CN201566717U - Walking style pipe robot - Google Patents
Walking style pipe robot Download PDFInfo
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- CN201566717U CN201566717U CN2009203517207U CN200920351720U CN201566717U CN 201566717 U CN201566717 U CN 201566717U CN 2009203517207 U CN2009203517207 U CN 2009203517207U CN 200920351720 U CN200920351720 U CN 200920351720U CN 201566717 U CN201566717 U CN 201566717U
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Abstract
The utility model relates to a walking type pipe robot used for detecting and maintaining pipes, which belongs special robot field. The walking type pipe robot is composed of two sets of assemblies having an identical structure and arranged symmetrically, and two assemblies are connected through a steering mechanism; each assembly is composed of three scissors fork mechanisms having an identical structure, one end of each scissors fork mechanism is connected to a second support frame and joggled to drive gears arranged on an output shaft of a motor through gears to telescope the scissors fork mechanisms, wherein other ends of two scissors fork mechanisms used as support arms are provided with support pads, the other end of the third scissors fork mechanism is connected with the steering mechanism; a camera is mounted on the front end of the pipe robot. According to the utility model, by means of controlling the telescoping and steering of each scissors fork mechanism, the walking type pipe robot may be suitable for various pipe environments and has strong adaptability; the walking type pipe robot may be adapted to pipes with a variated diameter has a wide application range; the walking type pipe robot also has barrier-crossing capability, and is capable of overcoming different barriers in the pipe.
Description
Technical field
The utility model belongs to field of special robots, and specifically a kind of pipeline that is used for is surveyed the legged pipe robot that overhauls.
Background technology
Pipe robot is a kind of visual plant in the field of special robots.Development along with economy and social construction, increasing various pipeline has appearred in the city, as gas pipe line, sewer line, air-conditioning duct etc., the normal operation of these pipelines is significant to the normal operation in the daily life of keeping broad masses of the people and city.Because the particularity of pipeline configuration, occur pipeline aging or damage phenomenon after be difficult to detect or maintenance; The pipeline that some are important as gas pipe line, will cause great potential safety hazard in case the crack occurs.
At present, pipe robot is unique feasible means that can address the above problem.Mostly the main version of the pipe robot that has occurred is crawler type or wheeled, though these pipe robots environment of adaptation level straight tube preferably is then often powerless for pipelines such as standpipe and bend pipes; Also can't adapt to simultaneously the environment that bigger variation appears in pipe diameter.Therefore, the range of use of existing pipe robot has been subjected to bigger restriction.Development all has significant for the marketable value of the operational capability, scope of work and the pipe robot that improve pipe robot than the pipe robot of strong adaptive capacity to various pipelines.
The utility model content
In order to solve the problem of above-mentioned existence, the purpose of this utility model is to provide a kind of legged pipe robot.This legged pipe robot adaptive capacity is strong, and applied range has obstacle climbing ability.
The purpose of this utility model is achieved through the following technical solutions:
The utility model is made up of two groups of identical, symmetrically arranged assemblies of structure, is connected by steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure, one end of three scissors mechanisms is connected to stretching on second bracing frame, by the meshed transmission gear on gear and the motor output shaft, realization scissors mechanism, wherein the other end as two scissors mechanisms of hold-down arm is respectively equipped with supporting pad, and the other end of the 3rd scissors mechanism is connected with steering hardware; Front end at pipe robot is equipped with pick up camera.
