CN103672295B - Creeping type pipeline robot crawling mechanism - Google Patents
Creeping type pipeline robot crawling mechanism Download PDFInfo
- Publication number
- CN103672295B CN103672295B CN201310656981.0A CN201310656981A CN103672295B CN 103672295 B CN103672295 B CN 103672295B CN 201310656981 A CN201310656981 A CN 201310656981A CN 103672295 B CN103672295 B CN 103672295B
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- China
- Prior art keywords
- locking mechanism
- casing
- coupling
- guide rod
- extending means
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- 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.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention provides a kind of creeping type pipeline robot crawling mechanism, be applicable to the pipe diameter between 160-220mm, structure adopts 3 stops modular design, and head and the tail are respectively front locking mechanism and rear locking mechanism, and intermediate portion is extending means.When running forward in pipeline, first front locking mechanism unclamps, rear locking mechanism locking, extending means extends, and front locking mechanism is released forward, front locking mechanism locking afterwards, rear locking mechanism unclamps, and after extending means shrinks and drives, locking mechanism travels forward, and completes a progressive motion cycle, shuttling movement by this way, realizes the periodic progressive motion of creeping type pipeline robot.Otherwise the return motion of robot cycle can be realized.This invention adopts modular design, has certain caliber change adaptive capacity and bend passing capacity, can realize the creeping type of robot in pipeline and advances or retreat.
Description
Technical field
The present invention relates to a kind of creeping type pipeline robot crawling mechanism.
Background technique
At present, pipeline is widely used in many industries such as oil, chemical industry, plumbing, and these pipelines, after using for a long time, corrosion and fatigue easily occur and to destroy or damaged and cause leakage accident etc.Therefore, need to safeguard pipeline termly and overhaul, however environment residing for pipeline often manpower to limit or less than people, maintenance difficulty is very large.The research of pipeline robot be pipeline detection, safeguard and provide new technological means, change the single-mode of conventional pipelines excavation sampling observation.The domestic research for pipeline robot there has been certain basis, but also has a certain distance compared with abroad.
The robot of at present both at home and abroad development can be divided into the types such as wheeled, crawler, creeping type by move mode, and wheeled pipeline robot tractive force is large, has very high bearing capacity, easy design and manufaction.But its obstacle climbing ability is more weak, pipeline bad adaptability.Crawler belt type pipeline robot, overcomes the shortcoming of wheeled pipeline robot, but frictional force excessive between crawler belt and tube wall can produce impact to inner-walls of duct, easily damages pipeline.Squirmy robot obstacle climbing ability is strong, stable, but adopts the requirement of creepage robot to pipeline of marmem, piezoelectric metal and Electromagnetic Drive too high, and adaptive capacity is poor, and motion speed is slow, and bearing capacity is weak.
Therefore, on the basis overcoming above three kinds of pipeline robot shortcomings, design and develop a kind of novel creeping type pipeline robot crawling mechanism.Have important practical significance.
Summary of the invention
The object of this invention is to provide a kind of creeping type pipeline robot crawling mechanism, adopt modular design, the pipe diameter between 160-220mm can be adapted to.
Object of the present invention is achieved through the following technical solutions:
Creeping type pipeline robot crawling mechanism, comprise front locking mechanism, extending means, rear locking mechanism, it is characterized in that: front locking mechanism is arranged on the front end of extending means by coupling, rear locking mechanism is arranged on the rear end of extending means by coupling.
When pipeline robot advances, first front locking mechanism unclamps, rear locking mechanism locking, when extending means extends, before driving, locking mechanism moves forward, locking mechanism locking subsequently, rear locking mechanism unclamps, when extending means shrinks, after driving, locking mechanism moves forward, and realizes a progressive motion cycle of pipeline robot;
When pipeline robot retreats, first front locking mechanism locking, rear locking mechanism unclamps, when extending means extends, after driving, locking mechanism moves backward, and subsequently, locking mechanism unclamps, rear locking mechanism locking, when extending means shrinks, before driving, locking mechanism moves backward, realizes a return motion cycle of pipeline robot;
When current locking mechanism and rear locking mechanism are all locked, pipeline robot can be made stably to rest on somewhere, carrying out the operations such as pipe detection maintenance for pipeline robot provides a working platform.
