CN208764559U - A kind of pipe robot independently turned - Google Patents
A kind of pipe robot independently turned Download PDFInfo
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- CN208764559U CN208764559U CN201821128099.3U CN201821128099U CN208764559U CN 208764559 U CN208764559 U CN 208764559U CN 201821128099 U CN201821128099 U CN 201821128099U CN 208764559 U CN208764559 U CN 208764559U
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Abstract
The utility model belongs to robotic technology field, more particularly to a kind of pipe robot independently turned, comprising: two driving mould groups and at least two flexible axles.At least two flexible axles are installed between two driving mould groups, and the both ends of flexible axle are separately positioned in corresponding driving mould group, and driving mould group can be moved along the axial direction of flexible axle.When pipe robot, which encounters T-type bend, to be needed to turn to side, driving mould group close to bend is moved along the side flexible axle to the direction of another driving mould group, the length of flexible axle is less than the length of flexible axle between other sides two driving mould group between the mould group of the side two driving at this time, so that the head of pipe robot is deflected, pipe robot is enable to pass through bend.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a pipeline robot who independently turns.
Background
The pipeline is an essential part in modern life, and is inevitably damaged due to long-term environmental corrosion, external force action and the like. Various problems of pipeline faults, blockage, damage and the like can be caused in the using process of the pipeline, and if the pipeline is not detected and maintained in time, serious accidents can be caused. The traditional coping methods such as manual detection, random sampling and regular replacement have the defects of large engineering quantity, high cost, high danger coefficient and the like. In order to ensure the use safety of the pipeline, the timing detection and maintenance are important, but most pipelines are buried underground and are difficult to detect manually.
In the last 70 th century, the research on pipeline robots has been stimulated by the maintenance requirements of pipelines and containers in severe environments such as oil, gas, nuclear industries, etc., and various forms of pipeline robots have been developed successively in the united states, japan, and european countries such as france and germany. Research work of a large number of pipeline crawling detection robots is carried out by some scientific research institutions and units in China, and some commercial applications are realized in large-diameter long and straight pipelines such as oil gas and municipal administration at present. However, the existing pipeline robots are not only complex in structure but also difficult to adapt to complex environments in pipelines, and especially cannot turn when encountering complex curves, so that the pipeline robots cannot be normally used in many scenes.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a pipeline robot of independently turning is provided aims at solving the problem that current pipeline robot can't turn to when meetting complicated bend in the pipeline.
In order to solve the technical problem, the utility model relates to a realize like this, a pipeline robot of independently turning, a serial communication port, include: two driving modules and at least two flexible shafts;
the at least two flexible shafts are arranged between the two driving modules, and two ends of the at least two flexible shafts are respectively arranged in the corresponding driving modules;
the driving module comprises a driving assembly, a wire feeding assembly and a fixing seat, wherein the wire feeding assembly and the driving assembly are mounted on the fixing seat, the wire feeding assembly corresponds to the flexible shafts one to one, the end part of each flexible shaft penetrates through the corresponding wire feeding assembly, the same wire feeding assembly penetrated by the flexible shaft is pumped along the axis of the flexible shaft, and the driving assembly is used for moving in the pipeline.
Further, the wire feeding assembly comprises a rack, a first motor, a driving wheel and a first driven wheel;
the first motor is fixed on the rack, the driving wheel is connected with an output shaft of the first motor, and the first driven wheel is rotatably arranged on the rack;
the flexible shaft is inserted between the driving wheel and the first driven wheel, and the driving wheel rotates to pump the flexible shaft along the axial direction of the flexible shaft.
Further, the wire feeding assembly further comprises an adjusting seat and a second driven wheel;
the first end of the adjusting seat is rotatably arranged on the rack, the second end of the adjusting seat is elastically connected with the rack, the first driven wheel is rotatably arranged on the adjusting seat, and the second driven wheel is rotatably arranged on the rack;
the flexible shaft is inserted among the driving wheel, the first driven wheel and the second driven wheel, the driving wheel and the second driven wheel are located on the same side of the flexible shaft, and the first driven wheel is located between the driving wheel and the second driven wheel.
