CN100485247C - Crawling type micro pipeline robot - Google Patents
Crawling type micro pipeline robot Download PDFInfo
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- CN100485247C CN100485247C CNB2007100358469A CN200710035846A CN100485247C CN 100485247 C CN100485247 C CN 100485247C CN B2007100358469 A CNB2007100358469 A CN B2007100358469A CN 200710035846 A CN200710035846 A CN 200710035846A CN 100485247 C CN100485247 C CN 100485247C
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- knuckle joint
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Abstract
The invention discloses a creeping motion type mini pipeline robot, which comprises a middle stretching part and two supporting parts being able to be supported in the mini pipeline. The two supporting parts are respectively connected with the both ends of the middle stretching part, the supporting parts comprise nut supporting frames and driving devices driving the nut supporting frames to move backward and forward, rear supporting legs are hinged on the driving devices, front supporting legs are hinged on the nut supporting frames, and the rear supporting legs are hinged with the front supporting legs. The creeping motion type mini pipeline robot with enough driving traction force can freely move frontward and rearward in the mini pipeline with an arbitrary slope angle, can also creep in an upright pipeline, and can be embarked an extended function module, to realize the examining, the detecting and the maintenance of the condition in the mini pipeline.
Description
Technical field
The present invention relates to the micro-robot field, relate in particular to and be used for the crawling type micro pipeline robot in internal diameter is the microtubule of 15～20mm, creeps, detect.
Background technique
At present, the microtubule robot technology is a kind of a kind of new technique that precision optical machinery, robotics, new material, control theory etc. are combined of rising in recent years.Owing to using numerous small pipelines in modern industrial and agricultural production and the daily life, as the industrial pipeline of the steam generator heat-transfer pipe of nuclear power plant, metallurgy, oil, chemical industry, the supply of city hot-water heating, refrigeration industry and gas pipe line etc., corrosion and fatigue destruction takes place or exists to make the potential development of defects one-tenth breakage of pipe interior and cause leakage accident etc. in the working environment very severe of these pipe-line systems easily.Therefore monitoring, diagnosis, cleaning and the maintenance of pipeline just become the key that ensures pipe-line system safety, unimpeded and efficient operation, pipeline also just become one of important directions that the pipeline Dynamic Non-Destruction Measurement uses, develops in labour and online detecting.Yet the residing environment of pipeline is limit not as good as institute by manpower or staff often, and the installation environment of most pipelines is that the people can not directly arrive or not allow the people directly to get involved, and it is very big to overhaul difficulty.
The fast development of micro robot makes micromechanics and microelectronic that the world of extensive use arranged both at home and abroad.The U.S. one tame technology company develops and can move the wheeled prober of surveying in 2 inches pipeline.MITI of Japan has formulated " micro mechanical technology research ten year plan " in the early 1990s, in the research direction of its focus development, a pipe detection tiny robot system is arranged.Japan OMRON, Toshiba, Tokyo Institute of Technology develop caliber mobile mechanism in about 1 inch pipeline in succession in the laboratory.Although mobile detection machine people developmental research at home and abroad for many years in this class microtubule, because technical difficulty is big, the performance requirement height makes that the mobile detection machine people in the microtubule also is in the laboratory research stage.
The mobile mechanism of microtubule robot is the important component part of micro-tube robot, and it is the carrier that carries the operation device, also is one of key factor that influences micro-tube robot practicalization.The air pressure creeping crawling device of Tokyo polytechnical university development, speed is slower.Control system is comparatively complicated, is difficult to realize accurate control; The electric machine external formula spiral shifter of Tokyo polytechnical university development, speed is very fast, but the outer auxiliary equipment complexity of pipe; Successively reported the development message of mobile mechanism in several pipes both at home and abroad, but tractive force is less mostly, also has bigger gap apart from practicability.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, a kind of enough big driving tractive force that has is provided, can advance, retreat on the microtubule internal freedom ground at any angle of inclination, can in vertical pipeline, creep, extended function module be can carry, inspection, the detection to the microtubule inner case, the crawling type micro pipeline robot of maintenance realized.
