CN215173263U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN215173263U CN215173263U CN202120635576.0U CN202120635576U CN215173263U CN 215173263 U CN215173263 U CN 215173263U CN 202120635576 U CN202120635576 U CN 202120635576U CN 215173263 U CN215173263 U CN 215173263U
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- shell
- reducing
- pipeline robot
- robot
- driving mechanism
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Abstract
A pipeline robot comprises a shell, a reducing driving mechanism, a reducing mechanism and a driving mechanism; the shell is a closed triangular prism shape consisting of three rectangular side plates and two triangular bottom plates; the reducing driving mechanism is arranged in the shell and comprises a stepping motor, a lead screw, a sliding block and a coupler; the reducing mechanisms are circumferentially distributed with three groups, and respectively comprise a top plate, a parallelogram double-rocker structure and a damping spring shock absorber, wherein two ends of the parallelogram double-rocker structure are respectively hinged with the top plate and the shell, and two ends of the damping spring shock absorber are respectively connected with a sliding block and the parallelogram double-rocker structure; the driving mechanisms are provided with three groups which are fixedly connected on the top plates of the variable diameter mechanisms. The robot is self-adaptive to the support of different pipe diameters by converting axial rotary motion into radial movement. The diameter changing mode of the robot is improved, the size of the robot is smaller and lighter, and the minimum passing diameter of the robot is reduced.
Description
Technical Field
The utility model relates to a robot field especially relates to a pipeline robot.
Background
The pipeline is seen everywhere in our daily life, many pipelines have different calibers, which also means that more troubles are faced when the pipeline is overhauled, and many domestic pipeline robots do not have a larger diameter-changing range and good trafficability when running at present.
Chinese patent CN111623191A discloses a pipeline robot supporting structure which pushes a slider by an air pump while buffering by a magnetic universal wheel, however, the following problems and disadvantages exist in this design: the pneumatic structure is not provided with a self-locking mechanism, which means that a driving structure of the pneumatic structure directly bears impact caused by external load, and meanwhile, the stability of the pneumatic structure is poor; and the magnetic force universal wheel receives wheel axial load and easily takes place the slip between rim and the wheel hub and leads to buffer gear to become invalid, and buffer gear under the circumstances of normal work, also can produce certain vibration and influence structural life and sensor stability.
Disclosure of Invention
An object of the utility model is to solve the above-mentioned problem among the prior art, provide a pipeline robot, improve the reducing mode of robot, convert axial rotary motion into radial movement, make the robot be adaptive to the support of different pipeline diameters. The robot is smaller and lighter, so that the minimum passing diameter of the robot is reduced.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pipeline robot comprises a shell, a reducing driving mechanism, a reducing mechanism and a driving mechanism;
the reducing driving mechanism is arranged in the shell and comprises a stepping motor, a lead screw, a sliding block and a coupler, an output shaft of the stepping motor is connected with the lead screw through the coupler, the other end of the lead screw is embedded into a hole groove of the shell, and the sliding block is arranged on the lead screw;
the reducing mechanism is circumferentially distributed with three groups, which respectively comprise a top plate, a parallelogram double-rocker structure and a damping spring shock absorber, two ends of the parallelogram double-rocker structure are respectively hinged with the top plate and the shell, and two ends of the damping spring shock absorber are respectively connected with a sliding block and the parallelogram double-rocker structure;
the driving mechanisms are provided with three groups which are fixedly connected to the top plates of the variable diameter mechanisms.
The driving mechanism comprises a motor, a speed reducer and a tire pair, and the motor is connected with the tire pair through the speed reducer.
The shell is a closed triangular prism shape formed by three rectangular side plates and two triangular bottom plates, and the center of the bottom plate is outwards provided with the hole groove.
The slider adopts the triangular prism shape similar with the casing, and three prism line salient simultaneously are cylindrical to set up the radius angle on cylinder curved surface and prismatic face intersection line.
The slider is inside to be equipped with for preventing that too big cracked through-hole produces of deformation.
The sliding block is hinged with the damping spring shock absorber through a supporting piece.
The damping spring shock absorber uses a variable pitch spring.
The utility model discloses in, every the parallelogram double rocker structure of reducing mechanism all is equipped with two sets ofly, and the both sides of roof are located to the difference symmetry, damping spring shock absorber and the parallelogram double rocker structural connection who is close to the slider side.
