CN207455055U - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
- Publication number
- CN207455055U CN207455055U CN201721607646.1U CN201721607646U CN207455055U CN 207455055 U CN207455055 U CN 207455055U CN 201721607646 U CN201721607646 U CN 201721607646U CN 207455055 U CN207455055 U CN 207455055U
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- CN
- China
- Prior art keywords
- screw
- clamping device
- pedestal
- lower floor
- upper strata
- 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.)
- Expired - Fee Related
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Abstract
A kind of pipe robot, including upper strata clamping device, elevating mechanism, lower floor's clamping device；Shown upper strata clamping device and lower floor's clamping device include pedestal, are equipped with that rotatable screw, screw or so section screw thread are reversed on pedestal, and paired clamping plate passes through screw, and pass through gear drive, direct current generator drive it is relatively close or separate；Shown elevating mechanism includes stepper motor, and stepper motor is fixed on the pedestal of upper strata clamping device, and stepper motor is connected by shaft coupling with elevating screw, and screw slider passes through elevating screw and fixed with the pedestal of lower floor clamping device.A kind of pipe robot provided by the utility model, by setting upper strata clamping device, elevating mechanism, lower floor's clamping device, it can be achieved that automatic climbing pole, provides conveniently for vertical pipe detection.
Description
Technical field
The utility model is related to robot, especially a kind of pipe robot.
Background technology
With the increase of nuclear power plant's run time, various specifications pipeline external surface needs regular check and maintenance, some are also
It is related to the welding inspection of pipeline.These positions are in radiation areas, and personnel should reduce operating time to the greatest extent, in face of vertical tube
When road needs detection, developing a kind of climbing level robot is highly desirable.
Already present pole-climbing detection robot one is climbing energy force difference at present, complicated；Second is that the adjustable model of pole-climbing diameter
It encloses less.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of pipe robot, for some ruthless area
Such as nuclear power plant, pipeline climbing can be carried out automatically, testing staff is facilitated to be detected the pipeline outer wall for having radiativity.
In order to solve the above technical problems, technical solution is used by the utility model：
A kind of pipe robot, including upper strata clamping device, elevating mechanism, lower floor's clamping device；
Shown upper strata clamping device and lower floor's clamping device include pedestal, and rotatable screw, silk are equipped on pedestal
Bar or so section screw thread is reversed, paired clamping plate pass through screw, and pass through gear drive, direct current generator drive it is relatively close or
It is separate；
Shown elevating mechanism includes stepper motor, and stepper motor is fixed on the pedestal of upper strata clamping device, stepper motor
It is connected by shaft coupling with elevating screw, screw slider is fixed through elevating screw and with the pedestal of lower floor clamping device.
The screw includes left screw and right screw, passes through shaft coupling connection and the hand of spiral between left screw and right screw
On the contrary.
The gear drive includes the driven gear being arranged on screw, and driven gear passes through the master on speed reduction box shaft
Moving gear drives, and reduction box is connected with direct current generator.
The pedestal is equipped with slide bar, and slide bar is parallel with screw, and paired clamping plate passes through cunning through the slide bar on pedestal
Bar is oriented to.
The elevating mechanism is equipped with lifting slide bar, and lifting slide bar passes through the pedestal of lower floor's clamping device and passes through lower end
Anti-loosing screw /V.
The paired clamping plate opposite face is equipped with rubber layer.
A kind of pipe robot of the utility model, by setting upper strata clamping device, elevating mechanism, lower floor's clamping device,
And this robot leading screw and slide bar have certain length, are adapted to climbing for caliber 50-150mm pipelines.This robot liter
Dropping leading screw and lifting slide bar has certain length, and the length lifted every time is adjustable.Rubber layer on clamping plate is installed, prevents machine
Opposite slide occurs during people's clamping pipe with pipeline.Since the robot can be carried out by corresponding controller and sensor control
Effectively climbing provides effective way for vertical pipe detection, and it is non-such as to radiate larger nuclear power station area for some adverse circumstances
Often it is applicable in.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is that the clamping device schematic diagram of the utility model is intended to.
Fig. 3 is the elevating mechanism schematic diagram of the utility model.
In figure：Upper strata clamping device 1, elevating mechanism 2, lower floor's clamping device 3, pedestal 4, clamping plate 5, leading screw 6, direct current generator
7th, reduction box 8, driving gear 9, driven gear 10, shaft coupling 11, L-shaped connecting plate 12, slide bar 13, connecting plate for electric motor 14, rubber
Layer 15, stepper motor 16, lifting slide bar 17, elevating screw 18, elevating screw sliding block 19, anti-loosing screw 20.
