CN202038385U

CN202038385U - Force multiplication pipeline robot

Info

Publication number: CN202038385U
Application number: CN201120119530XU
Authority: CN
Inventors: 胡胜海; 赵晓丽; 王洪光; 刘载淳; ***; 徐鹏; 李齐悦; 张校东; 李林; 邓坤秀
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2011-04-21
Filing date: 2011-04-21
Publication date: 2011-11-16
Anticipated expiration: 2021-04-21

Abstract

The utility model aims to provide a force multiplication pipeline robot, which comprises a lead screw and three same walking units, wherein the lead screw passes through the walking units, and is connected with the walking units; each walking unit comprises a shell, two direct-current motors, an internal tooth bull gear with a cam mechanism on the outer surface, three pinions, a tension rod, a support wheel, a worm wheel and a worm; the three pinions are meshed with the internal tooth bull gear, and are supported on the shell through bearings; the two direct-current motors are arranged in the shell; a first direct-current motor is connected with one of the three pinions; a second direct-current motor is connected with the worm; the worm is connected with the worm wheel; the support wheel is arranged outside the shell; the tension rod is arranged outside the internal tooth bull gear; and three walking units are arranged. The force multiplication pipeline robot has a novel design and a reliable structure; and tensile force is multiplied by tensioning two sections of walking units at the same time, so that force multiplication is realized, the walking stability of the robot pipeline is enhanced, and walking of pipelines of different diameters can be realized.

Description

The force-doubling type pipe robot

Technical field

The utility model relates to a kind of robot that is used for pipeline operations.

Background technology

Development along with maritime technology, the situation of utilizing pipeline to connect is more and more, in order to reduce economic loss that pipeline breaking wearing and tearing etc. bring to engineering and to the pollution of ocean, research to the high pipe robot of stability is very to be necessary, the most of mechanisms of existing pipe robot are loaded down with trivial details, stability is good inadequately, and the advantage that does not make full use of mechanism realizes high stability, high efficiency robot.At above-mentioned situation,, high reliability low, high stability, maintenance easy to assemble with cost, easily produce, simple in structure etc. be main design philosophy, this patent has been announced a kind of force-doubling type pipe robot, this pipe robot is realized a times power by two stretching devices tensioning simultaneously mode wherein, reaches good stable and reliability requirement.

Simultaneously, many pipeline operations robots are also arranged in reading up the literature, can roughly be divided into following main several classes by the principle form that realizes: based on telescopic leg and the leg that swings, the pin of unit, the left and right sides alternately slams and leaves tube wall, entire machine people sway during by the swing of leg, the leg swinging gear that makes the flexible pin telescoping mechanism of pin and make the leg swing is arranged on each unit, pin leaves and slams the radial alignment of tube wall and moves and small machine drive (Li Yuanzong, Shi Guanzhu, Zheng Lihong, Li Hongyan, Rong Guohong, robot walking in pipe, the patent No. 95100242.2), though this robot has the ability of very big tractive force and across obstacle, the stability of this robot can be restricted, stretching device if any a pin lost efficacy, and then this robot just can not move and work; Another robot walking in pipe (Chen Jiong, robot walking in pipe, the patent No. 200410029964.5) has traveling gear, robot controller, control power supply; Hinge-coupled between robot shoulder and the big arm, between big arm and the forearm by the elbow joint pivot hinge; hinged composition joint type arm between forearm and the hand; the joint type arm is installed on the joint shaft of robot waist; the control power supply is installed in the electrical box of robot waist; the robot waist is installed in the guide rail of robot running gear; Single Chip Microcomputer (SCM) system is through two groups of biserials, 24 pin sockets; plug and cable; respectively with the robot shoulder; big arm; forearm; the input interface circuit mouth in the wrist electromechanical module electrical box; it is less that this in-pipe robot drives power; efficient is lower, and fragile.

Summary of the invention

The purpose of this utility model is to provide modern design, reliable in structure, can realizes the pipe walking force-doubling type pipe robot of different-diameter.

The purpose of this utility model is achieved in that

The utility model force-doubling type pipe robot, it is characterized in that: comprise the walking unit that leading screw is identical with three, leading screw passes the walking unit and links to each other with the walking unit, the walking unit comprises housing, two DC machine, outside face has the inner tooth gearwheel of cam mechanism, three miniature gearss, nutted rod, support wheel, worm gear, worm screw, three miniature gearss and inner tooth gearwheel engagement, and by bearings on housing, two DC machine are installed in the housing, first DC machine links to each other with one of them of three miniature gearss, second DC machine connects worm screw, worm and wheel links to each other, support wheel is installed in outside the housing, nutted rod is installed in outside the inner tooth gearwheel, and described walking unit has three.

The utility model can also comprise:

1, on the described nutted rod rubber coating is installed.

2, described each walking unit comprises three nutted rods and six support wheels.

3, described leading screw two ends pipe laying operation unit.

Advantage of the present utility model is: the utility model modern design, reliable in structure so that tensile force increases doubly, realizes times power by two sections walking unit tensionings simultaneously, helps the stability of robot pipe walking, can realize the pipe walking of different-diameter.

Description of drawings

Fig. 1 is a front view of the present utility model;

Fig. 2 is a left view of the present utility model;

Fig. 3 is an internal view of the present utility model.