Further, the wire feeding assembly further comprises an adjusting nut, a T-shaped shaft and a spring;
the adjusting mechanism is characterized in that a through hole is formed in the second end of the adjusting seat, the large end of the T-shaped shaft is connected with the rack, the small end of the T-shaped shaft penetrates through the through hole, the spring is sleeved on the T-shaped shaft, and the adjusting nut is installed at the small end of the T-shaped shaft and abuts against the spring.
Further, the autonomously turning pipeline robot further comprises at least one shaping plate;
the periphery of the shaping plate is provided with first through grooves, and the flexible shafts penetrate through the first through grooves in a one-to-one correspondence mode.
Further, the autonomously turning pipeline robot further comprises a limiting rope;
the groove is run through to the center of stereotype board is equipped with the second, spacing rope passes the groove is run through to the second of stereotype board to it is corresponding the groove department is tied a knot is run through to the second of stereotype board, just the both ends of spacing rope are connected respectively on corresponding fixing base.
Further, the running assembly comprises a speed reducing motor, a running assembly rack, a rotating shaft and wheels;
the traveling assembly rack is arranged on the fixed seat, the speed reducing motor is fixed on the traveling assembly rack, and the wheels are connected to an output shaft of the speed reducing motor through the rotating shaft.
Further, the running assembly comprises a speed reducing motor, a running assembly rack, two hexagonal rotating shafts and two wheels;
the gear motor is fixed on the traveling assembly rack, one end of each hexagonal rotating shaft is connected with the gear motor, the other end of each hexagonal rotating shaft is an output end, and the two wheels are installed on the output ends of the hexagonal rotating shafts in a one-to-one correspondence mode.
Furthermore, the driving module further comprises a tensioning assembly, the tensioning assembly comprises a supporting rod and a tensioning driving mechanism, and the tensioning driving mechanism is installed on the fixed seat; the first end of the supporting rod is connected with the running assembly, the second end of the supporting rod is connected with the tensioning driving mechanism, and the tensioning driving mechanism drives the running assembly to abut against the inner wall of the pipeline through the supporting rod.
Furthermore, the tensioning driving mechanism comprises a second motor, a screw rod and a nut, the second motor is fixed on the fixed seat, the second motor drives the screw rod to operate, the nut is in threaded connection with the screw rod, and the second end of the supporting rod is connected to the nut; or,
the tension driving mechanism comprises a spiral spring, a guide post and a moving member, the guide post is fixed on the fixed seat, the spiral spring is sleeved on the guide post, one end of the spiral spring is fixedly connected with the fixed seat, the other end of the spiral spring is fixedly connected with the moving member, when the spiral spring is stretched by the moving member, the spiral spring provides a pulling force close to the fixed seat for the moving member, or when the spiral spring is compressed by the moving member, the spiral spring provides a pushing force far away from the fixed seat for the moving member.
Compared with the prior art, the utility model, beneficial effect lies in: the utility model discloses a pipeline robot of independently turning, include: two drive module and two at least flexible axles. At least two flexible shafts are arranged between the two driving modules, two ends of each flexible shaft are respectively arranged in the corresponding driving modules, and the driving modules can move along the axial direction of the flexible shafts. When the pipeline robot meets T-shaped bend and needs to turn to one side, the driving module close to the bend moves along the direction of the side flexible shaft to another driving module, and the length of the flexible shaft between the two driving modules at the side is smaller than the length of the flexible shaft between the two driving modules at other sides, so that the head of the pipeline robot deflects, and the pipeline robot can smoothly pass through the bend. Because the turning angle of this independently turned pipeline robot is decided by the length of each flexible axle between two drive module groups, consequently can adjust pipeline robot's turning angle as required to various complicated bends in the adaptation pipeline have solved the problem that current pipeline robot can't turn to when meetting complicated bend in the pipeline, have improved the performance of product.