Wherein: three motors are installed on described second bracing frame, are connected with first gear on the output shaft of each motor respectively; One end of described three scissors mechanisms is respectively equipped with second and third gear, and is installed on second bracing frame by gear wheel shaft, and first gear is meshed with second gear, and second gear is meshed with the 3rd gear; Three scissors mechanisms are "T"-shaped setting, and as two scissors mechanism conllinear of hold-down arm, be provided with supporting pad with the end of tube contacts, the 3rd scissors mechanism and described two scissors mechanisms that link to each other with steering hardware are perpendicular; Each scissors mechanism is the double-row type scissors mechanism that the identical part of two upper and lower settings, structure is formed, and the top and the bottom of this double-row type scissors mechanism link to each other by adapter shaft; Described steering hardware comprises steer motor, first bracing frame and the first～three steering gear, wherein steer motor is installed on first bracing frame, be connected with first steering gear on the output shaft of steer motor, described second and third steering gear is installed on first bracing frame by gear wheel shaft respectively, first steering gear is meshed with second steering gear, and second steering gear is meshed with the 3rd steering gear; The other end of the 3rd scissors mechanism in described two assemblies links to each other with second steering gear or the 3rd steering gear by adapter shaft.
Advantage of the present utility model and good effect are:
1. the utility model has adaptive capacity to multiple pipeline environment simultaneously by controlling stretching, turning to of each scissors mechanism, and as straight tube, bend pipe, standpipe etc., adaptive capacity is strong.
2. the utility model is suitable for using applied range in the pipeline environment that pipe diameter changes.
3. the utility model can overcome multi-form obstacle in the pipeline by the stretching, turn to and also have obstacle climbing ability of each scissors mechanism.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present utility model;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the mobile gait scheme drawing of the utility model in flat pipe;
Fig. 4 is the mobile gait scheme drawing of the utility model in bend pipe;
Wherein: 1 is steer motor, and 2 is first bracing frame, and 3 is first steering gear, and 4 is second steering gear, 5 is the 3rd steering gear, and 6 is gear wheel shaft, and 7 is adapter shaft, and 8 is second bracing frame, 9 is first gear, and 10 is second gear, and 11 is the 3rd gear, 12 is motor, and 13 is supporting pad, and 14 is pick up camera, A is first scissors mechanism, and B is second scissors mechanism, and C is the 3rd scissors mechanism, D is the 4th scissors mechanism, and E is the 5th scissors mechanism, and F is the 6th scissors mechanism.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model is made up of two groups of identical, symmetrically arranged assemblies of structure, is connected by steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure, i.e. the first～six scissors mechanism A～F, and wherein first, second and third scissors mechanism A, B, C are one group, fourth, fifth, six scissors mechanism D, E, F are one group.The end of the first scissors mechanism A is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 by gear wheel shaft 6 separately, the two ends of gear wheel shaft 6 by bearing installation on second bracing frame; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11; The other end of the first scissors mechanism A is provided with supporting pad 13.The end of the second scissors mechanism B is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 by gear wheel shaft 6 separately, the two ends of gear wheel shaft 6 by bearing installation on second bracing frame; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11; The other end of the second scissors mechanism B is provided with supporting pad 13.The end of the 3rd scissors mechanism C is respectively equipped with second and third gear 10,11, and second and third gear 10,11 is installed on second bracing frame 8 by gear wheel shaft 6 separately, the two ends of gear wheel shaft 6 by bearing installation on second bracing frame; Second bracing frame 8 is provided with motor 12, and key is connected with first gear, 9, the first gears 9 and is meshed with second gear 10 on the output shaft of motor 12, and second gear 10 is meshed with the 3rd gear 11.Steering hardware comprises steer motor 1, first bracing frame 2 and the first～three steering gear 3～5, wherein steer motor 1 is installed on first bracing frame 2, key is connected with first steering gear 3 on the output shaft of steer motor 1, described second and third steering gear 4,5 gear wheel shaft 6 by separately respectively is installed on first bracing frame 2, the two ends of gear wheel shaft 6 by bearing installation on first bracing frame; First steering gear 3 is meshed with second steering gear 4, and second steering gear 4 is meshed with the 3rd steering gear 5; The other end of the 3rd scissors mechanism C links to each other with second steering gear 4 by adapter shaft 7.