According to an aspect of the present invention, provide a kind of creeping type pipeline robot crawling mechanism, it is characterized in that comprising:
Extending means;
Coupling before being connected with the front end of extending means,
The rear coupling be connected with the rear end of extending means,
Front locking mechanism, it is connected with the front end of extending means, for locking with inner-walls of duct or unclamping by front coupling;
Rear locking mechanism, it is connected with the rear end of extending means, for locking with inner-walls of duct or unclamping by rear coupling.
According to a further aspect of the present invention, provide the method for creeping of creeping type pipeline robot crawling mechanism, it is characterized in that comprising:
A) the second motor in front locking mechanism is made to rotate forward, thus drive the second leading screw to rotate forward by the second coupling, the second feed screw nut is moved to the left, drives slidercrank mechanism action, make to be hinged on support arm on large guide rod to move inward, thus the unclamping of locking mechanism and tube wall before realizing; Make the second motor reversal in rear locking mechanism, the locking of locking mechanism and tube wall after realizing;
B) the first motor in extending means is made to rotate forward, thus drive the first leading screw to rotate forward by the first coupling, because rear locking mechanism and pipeline are in locking state, it is indefinite that the rear end cover be now connected with rear locking mechanism by rear coupling is fixed, and then first feed screw nut, fixed block, shell is also in the state of maintaining static, thus make the first motor, first coupling, first leading screw is around own axis, drive the first front cover, first guide rod, casing before first, casing in first, first rear box, first round nut, first sleeve, clutch shaft bearing integrally moves,
C) the second motor reversal in front locking mechanism is made, thus drive the second leading screw reversion by the second coupling, the second feed screw nut is moved, drives slidercrank mechanism action, make to be hinged on support arm outwards movement on large guide rod, thus realize the locking of front locking mechanism and tube wall; The second motor in rear locking mechanism is rotated forward, thus the unclamping of locking mechanism and tube wall after realizing;
D) the first motor reversal in extending means is made, thus drive the first leading screw reversion by the first coupling, because front locking mechanism and pipeline are in locking state, before the first front cover be now connected with front locking mechanism by front coupling, the first guide rod, first, in casing, first, casing, the first rear box, the first round nut, the first sleeve, clutch shaft bearing integrally maintain static, and the first feed screw nut drives fixed block, shell, rear end cover, rear coupling and rear locking mechanism integrally to move.
Outstanding substantive distinguishing features and the significant progress of technical solution of the present invention are mainly reflected in:
Compact structure of the present invention, be easy to realize, obstacle climbing ability is strong, and pipeline is adaptable, the advantage that obstacle climbing ability is strong, and its power source is no longer provided by the frictional force between driving wheel and tube wall, so can not impulse piping inwall when running, stable.Pipeline robot can be suitable for calibers different between 160-220mm, and application prospect is had an optimistic view of.
According to an aspect of the present invention, provide a kind of creeping type pipeline robot crawling mechanism, it is characterized in that comprising:
Front locking mechanism and rear locking mechanism, loosening or locking for pipeline robot and inner-walls of duct;
Extending means, cooperatively interacts with front locking mechanism and rear locking mechanism, realizes the creeping type of pipeline robot in pipeline and advances or retreat.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Fig. 1 is creeping type pipeline robot crawling mechanism general structure schematic diagram according to an embodiment of the invention;
Fig. 2 is extending means structural representation according to an embodiment of the invention.
Fig. 3 is front locking mechanism according to an embodiment of the invention or rear locking mechanism structure schematic diagram.
Reference character:
Embodiment
See Fig. 1, Fig. 2 and Fig. 3, creeping type pipeline robot crawling mechanism according to an embodiment of the invention adopts modular design, is divided into front locking mechanism, extending means, rear locking mechanism totally 3 modules.
Front locking mechanism 1 is identical with rear locking mechanism 3 structure, be arranged on the front-end and back-end of extending means 2 respectively by front coupling 4 and rear coupling 5, respectively comprise before the second front cover 21, second leading screw 22, second guide rod 23, second feed screw nut 24, second casing 26, second rear box 27, second motor 28, second coupling 29, second round nut 30, second sleeve 31, second bearing 32, little guide rod 33, support arm 34, bolt 35, nut 36, bearing pin 37, large guide rod 38, fixed block 39 in casing 25, second.