Specific embodiment
As shown in Figs. 1-2, a kind of pipe robot, including upper strata clamping device 1, elevating mechanism 2, lower floor's clamping device 3；
Further, elevating mechanism 2 is installed among the upper strata clamping device 1 and lower floor's clamping device 3.
Further, upper strata clamping device 1 and lower floor's clamping device 3 have identical mechanical structure.Upper strata clamping device 1
Including pedestal 4, there are three L-shaped connecting plate 12 and a connecting plate for electric motor 14 for installation on pedestal 4.Direct current generator 7 passes through reduction box 8
After be connected on connecting plate for electric motor 14.One leading screw 6 and a slide bar 13 are installed between two L-shaped connecting plates 12.Pacify 5 one end of clamping plate
On leading screw 6 and slide bar 13, the other end is equipped with rubber layer 15.Rubber layer provides for robot clamping plate 5 and examined pipeline
Buffering, while rubber material creeps in pipeline outer wall for robot and provides enough frictional force.
Further, connected between two leading screws 6 with shaft coupling 11 and hand of spiral is opposite.It is equipped on 6 axis of leading screw driven
Gear 10 is driven by the driving gear 9 being connected on 8 axis of reduction box.When direct current generator 7 rotates forward, two clamping plates 5 of left and right clamp
Pipeline, during reversion, two clamping plates 5 unclamp.
Further, elevating mechanism 2 includes stepper motor 16, and stepper motor 16 is fixed on upper strata clamping device pedestal 4,
Elevating screw 18 is fixed on lower floor's clamping device pedestal 4 by shaft coupling and 16 axis connection of stepper motor, 19 edge of screw slider
On, centre is connected through a screw thread through elevating screw 18, and two 17 one end of lifting slide bar are fixed on upper strata clamping device pedestal 4,
One end is slidably connected with lower floor clamping device pedestal 4,
Further, anti-loosing screw 20 is installed in 17 end of lifting slide bar, limitation robot range prevents machine
People lower floor clamping device 3 departs from.
The course of work and operation principle of the present invention：
Assuming that the 5 equal clamping pipe of clamping plate of robot upper strata clamping device 1 and lower floor's clamping device 3 under original state, and
Upper strata clamping device 1 and lower floor's clamping device 3 are closest in 2 adjustable range of elevating mechanism.Hereafter following steps are performed：
Step 1：Direct current generator 7 in upper strata clamping device 1 inverts, and drives reduction box 8 that driving gear 9 is driven to rotate, and leads to
Crossing gear engagement drives driven gear 10 to rotate, and since driven gear is mounted on two leading screws, 6 axis, two leading screws pass through shaft coupling 11
Connection, and two screw threads are examined pipeline on the contrary, two clamping plates 5 move toward one another release.
Step 2：Stepper motor 16 in elevating mechanism 2 rotates forward, drive elevating screw 18 rotate, due to lifting slide bar 17 with
Pedestal 4 in lower floor's clamping device 3 is slidably connected, and screw slider 19 is fixed on the pedestal 4 of lower floor's clamping device 3, or more
Layer clamping device 1 rises overally, and after rising certain altitude, stepper motor 16 stops operating, and upper strata clamping device 1 stops rising,
Anti-loosing screw 20 can prevent upper strata clamping device 1 and lower floor's clamping device 3 from separating simultaneously.
Step 3：Direct current generator 7 in upper strata clamping device 1 rotates forward, and drives reduction box 8 that driving gear 9 is driven to rotate, and leads to
Crossing gear engagement drives driven gear 10 to rotate, and since driven gear is mounted on two leading screws, 6 axis, two leading screws pass through shaft coupling 11
Connection, and two screw threads are examined pipeline on the contrary, two clamping plates, 5 relative motion clamps.
Step 4：Direct current generator 7 in lower floor's clamping device 3 inverts, and drives reduction box 8 that driving gear 9 is driven to rotate, and leads to
Crossing gear engagement drives driven gear 10 to rotate, and since driven gear is mounted on two leading screws, 6 axis, two leading screws pass through shaft coupling 11
Connection, and two screw threads are examined pipeline on the contrary, two clamping plates 5 move toward one another release.
Step 5：Stepper motor 16 in elevating mechanism 2 inverts, drive elevating screw 18 rotate, due to lifting slide bar 17 with
Pedestal 4 in lower floor's clamping device 3 is slidably connected, and screw slider 19 is fixed on pedestal 4, so lower floor's clamping device 1 is whole
Rise, after rising certain altitude, stepper motor 16 stops operating, and lower floor's clamping device 1 stops rising, while 20 energy of anti-loosing screw
Prevent upper strata clamping device 1 and lower floor's clamping device 3 from separating.