Drawings
Fig. 1 is a schematic structural view of an autonomously turning pipeline robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is a schematic structural diagram of the driving module shown in FIG. 2;
FIG. 4 is an exploded view of FIG. 3;
FIG. 5 is a schematic illustration of the wire feed assembly of FIG. 4;
FIG. 6 is a cross-sectional view of the insertion of the flexible shaft into the wire feed assembly;
FIG. 7 is an exploded view of FIG. 5;
FIG. 8 is an exploded block diagram of the travel assembly of FIG. 4;
FIG. 9 is a schematic structural view of the sizing plate of FIG. 2;
FIG. 10 is a schematic structural view of the tension assembly in FIG. 4;
fig. 11 is a schematic structural view of another embodiment of the tensioning assembly in fig. 4.
In the drawings, each reference numeral denotes: 1. a driving module; 11. a travel assembly; 111. a reduction motor; 112. a travel assembly gantry; 113. a hexagonal rotating shaft; 114. a wheel; 12. a wire feed assembly; 121. a rack; 122. an adjusting seat; 123. a first motor; 124. a driving wheel; 125. a first driven wheel; 126. a second driven wheel; 127. adjusting the nut; 128. a T-shaped shaft; 129. a spring; 13. a fixed seat; 14. a tensioning assembly; 141. a support bar; 142. a second motor; 143. a screw; 144. a nut; 145. a coil spring; 146. a guide post; 147. a moving member; 2. a flexible shaft; 3. shaping plates; 31. a first through groove; 32. a second through groove; 4. a limiting rope.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-4, for the present invention provides a preferred embodiment of an autonomously turning pipeline robot, the autonomously turning pipeline robot includes: two drive module 1 and two piece at least flexible axle 2. At least two flexible shafts 2 are arranged between the two driving modules 1, and two ends of at least two flexible shafts 2 are respectively arranged in the corresponding driving modules 1. The driving module 1 comprises a driving module 11, a wire feeding module 12 and a fixed seat 13, wherein the wire feeding module 12 and the driving module 11 are mounted on the fixed seat 13, the wire feeding modules correspond to the flexible shafts 2 one to one, the end parts of the flexible shafts 2 penetrate through the corresponding wire feeding modules 12, the same wire feeding module 12 penetrated by the flexible shafts 2 is pumped along the axis of the flexible shafts 2, and the driving module 11 is used for moving in a pipeline.
The utility model provides a pipeline robot of independently turning, when pipeline robot met T type bend and need turned to one side, the drive module that is close to the bend send the subassembly to begin to pump this side flexible axle 2, make the drive module that is close to the bend along the direction motion of this side flexible axle 2 to another drive module, the length of flexible axle 2 is less than the length of flexible axle 2 between two drive modules of other sides between this moment this side two drive modules, make pipeline robot's head take place to deflect, make pipeline robot can pass through the bend smoothly. Because the turning angle of this independently turned pipeline robot is decided by the length of each flexible axle 2 between two drive module groups, consequently can adjust pipeline robot's turning angle as required to various complicated bends in the adaptation pipeline have solved the problem that current pipeline robot can't turn to when meetting complicated bend in the pipeline, have improved the performance of product.
Referring to fig. 5-7, in particular, the wire feed assembly 12 includes a carriage 121, an adjustment seat 122, a first motor 123, a drive pulley 124, a first driven pulley 125, a second driven pulley 126, an adjustment nut 127, a T-shaft 128, and a spring 129.