Its medium and small guide rod 33, large guide rod 38, fixed block 39 and the second guide rod 23 form one group of slidercrank mechanism, at whole circumferencial direction with 120 degree of symmetrical 3 groups of these slidercrank mechanisms.Second motor 28 and the second leading screw 22 are linked together by the second coupling 29, before the second leading screw 22 is bearing in second by the second bearing 32 and the second round nut 30 on casing 25.Before second, in casing 25, second, casing 26, second rear box 27 bolt 44,45 links together.Second feed screw nut 24 is contained on the second leading screw 22, moves left and right along the second guide rod 23.Fixed block 39 and the second feed screw nut 24 are installed together by lock bolt 40, and move with the second feed screw nut 24, and then drive slidercrank mechanism action, the support arm 34 hinged with large guide rod 38 is moved in or out, thus realizes unclamping or locking of robot and tube wall.
See Fig. 2, extending means 2 comprises the first front cover 6, fixed block 7, first guide rod 8, first feed screw nut 9, shell 10, first leading screw 11, casing 12 before first, casing 13 in first, first rear box 14, rear end cover 15, the first motor 16, first coupling 17, first round nut 18, first sleeve 19, clutch shaft bearing 20.
Wherein, the first motor 16 and the first leading screw 11 are linked together by the first coupling 17, before the first leading screw 11 is bearing in first by clutch shaft bearing 20 and the first round nut 18 on casing 12.Before first, in casing 12, first, casing 13, first rear box 14 bolt 41,42 links together.First feed screw nut 9 is contained on the first leading screw 11, moves left and right along the first guide rod 8.First feed screw nut 9, fixed block 7, shell 10 and rear end cover 15 are linked together by bolt 43, the first guide rod 8 and the first front cover 6 being threaded togather by the first guide rod 8 front end.
In embody rule, when pipeline robot advances (suppose direction of advance be in figure left), whole process can be divided into four steps.
The first step: in front locking mechanism 1, second motor 28 rotates forward, the second leading screw 22 is driven to rotate forward by the second coupling 29, the second feed screw nut 24 on it is moved to the left, drive 3 groups of slidercrank mechanism actions, make to be hinged on support arm 34 on large guide rod 38 to move inward, thus the unclamping of locking mechanism 1 and tube wall before realizing.According to same principle, in rear locking mechanism 3, the second motor 28 reverses, the locking of locking mechanism 3 and tube wall after realizing.
Second step: in extending means 2, first motor 16 rotates forward, the first leading screw 11 is driven to rotate forward by the first coupling 17, and be in locking state due to rear locking mechanism 3 and pipeline, it is indefinite that the rear end cover 15 be now connected with rear locking mechanism 3 by rear coupling 5 is fixed, and then first feed screw nut 9, fixed block 7, shell 10 is also in the state of maintaining static, thus make the first motor 16, first coupling 17, first leading screw 11 is around own axis, drive the first front cover 6, first guide rod 8, casing 12 before first, casing 13 in first, first rear box 14, first round nut 18, first sleeve 19, clutch shaft bearing 20 is integrally moved to the left.
3rd step: in front locking mechanism 1, second motor 28 reverses, the second leading screw 22 is driven to reverse by the second coupling 29, the second feed screw nut 24 on it moves right, drive 3 groups of slidercrank mechanism actions, make to be hinged on support arm 34 outwards movement on large guide rod 38, thus realize the locking of front locking mechanism 1 and tube wall.According to same principle, in rear locking mechanism 3, the second motor 28 rotates forward, and the rear locking mechanism 3 of realization unclamps with tube wall.
4th step: in extending means 2, first motor 16 reverses, the first leading screw 11 is driven to reverse by the first coupling 17, and be in locking state due to front locking mechanism 1 and pipeline, now pass through the first front cover 6 that front coupling 4 is connected with front locking mechanism 1, first guide rod 8, casing 12 before first, casing 13 in first, first rear box 14, first round nut 18, first sleeve 19, clutch shaft bearing 20 integrally maintains static, first feed screw nut 9 drives fixed block 7, shell 10, rear end cover 15, rear coupling 5 and rear locking mechanism 3 are integrally moved to the left.
So far completed a progressive motion cycle, the creeping type that can be realized pipeline robot by above four steps that circulate is advanced.When contrary with above four step motion controls, the creeping type that can realize pipeline robot retreats.
When current locking mechanism 1 and rear locking mechanism 3 are all locked, pipeline robot can be made stably to rest on somewhere in pipeline, for the operations such as Measuring error provide a working platform.
Creeping type pipeline robot crawling mechanism according to an embodiment of the invention is applicable to the pipe diameter of such as about 160-220mm, and the creeping type that can realize in pipeline moves forward and backward, and also can be used as that working platform is stable rests on pipe interior somewhere.
Below be only embody rule example of the present invention, protection scope of the present invention is not constituted any limitation.The technological scheme that all employing equivalents or equivalence are replaced and formed, all drops within rights protection scope of the present invention.
Claims (2)
1. a creeping type pipeline robot crawling mechanism, is characterized in that comprising:
Extending means (2);
The front coupling (4) be connected with the front end of extending means (2),
The rear coupling (5) be connected with the rear end of extending means (2),
Front locking mechanism (1), it is connected with the front end of extending means (2), for locking with inner-walls of duct or unclamping by front coupling (4);
Rear locking mechanism (3), it is connected with the rear end of extending means (2) by rear coupling (5), for locking with inner-walls of duct or unclamping,
Wherein
Front locking mechanism (1) is identical with rear locking mechanism (3) structure, respectively comprises:
Form the little guide rod (33) of a slidercrank mechanism, large guide rod (38), fixed block (39) and the second guide rod (23);
Second coupling (29);
The second motor (28) linked together by the second coupling (29) and the second leading screw (22);
Casing (26), the second rear box (27) and motor (28) in casing (25), second before second, wherein before second in casing (25), second casing (26), the second rear box (27) and motor (28) with being fixed together;
Second bearing (32) and the second round nut (30); Before second leading screw (22) is bearing in second by the second bearing (32) and the second round nut (30) on casing (25);
Second feed screw nut (24), it is upper and mobile along the second guide rod (23) that it is contained in the second leading screw (22);
The support arm (34) hinged with large guide rod (38),
Wherein, fixed block (39) and the second feed screw nut (24) are linked together by lock bolt (40), and move with the second feed screw nut (24), and then drive slidercrank mechanism action, the support arm (34) hinged with large guide rod (38) is moved in or out, thus realize unclamping or locking of robot and tube wall
Extending means (2) comprising:
Along the first guide rod (8),
Casing (13), the first rear box (14) and the first motor (16) in casing (12), first before first,
Clutch shaft bearing (20) and the first round nut (18),
First coupling (17),
The first motor (16) linked together by the first coupling (17) and the first leading screw (11), before wherein the first leading screw (11) is bearing in first by clutch shaft bearing (20) and the first round nut (18) on casing (12), before first, in casing (12), first, casing (13), the first rear box (14) and the first motor (16) are fixed together
Be contained in the first feed screw nut (9) on the first leading screw (11), it is mobile along the first guide rod (8),
First front cover (6),
Fixed block (7), shell (10) and rear end cover (15), wherein
First feed screw nut (9), fixed block (7), shell (10) and rear end cover (15) are fixed together, and the first guide rod (8) and the first front cover (6) are fixed together.
2. creeping type pipeline robot crawling mechanism according to claim 1, is characterized in that front locking mechanism (1) and rear locking mechanism (3) are respectively included in circumferencial direction with slidercrank mechanism described in 120 degree symmetrical 3 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656981.0A CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656981.0A CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103672295A CN103672295A (en) | 2014-03-26 |
| CN103672295B true CN103672295B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310656981.0A Expired - Fee Related CN103672295B (en) | 2013-12-06 | 2013-12-06 | Creeping type pipeline robot crawling mechanism |
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| CN (1) | CN103672295B (en) |
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| CN103672295A (en) | 2014-03-26 |
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Granted publication date: 20160420 Termination date: 20161206 |