CN210978970U - Pipeline detection wriggling robot - Google Patents
Pipeline detection wriggling robot Download PDFInfo
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- CN210978970U CN210978970U CN201921914394.6U CN201921914394U CN210978970U CN 210978970 U CN210978970 U CN 210978970U CN 201921914394 U CN201921914394 U CN 201921914394U CN 210978970 U CN210978970 U CN 210978970U
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Abstract
The utility model provides a pipeline inspection wriggling robot, including electromagnetic drive device, cross universal axle steering structure and archimedes flight fixing device, can make the robot freely walk and can adapt to different pipe diameter sizes and pipe diameter and turn to in the pipeline. The utility model discloses a robot has speed adjustable, simple structure, the volume is less, application scope is wide, longe-lived characteristics.
Description
Technical Field
The utility model belongs to the technical field of pipeline inspection robot, especially, relate to pipeline inspection wriggling robot.
Background
Pipeline transportation is one of the important transportation routes in the present day, and plays an important role in the fields of oil transportation, natural gas transportation, water supply and drainage transportation, and the like. As the transportation time of the pipeline increases, various problems such as corrosion, cracks, silting, etc. occur in the interior thereof, which have a serious influence on the normal transportation of the pipeline. Regular maintenance or other work on the pipeline is therefore required to ensure proper use of the pipeline transport. However, the existing pipeline detection peristaltic robot mainly has the problem of unreliable peristalsis, and in addition, the problem that the use is inflexible and cannot be suitable for pipelines with different pipe diameters exists.
Disclosure of Invention
The utility model aims at providing a formula of wriggling pipeline walking robot mainly solves the insecure problem of pipeline inspection wriggling robot wriggling, can also solve present pipeline inspection robot simultaneously and use the problem inflexible, can't be suitable for different pipe diameter pipelines.
Therefore, the utility model adopts the following technical scheme:
a pipeline detection peristaltic robot comprises a front body and a rear body connected with the front body through a connecting structure, wherein the front body comprises a spiral fixing device and an electromagnetic driving device;
the spiral fixing device comprises a servo motor, a pre-tightening fixing disc, a pre-tightening gear and a spiral sheet; the servo motor is fixedly arranged on one end face of the pre-tightening fixed disc, a plurality of pre-tightening gears are arranged on the other end face of the pre-tightening fixed disc, and the pre-tightening gears are connected with the servo motor in a matched mode; a spiral sheet is fixed on the pre-tightening gear, and the spiral sheet is contracted and expanded along with the rotation of the pre-tightening gear under the driving of a servo motor;
the electromagnetic driving device comprises a columnar hollow shell, an electromagnetic slide valve and a supporting disk, wherein a plurality of circular sliding grooves are formed in the shell in the circumferential direction, and electromagnetic coils are arranged on the periphery of the circular sliding grooves; the circular sliding groove is matched with one end of the electromagnetic slide valve, and the other end of the electromagnetic slide valve is fixed at one end of the supporting disc; the other end of the supporting disc is connected with a spiral fixing device; an elastic device is arranged on the electromagnetic slide valve between the supporting disk and the shell and is respectively contacted with the end surfaces of the supporting disk and the shell;
the front body and the rear body have the same structure and have the connection structure as a symmetry center.
Furthermore, connection structure include cross universal connecting axle, the both ends of cross universal connecting axle are fixed connection respectively at the shell terminal surface of organism in the front and back organism, can make preceding organism and back organism turn to in a flexible way.
Furthermore, three supporting and traveling mechanisms are uniformly arranged in the circumferential direction of the shell;
support running gear and include unable adjustment base, walking wheel and telescopic link, unable adjustment base connects on the shell to through articulated form with one section connection of telescopic link, it has rotatable walking wheel to connect the support to articulate at the other end of telescopic link, and the walking wheel is connected through articulated mode with the support.
Further, the spiral slice is designed based on the Archimedes spiral principle.
The beneficial effects of the utility model reside in that:
(1) the utility model discloses an electromagnetic drive device provides the power that advances, makes through solenoid's circular telegram and outage, thereby the expanding spring in the middle of preceding (back) organism and the back organism is in natural balance (compression) state and makes running gear drive shell move forward, really realizes the wriggling function, and the wriggling is reliable.
(2) The utility model discloses a peristaltic robot, front and back organism are connected and are adopted the cross cardan shaft, can make whole organism in the nimble turning to that adapts to the pipeline of pipeline walking in-process.
(3) The utility model discloses a peristaltic robot, the organism running gear who has wherein is equipped with the spring in the telescopic link for the telescopic link can be followed the removal of pole radial direction, with this pipeline that can adapt to different pipe diameters size, and can adapt to the bending of pipeline well and turn to.
(4) The utility model discloses a peristaltic robot has adopted the Archimedes spiral stationary blade that the nature based on Archimedes spiral designed, and shrink and fixed process are simple and convenient. And simultaneously, the utility model discloses a peristaltic robot, the walking mode has adopted electromagnetic drive's wriggling form of advancing, and control process is simple and convenient.