The first motor 123 is fixed on the table frame 121, the driving wheel 124 is connected with an output shaft of the first motor 123, a first end of the adjusting seat 122 is rotatably installed on the table frame 121, and a second end of the adjusting seat 122 is elastically connected with the table frame 121. The second end of the adjusting seat 122 is provided with a through hole, the large head end of the T-shaped shaft 128 is connected with the rack 121, the small head end of the T-shaped shaft 128 penetrates through the through hole and then the spring 129 is sleeved on the T-shaped shaft 128, and the adjusting nut 127 is mounted at the small head end of the T-shaped shaft 128 and presses against the spring 129. The first driven pulley 125 is rotatably mounted on the adjustment seat 122, and the second driven pulley 126 is rotatably mounted on the table frame 121. The flexible shaft 2 is inserted between the driving wheel 124, the first driven wheel 125 and the second driven wheel 126, and the driving wheel 124 and the second driven wheel 126 are located on the same side of the flexible shaft 2, and the first driven wheel 125 is located between the driving wheel 124 and the second driven wheel 126. The driving wheel 124 rotates to make the wire feeding assembly 12 pump the flexible shaft 2 along the axial direction of the flexible shaft 2.
Referring to fig. 1, 2 and 9, further, the autonomously turning pipeline robot further includes at least one sizing plate 3. The periphery of the shaping plate 3 is provided with first through grooves 31, and the flexible shafts 2 correspondingly penetrate through the first through grooves 31 one by one. Because the rigidity of flexible axle 2 is not enough, the pipeline robot that makes independently turn warp easily in the motion process, makes the skew predetermined direction of pipeline robot, uses stereotype 3 can make the pipeline robot non-deformable in the motion process, prevents the skew predetermined direction of pipeline robot.
Referring to fig. 1, 2 and 9, further, the autonomously turning pipeline robot further comprises a limiting rope 4. The groove 32 is link up to the center of stereotype 3 is equipped with the second, limit rope 4 passes the groove 32 is link up to the second of stereotype 3 to it is corresponding the groove 32 department is link up to the second of stereotype 3, just limit rope 4's both ends are connected respectively on corresponding fixing base 13. Limiting rope 4 plays limiting displacement to stereotype plate 3, avoids pipeline robot in the motion process a plurality of stereotype plates 3 back of folding together, reduces stereotype plate 3 to the design effect of flexible axle 2.
Referring to fig. 8, in particular, the traveling assembly 11 includes a reduction motor 111, a traveling assembly rack 112, two hexagonal shafts 113, and two wheels 114. The speed reduction motor 111 is fixed on the traveling assembly rack 112, one end of each of the two hexagonal rotating shafts 113 is connected with the speed reduction motor 111, the other end of each of the two hexagonal rotating shafts is an output end, and the two wheels 114 are correspondingly mounted on the output ends of the hexagonal rotating shafts 113 one by one.
Further, the driving module 1 further includes a tension assembly 14, the tension assembly 14 includes a support rod 141 and a tension driving mechanism, and the tension driving mechanism is installed on the fixing seat 13; the first end of the supporting rod 141 is connected with the traveling assembly 11, the second end of the supporting rod 141 is connected with the tensioning driving mechanism, and the tensioning driving mechanism drives the traveling assembly 11 to abut against the inner wall of the pipeline through the supporting rod 141.
Referring to fig. 10, in particular, the tensioning driving mechanism includes a second motor 142, a screw rod 143, and a nut 144, the second motor 142 is fixed on the fixed seat 13, the second motor 142 drives the screw rod 143 to operate, the nut 144 is connected to the screw rod 143 in a threaded manner, and a second end of the supporting rod 141 is connected to the nut 144.
The two ends of the supporting rod 141 are respectively hinged to the driving component 11 and the nut 144, and when the nut 144 moves on the screw 143 toward the fixing seat 13, the driving component 11 and the end of the supporting rod 141 hinged to each other move in a direction away from the tension component 14 by taking the tension component 14 as a center, that is: one end of the driving component 11 hinged to the support rod 141 approaches the inner wall of the pipeline, and then the wheel 114 arranged on the driving component 11 approaches the inner wall of the pipeline; when the nut 144 moves away from the fixing seat 13 at the screw 143, the end of the driving component 11 hinged to the supporting rod 141 moves toward the direction close to the tensioning component 14 with the tensioning component 14 as the center, that is, the end of the driving component 11 hinged to the supporting rod 141 moves away from the inner wall of the pipeline, and then the wheel 114 arranged on the driving component 11 moves away from the inner wall of the pipeline, so that the diameter of the circumference where the wheels 114 of at least two driving components 11 are located can be adjusted, and the robot can adjust according to pipelines with different inner diameters to adapt to walking in pipelines with different inner diameters.