For solving the problems of the technologies described above, the present invention by the following technical solutions.
A kind of crawling type micro pipeline robot, flexible part and two supporting parts that can be supported in the microtubule in the middle of comprising, the two ends of flexible part in the middle of two supporting parts are connected to, described supporting part comprises the drive unit that nut support and drive nut support seesaw, described drive unit comprises the small motor assembly, the small motor shell, flange plate and body cradle, described small motor shell one end links to each other with middle flexible part, the other end is socketed on the small motor assembly, described flange plate by bearings on the output shaft of small motor assembly, and link to each other with the small motor assembly, described body cradle is fixed on the flange plate, described nut support is threaded with the output shaft end of small motor assembly, be hinged with the back supporting leg on the described body cradle, be hinged with preceding supporting leg on the described nut support, described back supporting leg and preceding supporting leg are hinged.
An end of flexible part was provided with coupling shaft in the middle of described small motor shell was connected in, and was set with the guiding wheel carrier on the described coupling shaft, was equiped with upper saw pulley on the described guiding wheel carrier.
Flexible part comprises nut sleeve, screw rod, guide rod, motor housing, electric machine assembly and rear end cover in the middle of described, described electric machine assembly is installed in the motor housing, described motor housing one end is connected with rear end cover, the other end links to each other with nut sleeve by guide rod, described screw rod one end is connected with the output shaft of electric machine assembly, the other end is threaded with nut sleeve, and two supporting parts link to each other with rear end cover with nut sleeve respectively.
Be equiped with bearing between described screw rod and the motor housing, the screw rod end is provided with inner shield ring, is provided with outer back-up ring in the motor housing, and bearing inner race is by set shaft shoulder location on inner shield ring and the screw rod, and bearing outer ring is by set shaft shoulder location on outer back-up ring and the motor housing.
The end of described coupling shaft is provided with first knuckle joint, and described nut sleeve is connected supporting part with rear end cover a end is equipped with second knuckle joint, and each second knuckle joint is hinged by the cross bearing pin with one first knuckle joint respectively to be universal joint.
Be equipped with function module by connection set on the described nut support, described connection set comprises with the flange of the 3rd knuckle joint and the 4th knuckle joint, flange is connected with the nut support, the 4th knuckle joint one end and the 3rd knuckle joint are hinged by the cross bearing pin to be universal joint, the other end is connected with function module, be set with the guiding wheel carrier on the 4th knuckle joint, be equiped with upper saw pulley on the described guiding wheel carrier.
Described small motor shell, motor housing and rear end cover are provided with the wire guide of being convenient to arrange electric lead.
The support end of supporting leg is provided with the block rubber that can increase frictional force before described.
Compared with prior art, advantage of the present invention just is:
1, realized advancing, retreating, and can in vertical pipeline, creep on the microtubule internal freedom ground at any angle of inclination;
2, can carry extended function module,, realize inspection, detection and maintenance, can replace manual detection and maintenance the microtubule inner case as sensor, miniature CCD vidicon camera and corresponding operation tool.
3, drive walking by feed screw nut deceleration force amplifier driving mechanism, have enough big driving tractive force;
4, the two ends of middle extending means link to each other with a supporting mechanism respectively with the form of universal joint, can be by the crooked pipeline of certain curvature radius;
5, the support radius of the preceding supporting leg of supporting mechanism and back supporting leg can change within the specific limits, makes that robot can be current in the microtubule with certain caliber variation;
6, be provided with the inner shield ring and the outer back-up ring of block bearing in the middle flexible part, the axial force that output shaft bore of electric machine assembly is reduced, play the effect of the output shaft of protection electric machine assembly;
7, be set with the guiding wheel carrier on the coupling shaft, be equiped with three groups of upper saw pulleys on the guiding wheel carrier, upper saw pulley can make the action held stationary of robot, prevents to rock;
8, preceding supporting leg end is adhesive with block rubber, and purpose is to increase contact friction force, makes it more reliable with contacting of pipeline;
9, small motor shell, motor housing and rear end cover are provided with wire guide, are convenient to the layout of electric lead.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the A-A cross section view of Fig. 1;
Fig. 3 is the enlarged view of supporting part;
Fig. 4 is the enlarged view of overlooking of guiding wheel carrier and upper saw pulley;
Fig. 5 is the partial enlarged drawing at B place among Fig. 2;
Fig. 6 is the plan view of motor housing;
Fig. 7 is the structural representation of motor housing;
Fig. 8 is the structural representation that has carried function module;
Fig. 9 is a movement process schematic representation of the present invention.
Each label is represented among the figure:
1, middle flexible part 2, supporting part
3, guiding wheel carrier 4, upper saw pulley
5, first knuckle joint 6, second knuckle joint
7, cross bearing pin 8, connection set
9, function module 10, nut sleeve
11, screw rod 12, guide rod
13, motor housing 14, electric machine assembly
15, rear end cover 16, inner shield ring
17, outer back-up ring 20, coupling shaft
21, small motor assembly 22, small motor shell
23, flange plate 24, body cradle
25, back supporting leg 26, preceding supporting leg
27, nut support 28, block rubber
30, wire guide 31, wire window
81, the 3rd knuckle joint 82, flange
83, the 4th knuckle joint
Embodiment
Extremely shown in Figure 9 as Fig. 1, crawling type micro pipeline robot of the present invention has been realized advancing, retreating on the microtubule internal freedom ground at any angle of inclination, and can in vertical pipeline, creep, the two ends of flexible part 1 in the middle of flexible part 1 and two 2, two supporting parts 2 of supporting part that can be supported in the microtubule were connected in the middle of it comprised.
Supporting part 2 comprises the drive unit that nut support 27 and drive nut support 27 seesaw, drive unit comprises small motor assembly 21, small motor shell 22, flange plate 23 and body cradle 24, nut support 27 is threaded with the output shaft end of small motor assembly 21, small motor shell 22 1 ends link to each other with middle flexible part 1, the other end is socketed on the small motor assembly 21, flange plate 23 by bearings on the output shaft of small motor assembly 21, and link to each other with small motor assembly 21, body cradle 24 is fixed on the flange plate 23, supporting leg 25 after being hinged with three groups on the body cradle 24, supporting leg 26 before being hinged with three groups on the nut support 27, preceding supporting leg 26 is arranged with supporting leg 25 edges in back are circumferentially even, each group back supporting leg 25 respectively with corresponding one group before supporting leg 26 hinged, the support end of preceding supporting leg 26 is provided with the block rubber 28 that can increase frictional force, makes it more reliable with contacting of pipeline; The support radius of preceding supporting leg 26 and back supporting leg 25 can change within the specific limits, makes that robot can be current in the microtubule with certain caliber variation.An end of flexible part 1 was provided with coupling shaft 20 in the middle of small motor shell 22 was connected in, and was set with guiding wheel carrier 3 on the coupling shaft 20, was equiped with three groups of upper saw pulleys 4 on the guiding wheel carrier 3, and upper saw pulley 4 can make the action held stationary of robot, prevents to rock.