The parallelogram double-rocker structure is hinged with the shell and the top plate through supporting pieces by bolts respectively.
The stepping motor is fixedly connected with the shell through a bolt, and the driving mechanism is fixedly connected with the top plate of the reducing structure through a bolt.
Compared with the prior art, the utility model discloses technical scheme obtains beneficial effect is:
the utility model discloses a lead screw and slider, damping spring bumper shock absorber isotructure, use less motor drive power alright in order to obtain great holding power, less slider displacement alright in order to produce great reducing stroke, the lead screw has self-locking function, can prevent that external load from passing through the lead screw and acting on the life of extension motor on step motor, the damping spring bumper shock absorber can effectively slow down impact and vibrations when the robot moves to and provide the buffer stroke and make the robot have certain obstacle crossing ability.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention with the housing hidden;
fig. 3 is a schematic structural diagram of a slider.
Reference numerals: the device comprises a side plate 1, a support piece 2, a driving mechanism 3, a parallelogram double-rocker structure 4, a damping spring shock absorber 5, a sliding block 6, a lead screw 7, a coupler 8, a stepping motor 9 and a bottom plate 10.
Detailed Description
In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention clearer and more obvious, the following description is made in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 to 3, the present embodiment includes a housing, a reducing driving mechanism, a reducing mechanism, and a driving mechanism 3;
the shell is a closed triangular prism formed by three rectangular side plates 1 and two triangular bottom plates 10, and a hole groove is formed outwards in the center of each bottom plate 10;
the reducing driving mechanism is arranged in the shell and comprises a stepping motor 9, a lead screw 7, a sliding block 6 and a coupler 8, an output shaft of the stepping motor 9 is connected with the lead screw 7 through the coupler 8, the other end of the lead screw 7 is embedded into a hole groove of the shell, and the sliding block 6 is arranged on the lead screw 7;
the reducing mechanisms are circumferentially distributed with three groups, each group of reducing mechanisms comprises a top plate, a parallelogram double-rocker structure 4 and a damping spring shock absorber 5, two ends of each parallelogram double-rocker structure 4 are hinged with the top plate and the shell respectively, and two groups of parallelogram double-rocker structures 4 of each reducing mechanism are symmetrically arranged on two sides of the top plate respectively; two ends of the damping spring shock absorber 5 are respectively connected with a sliding block 6 and a parallelogram double-rocker structure 4 close to the sliding block 6; specifically, the middle part of the rocker is punched and penetrates through the connecting pin, and meanwhile, the connecting pin at the rear side is connected with the damping spring shock absorber 5;
the driving mechanisms 3 are provided with three groups which are fixedly connected to the top plates of the variable diameter mechanisms and comprise motors, speed reducers and tire pairs, and the motors are connected with the tire pairs through the speed reducers.
The slide block 6 is in a triangular prism shape similar to the shell, three prism lines protrude out to form a cylinder shape, and a fillet is arranged on the intersection line of the cylindrical curved surface and the prism surface; the inside through-hole that is equipped with for preventing that too big production fracture of deformation is inside of slider 6. The reducing driving mechanism utilizes the shell to serve as a sliding block 6 guiding mechanism, and the shell has the functions of supporting, guiding and limiting at the same time.
The damping spring shock absorber 5 uses a variable pitch spring, so that the possibility of breakage of the spring in the using process can be effectively reduced.
Specifically, a bottom plate 10 and a side plate 1 of the shell are fixedly connected through angle iron and bolts to serve as a robot supporting structure, and the stepping motor 9 is connected with the side plate 1 through a motor base and the bolts; the sliding block 6 is hinged with the damping spring shock absorber 5 through a supporting piece; the parallelogram double-rocker structure 4 is hinged with the shell and the top plate through the supporting piece 2 by bolts respectively; and the driving mechanism 3 is fixedly connected with the top plate of the reducing structure through a bolt.
The utility model discloses a theory of operation and working process as follows:
the stepping motor 9 drives the coupler 8 to drive the screw 7 to rotate, so that the slide block 6 generates axial displacement to enable the damping spring shock absorber 5 to push the parallelogram double-rocker structure 4, and the driving mechanism 3 generates radial motion to complete diameter changing.