The structure of the 5th scissors mechanism E and connection mode are identical with the first scissors mechanism A, the structure of the 6th scissors mechanism F and connection mode are identical with the second scissors mechanism B, the structure of the 4th scissors mechanism D and connection mode are similar to the 3rd scissors mechanism C, and difference is that the other end of the 4th scissors mechanism D links to each other with the 3rd steering gear 5 by adapter shaft 7.Front end at pipe robot is equipped with pick up camera 14, is used to observe environment and pipeline self-condition in the pipeline.
The first～three scissors mechanism A～C of the present utility model is "T"-shaped setting, first and second scissors mechanism A, B conllinear, scalable under the driving of motor as hold-down arm; The 3rd scissors mechanism C and first and second scissors mechanism A, the B that link to each other with steering hardware are perpendicular.The four～six scissors mechanism D～F is "T"-shaped setting, the 5th, six scissors mechanism E, F conllinear, scalable under the driving of motor as hold-down arm; The 4th scissors mechanism D and the 5th, six scissors mechanism E, the F that link to each other with steering hardware are perpendicular.The first～six scissors mechanism A～F is the double-row type scissors mechanism that the identical part of two upper and lower settings, structure is formed, and the top and the bottom of this double-row type scissors mechanism link to each other by adapter shaft 7.
Principle of work of the present utility model is:
As shown in Figure 3, the mobile gait of pipe robot in flat pipe is:
(1) with cooresponding motor 12 work of first and second scissors mechanism A, B, drives first gear 9 and rotate,, drive first and second scissors mechanism A, B respectively and shrink by the engaged transmission successively of first, second and third gear 9,10,11;
(2) with cooresponding motor 12 work of third and fourth scissors mechanism C, D, drive first gear 9 and rotate,, drive third and fourth scissors mechanism C, D respectively and stretch by the engaged transmission successively of first, second and third gear 9,10,11;
(3) with cooresponding motor 12 reverse operations of first and second scissors mechanism A, B, drive first gear, 9 backward rotation, engaged transmission successively by first, second and third gear 9,10,11, drive first and second scissors mechanism A, B respectively and stretch, the supporting pad 13 on first and second scissors mechanism A, B is connected to inner-walls of duct;
(4) with cooresponding motor 12 work of the 5th, six scissors mechanism E, F, drive first gear 9 and rotate,, drive the 5th, six scissors mechanism E, F respectively and shrink by the engaged transmission successively of first, second and third gear 9,10,11;
(5) with cooresponding motor 12 reverse operations of third and fourth scissors mechanism C, D, drive first gear, 9 backward rotation,, drive third and fourth scissors mechanism C, D respectively and shrink by the engaged transmission successively of first, second and third gear 9,10,11;
(6) with cooresponding motor 12 reverse operations of the 5th, six scissors mechanism E, F, drive first gear, 9 backward rotation, engaged transmission successively by first, second and third gear 9,10,11, driving the 5th, six scissors mechanism E, F respectively stretches, supporting pad 13 on the 5th, six scissors mechanism E, F is connected to inner-walls of duct, and pipe robot is promptly finished the motion process in a stroke cycle; Pipe robot is pressed aforesaid operations, can realize walking in flat pipe.
As shown in Figure 4, the mobile gait of pipe robot in bend pipe is:
When pipe robot needs to turn in bend pipe, after above-mentioned steps (1), steer motor 1 work, driving first steering gear 3 rotates, engaged transmission successively by first, second and third steering gear 3,4,5, drive third and fourth scissors mechanism C, D respectively and be case of bending, and then make first and second scissors mechanism A, B shrink, turn to, turn to the back to make the supporting pad 13 on first and second scissors mechanism A, the B be connected to inner-walls of duct by above-mentioned steps; Then, steer motor 1 reverse operation drives first steering gear, 3 backward rotation, by the engaged transmission successively of first, second and third steering gear 3,4,5, makes the 5th, six scissors mechanism E, F shrink, turn to; According to the above-mentioned steps operation, make the turning of pipe robot in piping again.The anglec of rotation of pipe robot can be adjusted according to the situation of change of the angle of bend in the pipeline.
