fig. 3.
Fig. 5 is the present invention's first driving mechanism schematic representation.
Fig. 6 is a linking mechanism schematic representation of the present invention.
Fig. 7 is connecting rod and a sleeve cooperating structure schematic representation among Fig. 6.
Fig. 8 is a friction force adjustment mechanism partial schematic sectional view of the present invention.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment 1: as Fig. 1～Fig. 4, shown in Figure 8, the present invention includes forward drive mechanism 1, retreat driving mechanism 2, supporting mechanism 3, driving mechanism, linking mechanism and locking mechanism, forward drive mechanism 1 by first driving mechanism with retreat driving mechanism 2 and be connected, and be connected by second driving mechanism and supporting mechanism 3 interior motor 4, between the forward drive mechanism 1 and first driving mechanism, locking mechanism and linking mechanism are installed also, are connected with friction force adjustment mechanism described retreating on the driving mechanism 2.
As Fig. 1, shown in Figure 3, wherein said forward drive mechanism 1 comprises front wheel frame 8, along three forward drive arms 7 of its circumference uniform distribution, the rolling axis that 1 passive roller 35, described passive roller 35 are installed on each forward drive arm becomes 0～miter angle degree with pipeline section.Described retreat driving mechanism 2 comprise trailing wheel frame 9, along three of its circumference uniform distribution retreat driving arm 6, each retreats driving arm 6 ends 1 passive roller 35 is installed, the rolling axis of described passive roller 35 becomes 0～miter angle degree with pipeline section.Described supporting mechanism 3 comprises along three uniform on its shell support arms 5, and 1 supporting wheel 36 is installed on each support arm 5, and the rotating direction of described supporting wheel 36 is parallel with the conduit axis direction.
As Fig. 4, shown in Figure 5, described first driving mechanism is an epicyclic transmission mechanism, comprises transmission shaft 19, places 3 planet wheels 22,23,24 uniform between the internal gear 21 on the front wheel frame 8 inner bearing carriages 28, the sun gear 20 that is installed on transmission shaft 19 and sun gear 20 and internal gear 21 circumference.As shown in Figure 3, described second driving mechanism is intermeshing first spur gear 17 and second spur gear 18 that is installed on respectively on transmission shaft 19 and the motor 4.As shown in Figure 5, described linking mechanism comprises pilot sleeve 13, the connecting rod 14 that is installed on forward drive mechanism forward drive arm 7, the top rotary table 15 that is installed on the first driving mechanism transmission shaft, 19 ends, lower rotary table 16 and first spring 10, as shown in Figure 7, pilot sleeve 13 is for having the disk of cylinder, and the cylinder center hole is a square opening; Connecting rod 14 is a T type structure, its middle end is square, and the cylinder square opening secure fit with pilot sleeve 13 is called horizon bar 31, vertical with this horizon bar 31 is vertical bar 29, and connecting rod 14 is connected with forward drive arm 7 by pilot sleeve 13, first spring 10.Upper and lower rotating disk all has V-type groove 38 along the circumference same position, and the V-type channel opening direction of upper and lower rotating disk is opposite, and vertical bar 29 two ends of connecting rod 14 are installed on respectively in the V-type groove of upper and lower rotating disk, and can slide along the sidewall of V-type groove.Fixedlying connected with the horizon bar 31 of connecting rod 14 in the central square hole of pilot sleeve 13, makes the connecting rod 14 can not be around the rotation of the axle center of pilot sleeve 13, so vertical bar 29 two ends of connecting rod 14 can keep with last lower rotary table between vertical.As shown in Figure 3, described locking mechanism comprises sliding plate 11, connecting rod 14 and second spring 12, second spring 12 is installed between upper and lower rotating disk, sliding plate 11 places the top of top rotary table 15, be fixed on the first driving mechanism transmission shaft 19, have the draw-in groove 30 that matches with connecting rod 14 along the V-type groove 38 of the corresponding upper and lower rotating disk of sliding plate 11 circumference and the position of connecting rod 14.The upper fixed of transmission shaft 19 top sliding plates 11 has catch 27, is used for transmission shaft 19 is installed in front wheel frame 8.During locking work, under the effect of second spring 12, because the shape of the V-type groove 38 of last lower rotary table is identical, opening direction is opposite.Like this pilot sleeve 13, under the effect of lower rotary table, connecting rod 14 is subjected to one along the outside power of the Normal direction of center of turntable.When three connecting rods 14 were asynchronous, than its outside motion of ambassador, suffered external force was identical on three connecting rods 14, three connecting rod 14 synchronized movement near the connecting rod 14 suffered external force at center.When three connecting rods 14 overcome effect external force thereon to central motion to certain distance, vertical bar 29 ends of three connecting rods 14 slide along the V-type groove 389 of upper and lower rotating disk, enter into the draw-in groove 30 of sliding plate 11 simultaneously, and draw-in groove 30 is fixed on and can not rotates on the transmission shaft 19, so three connecting rods 14 reach the effect of genlocing.Connecting rod 14 has locking, interlock function near vertical bar 29 ends of transmission shaft 19, and horizon bar 31 ends pass pilot sleeve 13 and first spring 10 is connected with forward drive arm 7, and connecting rod 14, pilot sleeve 13 have guide function.As Fig. 8, shown in Figure 4, described friction force adjustment mechanism comprises friction plate 25, the 3rd spring 33 and adjusts screw 34, friction plate 25 has 3 poles 32, the 3rd spring 33 be installed in respectively on the pole 32 of friction plate 25 and with adjust screw 34 and contact, the 3rd spring 33 and adjustment screw 34 all place and retreat in the driving mechanism 6 trailing wheel frames 9, and friction plate 25 another surfaces contact with supporting mechanism 3.Thereby adjusting screw 34 compresses by the 3rd spring 33 or unclamps the size that friction plate 25 is regulated the positive pressure adjustment frictional force between the 3rd spring 33 and the supporting mechanism 3.
Working procedure of the present invention: as Fig. 4～shown in Figure 8, drive motor 4 drives first spur gear 18 by retarder 37 and rotates, and first spur gear 18 drives second spur gear 17 that is engaged with and rotates.Second spur gear 17 links to each other with transmission shaft 19, drives sun gear 20 rotations during transmission shaft 19 rotations and then drives first planet wheel 22, second planet wheel 23,24 rotations of the third line star-wheel, drives internal gear 21 rotations that are attached thereto when planet wheel rotates.Drive forward drive arm 7 rotation thereupon during front wheel frame 8 rotations, so robot travels forward; If direction of rotation, robot is motion backward then.
Shown in Fig. 3,5, when in robot advances process, running into obstacle, the motion of forward drive arm 7 has been subjected to obstruction and speed decline, again because the effect of obstacle, forward drive arm 7 will shrink to pipeline center, this moment, forward drive arm 7 drove top rotary table 15, lower rotary table 16 rotations by connecting rod 14, owing to upper and lower rotating disc is connected by the V-type groove with 3 forward drive arms 7, so other forward drive arm 7 also will shrink to the center.As long as one of them forward drive arm 7 shrinks to the center, other forward drive arm 7 also will shrink like this.As shown in Figure 3, because sliding plate 11 links to each other with transmission shaft 19 and be fixing, when the driving arm 7 that advances continues to shrink to the center, touching the edge of sliding plate 11, is boundary conditions at this moment.Forward drive arm 7 continues to shrink draw-in groove 30 such forward drive mechanisms 1 that then can enter on the sliding plate 11 to the center and just has been affixed on the supporting mechanism 3, so forward drive arm 7 no longer rotates.Power output this moment transduction pathway, be specially drive motor 4 and drive first spur gear 18 and 17 rotations of second spur gear, second spur gear 17 drives sun gear 20 and planet wheel rotation by transmission shaft 19 then, 3 planet wheel rotating shafts all link to each other with trailing wheel frame 9, the frictional force that the planet wheel rotation overcomes the friction plate 25 between trailing wheel frame 9 and the supporting mechanism 3 drives 9 rotations of trailing wheel frame, trailing wheel frame 9 drives 6 rotations of rear-guard swing arm, 6 rotations of rear-guard swing arm and generation driving force backward, at this moment robot moves round about.
Embodiment 2: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 4 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the passive roller 35 on each forward drive arm 7 is 1; Retreat and retreat driving arm 6 in the driving mechanism 2 along 5 of trailing wheel frame 9 circumference uniform distributions, each passive roller 35 that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel 36 of each support arm 5 is 2.
Embodiment 3: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 6 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the passive roller 35 on each forward drive arm 7 is 2; Retreat driving arm 6 in the rear drive mechanism 2 along 6 of trailing wheel frame 9 circumference uniform distributions, each passive roller 35 that retreats driving arm 6 is 2; Support arm 5 is along 6 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel 36 of each support arm 5 is 4.