When a small obstacle appears during the operation of the machine, the damping spring shock absorber 5 is compressed to enable the driving mechanism 3 on one side to generate an axial free stroke, the damping spring shock absorber 5 resets after the obstacle is crossed, and the machine returns to a stable operation state after the free stroke of the driving mechanism 3 is completely supplemented.
The reducing mechanisms are distributed in three groups in the circumferential direction, and the reducing mechanisms are used for relieving impact and vibration caused by external load and providing a radial variation range in a certain range.
When the slider 6 is restrained by the shell around the axial rotational degree of freedom of the lead screw 7, the slider 6 realizes friction self-locking between the axial translational degree of freedom of the lead screw and the axial rotational degree of freedom of the lead screw 7, the self-locking between the lead screw 7 and the slider 6 can prevent the slider 6 from sliding in the axial direction of the lead screw 7 to cause the change of the reducing radius, and prevent external loads from directly acting on the stepping motor 9, thereby prolonging the service life of the stepping motor 9.
The utility model discloses a double buffering and the shock attenuation of tire and spring damping bumper shock absorber can effectively reduce impact and vibrations to reducing drive structure.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A pipeline robot, characterized in that: comprises a shell, a reducing driving mechanism, a reducing mechanism and a driving mechanism;
the reducing driving mechanism is arranged in the shell and comprises a stepping motor, a lead screw, a sliding block and a coupler, an output shaft of the stepping motor is connected with the lead screw through the coupler, the other end of the lead screw is embedded into a hole groove of the shell, and the sliding block is arranged on the lead screw;
the reducing mechanism is circumferentially distributed with three groups, which respectively comprise a top plate, a parallelogram double-rocker structure and a damping spring shock absorber, two ends of the parallelogram double-rocker structure are respectively hinged with the top plate and the shell, and two ends of the damping spring shock absorber are respectively connected with a sliding block and the parallelogram double-rocker structure;
the driving mechanisms are provided with three groups which are fixedly connected to the top plates of the variable diameter mechanisms.
2. The pipeline robot of claim 1, wherein: the driving mechanism comprises a motor, a speed reducer and a tire pair, and the motor is connected with the tire pair through the speed reducer.
3. The pipeline robot of claim 1, wherein: the shell is a closed triangular prism shape formed by three rectangular side plates and two triangular bottom plates, and the center of the bottom plate is outwards provided with the hole groove.
4. The pipeline robot of claim 3, wherein: the slider adopts the triangular prism shape similar with the casing, and three prism line salient simultaneously are cylindrical to set up the radius angle on cylinder curved surface and prismatic face intersection line.
5. The pipeline robot of claim 1, wherein: the slider is inside to be equipped with for preventing that too big cracked through-hole produces of deformation.
6. The pipeline robot of claim 1, wherein: the sliding block is hinged with the damping spring shock absorber through a supporting piece.
7. The pipeline robot of claim 1, wherein: the damping spring shock absorber uses a variable pitch spring.
8. The pipeline robot of claim 1, wherein: every reducing mechanism's parallelogram double rocker structure all is equipped with two sets ofly, and the both sides of roof are located to the symmetry respectively, damping spring shock absorber is connected with the parallelogram double rocker structure that is close to the slider side.
9. The pipeline robot of claim 1, wherein: the parallelogram double-rocker structure is hinged with the shell and the top plate through supporting pieces by bolts respectively.
10. The pipeline robot of claim 1, wherein: the stepping motor is fixedly connected with the shell through a bolt, and the driving mechanism is fixedly connected with the top plate of the reducing structure through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120635576.0U CN215173263U (en) | 2021-03-26 | 2021-03-26 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120635576.0U CN215173263U (en) | 2021-03-26 | 2021-03-26 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215173263U true CN215173263U (en) | 2021-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120635576.0U Active CN215173263U (en) | 2021-03-26 | 2021-03-26 | Pipeline robot |
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| CN (1) | CN215173263U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115307031A (en) * | 2022-10-10 | 2022-11-08 | 西南石油大学 | Self-adaptive detection robot outside pipe |
-
2021
- 2021-03-26 CN CN202120635576.0U patent/CN215173263U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115307031A (en) * | 2022-10-10 | 2022-11-08 | 西南石油大学 | Self-adaptive detection robot outside pipe |
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