Claims (5)
1. a legged pipe robot is characterized in that: be made up of two groups of identical, symmetrically arranged assemblies of structure, be connected by steering hardware between two assemblies; Every group of assembly formed by three identical scissors mechanisms of structure, one end of three scissors mechanisms is connected to last, the stretching by the meshed transmission gear on gear and the motor output shaft, realization scissors mechanism of second bracing frame (8), wherein the other end as two scissors mechanisms of hold-down arm is respectively equipped with supporting pad (13), and the other end of the 3rd scissors mechanism is connected with steering hardware; Front end at pipe robot is equipped with pick up camera (14).
2. by the described legged pipe robot of claim 1, it is characterized in that: three motors (12) are installed on described second bracing frame (8), are connected with first gear (9) on the output shaft of each motor (12) respectively; One end of described three scissors mechanisms is respectively equipped with second and third gear (10,11), and is installed on second bracing frame (8) by gear wheel shaft, and first gear (9) is meshed with second gear (10), and second gear (10) is meshed with the 3rd gear (11).
3. by the described legged pipe robot of claim 2, it is characterized in that: described three scissors mechanisms are "T"-shaped setting, as two scissors mechanism conllinear of hold-down arm, be provided with supporting pad (13) with the end of tube contacts, the 3rd scissors mechanism and described two scissors mechanisms that link to each other with steering hardware are perpendicular.
4. by the described legged pipe robot of claim 2, it is characterized in that: each scissors mechanism is the double-row type scissors mechanism that two upper and lower settings, part that structure is identical are formed, and the top and the bottom of this double-row type scissors mechanism link to each other by adapter shaft (7).
5. by the described legged pipe robot of claim 1, it is characterized in that: described steering hardware comprises steer motor (1), first bracing frame (2) and the first～three steering gear (3～5), wherein steer motor (1) is installed on first bracing frame (2), be connected with first steering gear (3) on the output shaft of steer motor (1), described second, three steering gears (4,5) be installed on first bracing frame (2) by gear wheel shaft (6) respectively, first steering gear (3) is meshed with second steering gear (4), and second steering gear (4) is meshed with the 3rd steering gear (5); The other end of the 3rd scissors mechanism in described two assemblies links to each other with second steering gear (4) or the 3rd steering gear (5) by adapter shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203517207U CN201566717U (en) | 2009-12-30 | 2009-12-30 | Walking style pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203517207U CN201566717U (en) | 2009-12-30 | 2009-12-30 | Walking style pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201566717U true CN201566717U (en) | 2010-09-01 |
Family
ID=42659004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009203517207U Expired - Fee Related CN201566717U (en) | 2009-12-30 | 2009-12-30 | Walking style pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201566717U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114878B (en) * | 2009-12-30 | 2012-09-26 | 中国科学院沈阳自动化研究所 | Walking type pipeline robot |
| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103869377A (en) * | 2014-02-13 | 2014-06-18 | 武汉华源电力工程有限责任公司 | Detection device adapted to multi-caliber electric tube banks |
| CN108152470A (en) * | 2018-02-26 | 2018-06-12 | 深圳达芬奇创新科技有限公司 | Water analysis outfit in a kind of pipeline |
-
2009
- 2009-12-30 CN CN2009203517207U patent/CN201566717U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114878B (en) * | 2009-12-30 | 2012-09-26 | 中国科学院沈阳自动化研究所 | Walking type pipeline robot |
| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103133818B (en) * | 2013-02-27 | 2014-12-24 | 北京交通大学 | Pipeline robot |
| CN103869377A (en) * | 2014-02-13 | 2014-06-18 | 武汉华源电力工程有限责任公司 | Detection device adapted to multi-caliber electric tube banks |
| CN108152470A (en) * | 2018-02-26 | 2018-06-12 | 深圳达芬奇创新科技有限公司 | Water analysis outfit in a kind of pipeline |
| CN108152470B (en) * | 2018-02-26 | 2020-08-11 | 周春萍 | Water quality analysis device in pipeline |
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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: 20100901 Termination date: 20131230 |