Step 6：Direct current generator 7 in lower floor's clamping device 3 rotates forward, and drives reduction box 8 that driving gear 9 is driven to rotate, and leads to
Crossing gear engagement drives driven gear 10 to rotate, and since driven gear is mounted on two leading screws, 6 axis, two leading screws pass through shaft coupling 11
Connection, and two screw threads are examined pipeline on the contrary, two clamping plates, 5 relative motion clamps.
Step 1-step 6 is constantly repeated, then robot can constantly climb along examined pipeline knows arrival designated position
After stop.
The distance that robot climbs every time is controllable（Motor speed and time are controlled by corresponding controller）, climb every time
It is 50-150mm apart from adjustable extent.
If robot needs are climbed downwards along examined pipeline, step 1-3 and step 4-6 is exchanged, is constantly repeated.
Claims (6)
1. a kind of pipe robot, it is characterised in that：Including upper strata clamping device（1）, elevating mechanism（2）, lower floor's clamping device
（3）；
Shown upper strata clamping device（1）With lower floor's clamping device（3）Include pedestal（4）, pedestal（4）On be equipped with it is rotatable
Screw（6）, screw（6）Reversed, the paired clamping plate of left and right section screw thread（5）Through screw（6）, and pass through gear drive, straight
Galvanic electricity machine（7）It drives relatively close or separate；
Shown elevating mechanism（2）Including stepper motor（16）, stepper motor（16）It is fixed on upper strata clamping device（1）Pedestal
（4）On, stepper motor（16）Pass through shaft coupling and elevating screw（18）Connection, screw slider（19）Through elevating screw（18）And
With lower floor's clamping device（3）Pedestal（4）It is fixed.
2. a kind of pipe robot according to claim 1, it is characterised in that：The screw（6）Including left screw and the right side
Screw passes through shaft coupling between left screw and right screw（11）It connects and the hand of spiral is opposite.
3. a kind of pipe robot according to claim 1, it is characterised in that：The gear drive includes being arranged on
Screw（6）On driven gear（10）, driven gear（10）Pass through reduction box（8）Driving gear on axis（9）It drives, reduction box
（8）With direct current generator（7）Connection.
4. a kind of pipe robot according to claim 1, it is characterised in that：The pedestal（4）It is equipped with slide bar（13）,
Slide bar（13）With screw（6）Parallel, paired clamping plate（5）Through pedestal（4）On slide bar（13）, and pass through slide bar（13）It leads
To.
5. a kind of pipe robot according to claim 1, it is characterised in that：The elevating mechanism（2）It is equipped with lifting
Slide bar（17）, lift slide bar（17）Through lower floor's clamping device（3）Pedestal（4）And the anti-loosing screw for passing through lower end（20）Limit
Position.
6. a kind of pipe robot according to claim 1, it is characterised in that：The paired clamping plate（5）On opposite face
Equipped with rubber layer（15）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607646.1U CN207455055U (en) | 2017-11-27 | 2017-11-27 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607646.1U CN207455055U (en) | 2017-11-27 | 2017-11-27 | A kind of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207455055U true CN207455055U (en) | 2018-06-05 |
Family
ID=62277113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721607646.1U Expired - Fee Related CN207455055U (en) | 2017-11-27 | 2017-11-27 | A kind of pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207455055U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340983A (en) * | 2018-02-12 | 2018-07-31 | 三峡大学 | The climbing robot and operating method safeguarded for Nuclear piping detection |
| CN112303335A (en) * | 2020-11-03 | 2021-02-02 | 朱晶晶 | Water conservancy pipeline salvagees and uses quick connect structure |
| CN112303375A (en) * | 2020-10-29 | 2021-02-02 | 张梅 | Pipeline inspection robot |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
-
2017
- 2017-11-27 CN CN201721607646.1U patent/CN207455055U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340983A (en) * | 2018-02-12 | 2018-07-31 | 三峡大学 | The climbing robot and operating method safeguarded for Nuclear piping detection |
| CN112303375A (en) * | 2020-10-29 | 2021-02-02 | 张梅 | Pipeline inspection robot |
| CN112303335A (en) * | 2020-11-03 | 2021-02-02 | 朱晶晶 | Water conservancy pipeline salvagees and uses quick connect structure |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
| CN113738999B (en) * | 2021-09-14 | 2023-11-10 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180605 Termination date: 20181127 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |