CN205824486U - A kind of novel pipeline inner surface treatment robot - Google Patents
A kind of novel pipeline inner surface treatment robot Download PDFInfo
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- CN205824486U CN205824486U CN201620408906.1U CN201620408906U CN205824486U CN 205824486 U CN205824486 U CN 205824486U CN 201620408906 U CN201620408906 U CN 201620408906U CN 205824486 U CN205824486 U CN 205824486U
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- surface treatment
- pipeline
- pretension
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Abstract
This utility model relates to a kind of novel pipeline inner surface treatment robot, the generation of the problems such as, burn into fracture aging for pipeline, in order to improve pipeline life, proposing a kind of inner surface of pipeline handling machine people, this utility model can be applicable in defect of pipeline flaw detection, corrosion-inhibiting coating detection and coating, foreign object in pipe identification and removing, pipe the numerous areas such as processing.This utility model uses a kind of novel drive mechanism, it is achieved that pipe robot, to caliber change and the automatic conformability of bend pipe environment, improves robot locomotor activity in irregular pipe.Use the wheeled support of radial radiation, parallel-crank mechanism is utilized to form the walking unit of robot, six driving wheels are separately mounted to the two ends of three parallelogram brackets, utilize screw pair and spring to combine the force-closed mechanism of composition, improve the adaptation ability that caliber is changed by robot the active unfreezing function achieving robot.
Description
1, art
This utility model relates to a kind of novel pipeline inner surface treatment robot.
2, background technology
Occurring so far from pipe robot, the research of high efficiency drive unit was never interrupted by research worker, successively
Develop the type of drive such as wheeled, crawler type, biomimetic peristaltic formula, impact type.Owing to in-wheel driving is compared with other modes,
There is speed fast, the advantages such as stable movement, load capacity are strong and be widely used in big-and-middle-sized oil gas pipeline Work robot
In, and the using effect that this drive form is in straight tube is fine.But when pipe robot runs into irregular pipe or bend pipe,
The actual range passed by due to each driving wheel is different so that some driving wheel come true on braked wheel and produce slip and rub
Wipe, the most not only reduce effective drawing force, and due to the parasitic power circulation produced between driving wheel, exacerbate carrier inside
Power consumption and the Fast Wearing of driver part.
For this problem, it is proposed that one is by single motor input, drive multiple driving wheels of circumference to rotate simultaneously, and
And the drive system that each driving wheel rotating speed can be determined by surrounding, i.e. there is the drive system of mechanical differential function.Should
Drive system not only can realize the full active drive of robot, and it is existing that movement relation can be avoided on transmission principle to interfere
The generation of elephant, also compensate for the shortcoming that control system is complicated and volume is bigger than normal caused by multi-motor driving, to pipeline simultaneously
The application of robotics and development have extremely profound significance.
3, summary of the invention
This utility model relates to a kind of novel pipeline inner surface treatment robot.In order to make pipe robot driver element have
Bigger load capacity, uniform speed and stronger pipeline environment adapt to ability, by special to current pipe robot structure
The com-parison and analysis of point, devises one and has pipeline adaptive ability, single motor-driven straight wheel type pipe robot driving
System.
In order to achieve the above object, the such technical scheme of this utility model employing:
Described a kind of novel pipeline inner surface treatment robot, including pretension reducing unit, bidirectional clutch, walking list
Differential unit first, central, control unit and driving motor；Pretension reducing unit and walking unit are by being hinged with driving wheel even
Connecing is an entirety；It is connected as an entirety by direction clutch between pretension reducing unit and central authorities' differential unit；Drive
The output shaft of motor and bidirectional clutch connect；Control unit is for controlling the folding of bidirectional clutch.
Further, described pretension reducing unit is mainly made up of leading screw, pair of nut and spring spring and leading screw spiral shell
Female secondary mixing pretension diameter changing mechanism composition；
Further, described bidirectional clutch is mainly made up of gear and axle, is mainly used in controlling the direction of transfer of power；
Further, described walking unit is mainly made up of Timing Belt and driving wheel, have employed parallel-crank mechanism and makees
For the supporting mechanism of driving wheel, improve the obstacle climbing ability of robot；
Further, described central authorities differential unit be mainly made up of three main differential mechanisms and three axles and idle pulley three
Axle differential mechanism, main purpose realizes differential when being and make pipe robot by bend pipe.
4, accompanying drawing explanation
Fig. 1 inner surface of pipeline handling machine people's drive system operating diagram
Fig. 2 inner surface of pipeline handling machine people's feed screw nut pretension diameter changing mechanism schematic diagram
Fig. 3 inner surface of pipeline handling machine people's driving wheel support mechanism schematic diagram
1, pretension reducing unit；2, bidirectional clutch；3, walking unit；4, Timing Belt；5, driving wheel；6, tube wall；7, control
Unit processed；8, central authorities' differential unit；9, motor is driven；10, connecting rod；11, leading screw；12, nut
5, detailed description of the invention
In order to the technical solution of the utility model is explained further, it is described in detail below in conjunction with the accompanying drawings.