The specific embodiment

For example the utility model is done description in more detail below in conjunction with accompanying drawing:

Embodiment 1:

In conjunction with Fig. 1～3, the force-doubling type pipe robot comprises pipeline operations unit 1, rubber coating 2, axle sleeve 3, nutted rod 4, support wheel 5, bearing brackett 6, axle sleeve 7, bearing 8, worm screw 9, axle sleeve 10, leading screw 11, baffle plate 12, bearing 13, worm gear 14, walking cell enclosure 15, DC machine 16, bearing 17, motor baffle plate 18, nutted rod baffle plate 19, axle sleeve 20, inner tooth gearwheel 21, key 22, miniature gears 23.

The utility model has three identical in structure walking unit; all there are nutted rod 4 and six support wheels 5 of three expandables each walking unit; stretching device is made up of the inner tooth gearwheel 21 that three identical miniature gearss 23 and outside face have cam mechanism; one of them miniature gears connects by key and coupler is connected on the DC machine 16; each miniature gears by bearings the walking unit housing 15 on; then turning an angle by the miniature gears 23 in the DC machine 16 drive planet circular system cams during tensioning is tensioned on the tube wall nutted rod 4; in addition; the higher rubber coating of friction coefficient 2 all is housed on the nutted rod 4; be beneficial to and increase friction; protect nutted rod 4 simultaneously; DC machine 16 all by bolt and nut be connected and fixed the walking unit housing 15 on; and pass through bearings; each walking unit drives worm screw 9 by DC machine 16 and rotates; thereby driving worm gear 14 rotates; drive the sway that leading screw 11 motions realize the walking unit by screw machanism at last; the bearing 13 of worm gear 14 usefulness both sides symmetries supports; two pipeline operations unit are fixed on the leading screw 11 by thread connection; and be supported on inner-walls of duct with six support wheels 5; be distributed in the robot both sides; walking also has axle sleeve 3 on the unit; 7; 10 and 20; bearings plate 6; baffle plate 12; motor baffle plate 18; be used for supporting and transferring power, baffle plate 12 is screwed on walking unit housings 15 with motor baffle plate 18.

DC machine 16 drives miniature gears 23 and rotates, this moment, three miniature gearss, 23 drive inner tooth gearwheels 21 rotated, inner tooth gearwheel 21 outside faces become cam face, when inner tooth gearwheel turns an angle, nutted rod 4 contacts with inner tooth gearwheel, drive nutted rod 4 radial motions, make it be tensioned to tube wall.Nutted rod 4 by using different length and support wheel 5 are to adapt to the pipeline of multiple diameter.

By accompanying drawing 1, the utility model is realized moving by following steps:

Step 1: left side and the stretching device work of middle walking unit, nutted rod 4 is tensioned to tube wall, and left side and middle walking unit DC machine 16 are worked simultaneously, and walking unit, right side and leading screw 11 are travelled forward jointly;

Step 2: the stretching device work of walking unit, right side, middle walking unit stretching device shrinks, left side and walking unit, right side DC machine 16 co-operation, walking unit and leading screw 11 travel forward jointly in the middle of making;

Step 3: the stretching device work of middle walking unit, walking unit, left side stretching device shrinks, and middle and walking unit, right side DC machine 16 co-operation travel forward walking unit, left side and leading screw 11 jointly;

Step 4: three walking unit stretching devices are all worked, and movable motor 16 reverses simultaneously, make leading screw 11 move a segment distance backward;

Step 5: the above-mentioned working process that circulates, realize that robot times power in pipeline moves ahead.

The work engineering of stretching device:

When stretching device was not worked, the walking unit was supported in the pipe by support wheel 5, when the needs tensioning, DC machine 16 work, drive miniature gears 23 and rotate, rotate thereby drive inner tooth gearwheel 21, this moment, two other miniature gears and then rotated, play a supportive role, inner tooth gearwheel 21 outlines are cam mechanisms, when inner tooth gearwheel 21 turns an angle, can make nutted rod 4 and camming action, realization moves radially, and it is stretched in the tube wall.

Robot side travel working process:

After stretching device work, the walking unit is stretched in the tube wall, DC machine 29 work in the unit of slack-free walking at this moment, worm screw 9 is rotated, worm screw 9 drives worm gear 14 and rotates, worm gear 14 drives leading screw 11 by thread connection, makes leading screw 11 and another not slack-free walking unit realize cross motion jointly.

Claims

1. force-doubling type pipe robot, it is characterized in that: comprise the walking unit that leading screw is identical with three, leading screw passes the walking unit and links to each other with the walking unit, the walking unit comprises housing, two DC machine, outside face has the inner tooth gearwheel of cam mechanism, three miniature gearss, nutted rod, support wheel, worm gear, worm screw, three miniature gearss and inner tooth gearwheel engagement, and by bearings on housing, two DC machine are installed in the housing, first DC machine links to each other with one of them of three miniature gearss, second DC machine connects worm screw, worm and wheel links to each other, support wheel is installed in outside the housing, nutted rod is installed in outside the inner tooth gearwheel, and described walking unit has three.

2. force-doubling type pipe robot according to claim 1 is characterized in that: on the described nutted rod rubber coating is installed.

3. force-doubling type pipe robot according to claim 1 and 2 is characterized in that: described each walking unit comprises three nutted rods and six support wheels.

4. force-doubling type pipe robot according to claim 1 and 2 is characterized in that: described leading screw two ends pipe laying operation unit.

5. force-doubling type pipe robot according to claim 3 is characterized in that: described leading screw two ends pipe laying operation unit.