Embodiment 4: this routine mobile mechanism is identical with embodiment's 1 structure, and different is: forward drive arm 7 is along 8 of front wheel frame 8 circumference uniform distributions in the forward drive mechanism 1, and the passive roller 35 on each forward drive arm 7 is 2; Retreat driving arm 6 in the rear drive mechanism 2 along 4 of trailing wheel frame 9 circumference uniform distributions, each passive roller 35 that retreats driving arm 6 is 1; Support arm 5 is along 5 of supporting mechanism housing circumference uniform distributions in the supporting mechanism 3, and the supporting wheel 36 of each support arm 5 is 4.
Claims (7)
1. pipe moving mechanism, comprise forward drive mechanism, retreat driving mechanism, supporting mechanism, driving mechanism, linking mechanism and locking mechanism, forward drive mechanism by first driving mechanism with retreat driving mechanism and be connected, and be connected with motor in the supporting mechanism by second driving mechanism, between the forward drive mechanism and first driving mechanism, linking mechanism and locking mechanism are installed, it is characterized in that: be connected with friction force adjustment mechanism on the driving mechanism described retreating.
2. according to the described pipe moving mechanism of claim 1, it is characterized in that: described linking mechanism comprises the pilot sleeve that is installed on forward drive mechanism forward drive arm, connecting rod, be installed on the top rotary table of the first driving mechanism transmission shaft end, the lower rotary table and first spring, on, lower rotary table all has the V-type groove along the circumference same position, and on, the V-type channel opening direction of lower rotary table is opposite, connecting rod is a T type structure, middle end is passed through pilot sleeve, first spring is connected with the forward drive arm, two ends are installed on respectively in addition, in the V-type groove of lower rotary table, and can slide along the sidewall of V-type groove.
3. according to the described pipe moving mechanism of claim 2, it is characterized in that: described pilot sleeve is the disk that has pipe, and the pipe center hole is a lockpin hole.
4. according to the described pipe moving mechanism of claim 3, it is characterized in that: described lockpin hole cross section is square.
5. according to the described pipe moving mechanism of claim 2, it is characterized in that: the shape of described connecting rod middle end for matching with the pipe lockpin hole of pilot sleeve.
6. according to the described pipe moving mechanism of claim 1, it is characterized in that: described locking mechanism is sliding plate, connecting rod and second spring, second spring is installed between upper and lower rotating disk, sliding plate places the top of top rotary table, be fixed on the first driving mechanism transmission shaft, have the draw-in groove that matches with connecting rod along the V-type groove of the corresponding upper and lower rotating disk of sliding plate circumference and the position of connecting rod.
7. according to the described pipe moving mechanism of claim 1, it is characterized in that: described friction force adjustment mechanism comprises friction plate, spring and adjusts screw, spring is installed in friction plate and has at least two poles, the 3rd spring is installed in the pole of friction plate and goes up and contact with the adjustment screw, in the 3rd spring and adjustment screw all placed in the trailing wheel frame that retreats driving mechanism, another surface of friction plate contacted with supporting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202318818U CN201344337Y (en) | 2008-12-19 | 2008-12-19 | Pipeline moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202318818U CN201344337Y (en) | 2008-12-19 | 2008-12-19 | Pipeline moving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201344337Y true CN201344337Y (en) | 2009-11-11 |
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ID=41275918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008202318818U Expired - Fee Related CN201344337Y (en) | 2008-12-19 | 2008-12-19 | Pipeline moving mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN201344337Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102192385A (en) * | 2011-04-21 | 2011-09-21 | 哈尔滨工程大学 | Force-doubling type pipeline robot |
| CN107270027A (en) * | 2017-05-16 | 2017-10-20 | 哈尔滨工程大学 | A kind of support wheel type pipeline detection robot of optimization |
| CN114278809A (en) * | 2021-12-30 | 2022-04-05 | 杭州电子科技大学 | Pipeline detection robot capable of avoiding obstacles |
-
2008
- 2008-12-19 CN CNU2008202318818U patent/CN201344337Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102192385A (en) * | 2011-04-21 | 2011-09-21 | 哈尔滨工程大学 | Force-doubling type pipeline robot |
| CN102192385B (en) * | 2011-04-21 | 2012-08-22 | 哈尔滨工程大学 | Force-doubling type pipeline robot |
| CN107270027A (en) * | 2017-05-16 | 2017-10-20 | 哈尔滨工程大学 | A kind of support wheel type pipeline detection robot of optimization |
| CN114278809A (en) * | 2021-12-30 | 2022-04-05 | 杭州电子科技大学 | Pipeline detection robot capable of avoiding obstacles |
| CN114278809B (en) * | 2021-12-30 | 2023-09-01 | 杭州电子科技大学 | Pipeline detection robot capable of avoiding obstacle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091111 Termination date: 20121219 |