Drawings
FIG. 1 is an overall structure diagram of the present invention;
FIG. 2 is a front view of the front body;
FIG. 3 is a left side view of the front body;
FIG. 4A is a partial view of the front body;
FIG. 4B is a cross-sectional view of a circular housing;
FIG. 5 is a solenoid spool valve;
FIG. 6 is a cross universal connecting shaft;
FIG. 7A is a structure of an Archimedes spiral sheet as it contracts;
FIG. 7B is the configuration of the Archimedes spiral when it is open;
FIG. 7C is a preloaded gear;
fig. 8 shows a traveling mechanism.
In the figure, 1-servo motor, 101-bolt, 2-pretension supporting plate, 3-pretension gear, 4-spiral plate, 5-electromagnetic slide valve, 501-electromagnetic slide valve matched with gear end, 502-electromagnetic slide valve matched with chute end, 6-elastic device, 7-shell, 701-circular chute, 8-electromagnetic coil, 9-support walking structure, 901-base, 902-supporting rod, 903-telescopic rod, 904-walking wheel and 10-cross universal connecting shaft.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Preceding organism and back organism, wherein "preceding", "back" does not have absolute precedence order, "preceding", "back" in the name is not absolutely unchangeable yet to the one end that the robot advanced entered the pipeline is preceding organism, otherwise is the back organism.
In addition, the flight preferentially adopt the flight based on archimedes' spiral principle design. At present, the application of the Archimedes spiral is very wide, such as a spiral blade, a spiral conveyer and the like, the specific structure of the spiral blade can refer to the design of the attached drawing, so that the contraction and the expansion can be realized along with a pre-tightening gear when an electromagnetic coil is powered on and off.
Example 1:
the embodiment provides a pipeline detection peristaltic robot, which comprises a front body and a rear body connected with the front body through a connecting structure, wherein the front body comprises a spiral fixing device and an electromagnetic driving device; the spiral fixing device comprises a servo motor 1, a pre-tightening supporting disc 2, a pre-tightening gear 3 and a spiral sheet 4; the servo motor 1 is fixedly arranged on one end face of the pre-tightening support plate 2, a plurality of pre-tightening gears 3 are arranged on the other end face of the pre-tightening support plate 2, and the pre-tightening gears 3 are connected with the servo motor 1 in a matched mode; a spiral piece 4 is fixed on the pre-tightening gear 3, and the spiral piece 4 contracts and expands along with the rotation of the pre-tightening gear 3 under the driving of the servo motor 1; the electromagnetic driving device comprises a columnar hollow shell 7 and an electromagnetic slide valve 5, wherein a plurality of circular sliding grooves 701 are circumferentially arranged in the shell 7, and electromagnetic coils 8 are arranged on the periphery of the circular sliding grooves 701; the circular sliding groove 701 is matched with one end of the electromagnetic slide valve 5, and the other end of the electromagnetic slide valve 5 is fixed at one end of the pre-tightening support plate 2; the other end of the pre-tightening support disc 2 is connected with a spiral fixing device; an elastic device 6 is arranged on the electromagnetic slide valve 5 between the pre-tightening support plate 2 and the shell 7, and the elastic device 6 is respectively contacted with the end surfaces of the pre-tightening support plate 2 and the shell 7; the front body and the rear body have the same structure and have the connection structure as a symmetry center. The electromagnetic coil is electrified and powered off, so that the telescopic springs in the front (rear) machine body and the rear machine body are in a natural balance (compression) state, the traveling mechanism drives the shell to move forwards, the creeping function is really realized, and the creeping is reliable.
Further, the connection structure comprises a cross universal connection shaft 10, and two ends of the cross universal connection shaft 10 are respectively and fixedly connected with the end faces of the shells of the front machine body and the rear machine body, so that the front machine body and the rear machine body can flexibly turn.
Further, three supporting and traveling mechanisms 9 are uniformly arranged in the circumferential direction of the housing; the supporting walking mechanism comprises a base 901, walking wheels 904 and a telescopic rod 903, wherein the base 901 is connected to the shell 7, one end of the telescopic rod 903 is connected in a hinged mode, the other end of the telescopic rod 903 is hinged to a rotatable walking wheel connecting support, and the walking wheels 904 are connected with the walking wheel connecting support in a hinged mode. So that the telescopic rod can move along the radial direction of the rod to adapt to pipelines with different pipe diameters and can well adapt to the bending and steering of the pipelines
The spiral piece is designed based on the Archimedes spiral principle and can rotate along with the pre-tightening gear under the driving of the servo motor to realize contraction and expansion.