Middle flexible part 1 comprises nut sleeve 10, screw rod 11, guide rod 12, motor housing 13, electric machine assembly 14 and rear end cover 15, electric machine assembly 14 is installed in the motor housing 13, motor housing 13 1 ends are connected with rear end cover 15, the other end links to each other with nut sleeve 10 by guide rod 12, screw rod 11 1 ends are connected with the output shaft of electric machine assembly 14, the other end is threaded with nut sleeve 10, and two supporting parts 2 link to each other with rear end cover 15 with nut sleeve 10 respectively.Be equiped with bearing between screw rod 11 and the motor housing 13, because the output shaft of electric machine assembly 14 is tiny, can not bear excessive thrust load, therefore be provided with inner shield ring 16 in screw rod 11 ends, be provided with outer back-up ring 17 in the motor housing 13, bearing inner race is by set shaft shoulder location on inner shield ring 16 and the screw rod 11, bearing outer ring is by set shaft shoulder location on outer back-up ring 17 and the motor housing 13, this structure can make thrust load directly not be added on the output shaft of electric machine assembly 14, when output shaft bears thrust load, the bang path of power is as follows, when bearing pressure: screw rod 11 1 bearings-outer back-up ring 17-electric machine assembly 14-motor housing 13; When bearing pulling force: screw rod 11-inner shield ring 16-bearing-motor housing 13; Like this, the still tension no matter output shaft is under pressure all is delivered to motor case 13 to thrust load, reaches the purpose of the output shaft of protection electric machine assembly 14.
The end of coupling shaft 20 is provided with first knuckle joint 5, nut sleeve 10 is connected supporting part 2 with rear end cover 15 a end is equipped with second knuckle joint 6, each second knuckle joint 6 is hinged by cross bearing pin 7 with one first knuckle joint 5 respectively be universal joint, makes crawling type micro pipeline robot of the present invention can pass through the crooked pipeline of certain curvature radius.
Be equipped with function module 9 by connection set 8 on the nut support 27, function module 9 can be sensor, miniature CCD vidicon camera and corresponding operation tool, realizes inspection, detection and maintenance to the microtubule inner case, can replace manual detection and maintenance.Connection set 8 comprises with the flange 82 of the 3rd knuckle joint 81 and the 4th knuckle joint 83, flange 82 is connected with nut support 27, the 4th knuckle joint 83 1 ends and the 3rd knuckle joint 81 are hinged by cross bearing pin 7 to be universal joint, the other end is connected with function module 9, be set with guiding wheel carrier 3 on the 4th knuckle joint 83, be equiped with upper saw pulley 4 on the guiding wheel carrier 3.Small motor shell 22, motor housing 13 and rear end cover 15 are provided with wire guide 30, also are provided with wire window 31 on the motor housing 13, are convenient to the layout of electric lead.
Working principle: crawling type micro pipeline robot of the present invention is driven by three groups of direct current generators, by three groups of helicoidal gears the rotation of motor is changed into the forms of motion that needs, and has enough big action tractive force.The support leg structure of head and afterbody is similar to three in parallel set of bell cranks slide block devices, by moving forward and backward of drive nut cover 10, realizes opening and tightening up of back and front supporting leg.Control the forward and backward action of three groups of motors in certain sequence, just can realize that creeping type advances or retreats.Be example in vertical microtubule, to pass through below, the basic exercise step of crawling type micro pipeline robot of the present invention is described.
A cycle of motion can be divided into 6 steps:
After the preceding supporting leg 26 of upper end supporting part 2 is packed up, get back to step 1 again, so far, finish the motion of one-period, the robot integral body step pitch h that moved up just can realize moving downward according to sequence of movement in contrast to this.
Claims (9)
1, a kind of crawling type micro pipeline robot, flexible part (1) and two supporting parts (2) that can be supported in the microtubule in the middle of it is characterized in that comprising, the two ends of flexible part (1) in the middle of two supporting parts (2) are connected to, described supporting part (2) comprises the drive unit that nut support (27) and drive nut support (27) seesaw, described drive unit comprises small motor assembly (21), small motor shell (22), flange plate (23) and body cradle (24), described small motor shell (22) one ends link to each other with middle flexible part (1), the other end is socketed on the small motor assembly (21), described flange plate (23) by bearings on the output shaft of small motor assembly (21), and link to each other with small motor assembly (21), described body cradle (24) is fixed on the flange plate (23), described nut support (27) is threaded with the output shaft end of small motor assembly (21), be hinged with back supporting leg (25) on the described body cradle (24), be hinged with preceding supporting leg (26) on the described nut support (27), described back supporting leg (25) is hinged with preceding supporting leg (26).