A kind of inner surface of pipeline processes novel robot, including pretension reducing unit, bidirectional clutch, walking unit, in
Centre differential unit, control unit and driving motor composition.
Specific implementation method of the present utility model is: drives the power of motor 9 to control via bidirectional clutch 2, can transmit
Power is provided for pretension reducing, it is possible to be delivered to driving wheel via central authorities' differential unit 8, drive machine at pretension reducing unit 1
Device people walks.
Robot control unit 7, by controlling the folding of bidirectional clutch, makes the power of driving motor 9 via central authorities' differential
Unit 8 and other drive disk assemblies are delivered to each driving wheel, and driven machine human body be moved forward or rearward.Central authorities' differential unit 8
Require the rotating speed of each driving wheel is allocated according to pipeline environment, it is achieved the robot automatic adaptation to pipeline environment.In nothing
Dyskinetic walk time, pretension diameter changing mechanism is unpowered incoming under the control of bidirectional clutch 2.
When running into obstacle during robot ambulation, the initial tension of spring in pretension reducing unit 1 can be varied from, machine
Device people's control unit 7 by detecting the pretightning force of spring equipped with pressure transducer in pretension reducing unit 1, when pretightning force is more than
Or during less than default scope, control bidirectional clutch 2 and change power transmission line, transfer power to pretension reducing unit
At 1, regulation pretightning force size is until meeting default requirement.During reconciling pretightning force, robot stops walking；Pretightning force
When adjusting to default value, control unit 7 controls bidirectional clutch and again changes power direction of transfer to central poor
Speed unit, driven machine human body move on.
The foregoing is only embodiment of the present utility model, be not limited to this utility model.This utility model
Can there be various suitable change and change.All made within spirit of the present utility model and principle any amendment, equivalent
Replacement, improvement etc., within should be included in protection domain of the present utility model.
Claims (5)
1. a novel pipeline inner surface treatment robot, it is characterised in that:
Described a kind of novel pipeline inner surface treatment robot, including pretension reducing unit, bidirectional clutch, walking unit, in
Centre differential unit, control unit and driving motor；Pretension reducing unit and walking unit are connected as with driving wheel by being hinged
One entirety；It is connected as an entirety by direction clutch between pretension reducing unit and central authorities' differential unit；Drive motor
Output shaft and bidirectional clutch connect；Control unit is for controlling the folding of bidirectional clutch.
A kind of novel pipeline the most according to claim 1 inner surface treatment robot, it is characterised in that:
Spring and screw pair mixing pretension that described pretension reducing unit is mainly made up of leading screw, pair of nut and spring become
Footpath mechanism forms.
A kind of novel pipeline the most according to claim 1 inner surface treatment robot, it is characterised in that:
Described bidirectional clutch is mainly made up of gear and axle, is mainly used in controlling the direction of transfer of power.
A kind of novel pipeline the most according to claim 1 inner surface treatment robot, it is characterised in that:
Described walking unit is mainly made up of Timing Belt and driving wheel, have employed the parallel-crank mechanism support as driving wheel
Mechanism, improves the obstacle climbing ability of robot.
A kind of novel pipeline the most according to claim 1 inner surface treatment robot, it is characterised in that:
The three axle differential mechanisms that described central authorities differential unit is mainly made up of three main differential mechanisms and three axles and an idle pulley, mainly
Purpose realizes differential when being and make pipe robot by bend pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620408906.1U CN205824486U (en) | 2016-05-03 | 2016-05-03 | A kind of novel pipeline inner surface treatment robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620408906.1U CN205824486U (en) | 2016-05-03 | 2016-05-03 | A kind of novel pipeline inner surface treatment robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205824486U true CN205824486U (en) | 2016-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620408906.1U Expired - Fee Related CN205824486U (en) | 2016-05-03 | 2016-05-03 | A kind of novel pipeline inner surface treatment robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205824486U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670587A (en) * | 2017-01-24 | 2017-05-17 | 浙江工业大学 | Short-distance pipeline inner wall bionic groove surface machining device and method |
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN114754228A (en) * | 2022-06-13 | 2022-07-15 | 西南石油大学 | Creeping differential multi-mode pipeline robot |
-
2016
- 2016-05-03 CN CN201620408906.1U patent/CN205824486U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670587A (en) * | 2017-01-24 | 2017-05-17 | 浙江工业大学 | Short-distance pipeline inner wall bionic groove surface machining device and method |
| CN106670587B (en) * | 2017-01-24 | 2018-06-05 | 浙江工业大学 | A kind of bionical flute surfaces processing unit (plant) of short distance inner-walls of duct and its processing method |
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN107084296B (en) * | 2017-06-10 | 2018-11-13 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN108036150B (en) * | 2017-12-01 | 2019-10-01 | 山东金茂塑业有限公司 | A kind of drainpipe detecting robot |
| CN114754228A (en) * | 2022-06-13 | 2022-07-15 | 西南石油大学 | Creeping differential multi-mode pipeline robot |
| CN114754228B (en) * | 2022-06-13 | 2022-08-23 | 西南石油大学 | Creeping differential multi-mode pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20170503 |