The utility model discloses pipeline detection peristaltic robot's theory of use as follows:
when the peristaltic robot is placed in a pipeline to be detected, the electromagnetic driving device provides forward power. When the device is specifically implemented, firstly, the servo motor 1 fixed on the pre-tightening supporting disk 2 of the front machine body drives the pre-tightening gear 3 to rotate, so that the Archimedes spiral sheet 4 fixed on the pre-tightening gear 3 extends outwards until the pre-tightening gear contacts with a pipe wall and generates a certain pre-tightening force, at the moment, the electromagnetic coil 8 is not electrified, and the extension springs 6 in the front machine body and the rear machine body are in a natural balance state. Then the electromagnetic coil 8 is electrified, the electromagnetic slide valve 5 moves under the action of electromagnetic force, so that the extension spring 6 is in a compressed state, in the process, the circular shells 7 in the front machine body and the rear machine body move forwards under the support of the walking mechanism 9 due to the action of the electromagnetic force, and the machine body stops moving when the pretightening force and the electromagnetic force of the extension spring 6 are balanced. Next, the servo motor 1 in the rear body drives the archimedes screw 4 to be tensioned on the pipe wall, the archimedes screw 4 in the front body is retracted, then the electromagnetic coil 8 is powered off, and at this time, the whole body moves forward under the action of the pre-tightening force of the extension spring 6 until the extension spring 6 is in a natural balance state (as shown in fig. 7A and 7B, the archimedes screw is in a structural state when being retracted and extended, respectively). Then, the robot can be driven to repeatedly execute the process by controlling the power-on and power-off states of the electromagnetic coil 8, and the function of creeping forward is realized.
Further, as shown in fig. 6, the universal joint is a cross universal shaft for connecting the front and rear bodies, so that the whole body can flexibly adapt to the steering of the pipeline in the pipeline walking process. Fig. 8 shows a traveling mechanism of a machine body, in which a spring is provided in a telescopic rod 903 so that the telescopic rod can move in the rod radial direction. The travelling mechanism 9 can be adapted to pipelines with different pipe diameters.
Claims (4)
1. A pipeline detection peristaltic robot comprises a front body and a rear body connected with the front body through a connecting structure, and is characterized in that the front body comprises a spiral fixing device and an electromagnetic driving device;
the spiral fixing device comprises a servo motor (1), a pre-tightening supporting disc (2), a pre-tightening gear (3) and a spiral sheet (4); the servo motor (1) is fixedly arranged on one end face of the pre-tightening supporting disk (2), a plurality of pre-tightening gears (3) are arranged on the other end face of the pre-tightening supporting disk (2), and the pre-tightening gears (3) are connected with the servo motor (1) in a matched mode; a spiral piece (4) is fixed on the pre-tightening gear (3), and the spiral piece (4) contracts and expands along with the rotation of the pre-tightening gear (3) under the driving of the servo motor (1);
the electromagnetic driving device comprises a columnar hollow shell (7) and an electromagnetic slide valve (5), a plurality of circular sliding chutes (701) are circumferentially arranged in the shell (7), and electromagnetic coils (8) are arranged on the periphery of each circular sliding chute (701); the circular sliding groove (701) is matched with one end of the electromagnetic sliding valve (5), and the other end of the electromagnetic sliding valve (5) is fixed at one end of the pre-tightening support plate (2); the other end of the pre-tightening support disc (2) is connected with the spiral fixing device; an elastic device (6) is arranged on the electromagnetic slide valve (5) between the pre-tightening support plate (2) and the shell (7), and the elastic device (6) is respectively contacted with the end surfaces of the pre-tightening support plate (2) and the shell (7);
the front body and the rear body have the same structure and are symmetrical by taking the connecting structure as a symmetry center.
2. The pipeline detection peristaltic robot as claimed in claim 1, wherein the connecting structure comprises a cross universal connecting shaft (10), and two ends of the cross universal connecting shaft (10) are respectively and fixedly connected to the end faces of the shells of the front body and the rear body, so that the front body and the rear body can flexibly turn.
3. The tube inspection peristaltic robot as claimed in claim 1, wherein three supporting running gears (9) are arranged uniformly in the circumferential direction of the housing;
the supporting walking mechanism comprises a base (901), a walking wheel (904) and a telescopic rod (903), the base (901) is connected to the shell (7) and is connected with one end of the telescopic rod (903) in a hinged mode, the other end of the telescopic rod (903) is hinged to a rotatable walking wheel connecting support, and the walking wheel (904) is connected with the walking wheel connecting support in a hinged mode.
4. The tube inspection peristaltic robot of claim 1, wherein the flight is a flight designed based on Archimedes' principle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914394.6U CN210978970U (en) | 2019-11-07 | 2019-11-07 | Pipeline detection wriggling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914394.6U CN210978970U (en) | 2019-11-07 | 2019-11-07 | Pipeline detection wriggling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210978970U true CN210978970U (en) | 2020-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921914394.6U Expired - Fee Related CN210978970U (en) | 2019-11-07 | 2019-11-07 | Pipeline detection wriggling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210978970U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
| CN113878418A (en) * | 2021-10-28 | 2022-01-04 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
-
2019
- 2019-11-07 CN CN201921914394.6U patent/CN210978970U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
| CN113878418A (en) * | 2021-10-28 | 2022-01-04 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
| CN113878418B (en) * | 2021-10-28 | 2024-03-19 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200710 Termination date: 20211107 |
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| CF01 | Termination of patent right due to non-payment of annual fee |