2, crawling type micro pipeline robot according to claim 1, it is characterized in that described small motor shell (22) be connected in the middle of flexible part (1) an end be provided with coupling shaft (20), be set with guiding wheel carrier (3) on the described coupling shaft (20), be equiped with upper saw pulley (4) on the described guiding wheel carrier (3).
3, crawling type micro pipeline robot according to claim 2, it is characterized in that described middle flexible part (1) comprises nut sleeve (10), screw rod (11), guide rod (12), motor housing (13), electric machine assembly (14) and rear end cover (15), described electric machine assembly (14) is installed in the motor housing (13), described motor housing (13) one ends are connected with rear end cover (15), the other end links to each other with nut sleeve (10) by guide rod (12), described screw rod (11) one ends are connected with the output shaft of electric machine assembly (14), the other end is threaded with nut sleeve (10), and two supporting parts (2) link to each other with rear end cover (15) with nut sleeve (10) respectively.
4, crawling type micro pipeline robot according to claim 3, it is characterized in that being equiped with bearing between described screw rod (11) and the motor housing (13), screw rod (11) end is provided with inner shield ring (16), be provided with outer back-up ring (17) in the motor housing (13), bearing inner race is gone up set shaft shoulder location by inner shield ring (16) and screw rod (11), and bearing outer ring is gone up set shaft shoulder location by outer back-up ring (17) and motor housing (13).
5, crawling type micro pipeline robot according to claim 3, the end that it is characterized in that described coupling shaft (20) is provided with first knuckle joint (5), described nut sleeve (10) is connected supporting part (2) with rear end cover (15) a end is equipped with second knuckle joint (6), and each second knuckle joint (6) is hinged by cross bearing pin (7) with one first knuckle joint (5) respectively to be universal joint.
6, crawling type micro pipeline robot according to claim 4, the end that it is characterized in that described coupling shaft (20) is provided with first knuckle joint (5), described nut sleeve (10) is connected supporting part (2) with rear end cover (15) a end is equipped with second knuckle joint (6), and each second knuckle joint (6) is hinged by cross bearing pin (7) with one first knuckle joint (5) respectively to be universal joint.
7, crawling type micro pipeline robot according to claim 6, it is characterized in that described nut support (27) upward is equipped with function module (9) by connection set (8), described connection set (8) comprises with the flange (82) of the 3rd knuckle joint (81) and the 4th knuckle joint (83), flange (82) is connected with nut support (27), the 4th knuckle joint (83) one ends and the 3rd knuckle joint (81) are hinged by cross bearing pin (7) to be universal joint, the other end is connected with function module (9), be set with guiding wheel carrier (3) on the 4th knuckle joint (83), be equiped with upper saw pulley (4) on the described guiding wheel carrier (3).
8, crawling type micro pipeline robot according to claim 7 is characterized in that described small motor shell (22), motor housing (13) and rear end cover (15) are provided with the wire guide (30) of being convenient to arrange electric lead.
9, crawling type micro pipeline robot according to claim 8 is characterized in that the support end of described preceding supporting leg (26) is provided with the block rubber (28) that can increase frictional force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100358469A CN100485247C (en) | 2007-09-30 | 2007-09-30 | Crawling type micro pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100358469A CN100485247C (en) | 2007-09-30 | 2007-09-30 | Crawling type micro pipeline robot |
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| Publication Number | Publication Date |
|---|---|
| CN101144558A CN101144558A (en) | 2008-03-19 |
| CN100485247C true CN100485247C (en) | 2009-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100358469A Expired - Fee Related CN100485247C (en) | 2007-09-30 | 2007-09-30 | Crawling type micro pipeline robot |
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| CN (1) | CN100485247C (en) |
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