In the present embodiment, the reduction motor 111, the first motor 123, the second motor 142, and the like are collectively controlled by the controller. When the robot walks in the pipeline, the controller controls the speed reducing motor 111 so as to control the walking speed; when turning is needed, the controller controls the corresponding first motor 123 in the wire feeding assembly 12 to pump and send the corresponding flexible shaft 2, so as to realize the turning function; when the robot needs to stably stop at a certain position in the pipeline, at this time, the controller controls the speed reducing motor 111 and the first motor 123 to stop outputting power, and controls the second motor 142 to output power so that the tensioning assembly 14 is stretched and tightened in the pipeline relative to the pipe wall.
Referring to fig. 11, in addition to the above embodiments, the tensioning driving mechanism may further include a coil spring 145, a guiding post 146 and a moving member 147, the guiding post 146 is fixed on the fixed seat 13, the coil spring 145 is sleeved on the guiding post 146, one end of the coil spring 145 is connected and fixed with the fixed seat 13, and the other end of the coil spring 145 is connected and fixed with the moving member 147, when the coil spring 145 is stretched by the moving member 147, the coil spring 145 provides a pulling force to the moving member 147 close to the fixed seat 13, or when the coil spring 145 is compressed by the moving member 147, the coil spring 145 provides a pushing force to the moving member 147 away from the fixed seat 13.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An autonomously turning pipeline robot, comprising: two driving modules (1) and at least two flexible shafts (2);
the at least two flexible shafts (2) are arranged between the two driving modules (1), and two ends of the at least two flexible shafts (2) are respectively arranged in the corresponding driving modules (1);
drive module (1) is including the subassembly (11) that traveles, send a subassembly (12) and fixing base (13), send a subassembly (12) and the subassembly (11) that traveles all installs on fixing base (13), send a subassembly with flexible axle (2) one-to-one, each the tip of flexible axle (2) passes correspondingly send a subassembly (12), same root send a subassembly (12) that flexible axle (2) passed and carry out the pump along the axis of this flexible axle (2) and send, the subassembly (11) that traveles is arranged in the pipeline motion.
2. The autonomously turning pipeline robot according to claim 1, wherein said wire feeding assembly (12) comprises a stage (121), a first motor (123), a driving wheel (124) and a first driven wheel (125);
the first motor (123) is fixed on the rack (121), the driving wheel (124) is connected with an output shaft of the first motor (123), and the first driven wheel (125) is rotatably mounted on the rack (121);
the flexible shaft (2) is inserted between the driving wheel (124) and the first driven wheel (125), and the driving wheel (124) rotates to pump the flexible shaft (2) along the axial direction of the flexible shaft (2).
3. The autonomously turning pipeline robot according to claim 2, wherein said wire feed assembly (12) further comprises an adjustment seat (122), a second driven wheel (126);
a first end of the adjusting seat (122) is rotatably mounted on the rack (121), a second end of the adjusting seat (122) is elastically connected with the rack (121), the first driven wheel (125) is rotatably mounted on the adjusting seat (122), and the second driven wheel (126) is rotatably mounted on the rack (121);
the flexible shaft (2) is inserted among the driving wheel (124), the first driven wheel (125) and the second driven wheel (126), the driving wheel (124) and the second driven wheel (126) are located on the same side of the flexible shaft (2), and the first driven wheel (125) is located between the driving wheel (124) and the second driven wheel (126).
4. The autonomously turning pipeline robot according to claim 3, characterized in that said wire feed assembly (12) further comprises an adjusting nut (127), a T-shaped shaft (128) and a spring (129);
the second end of the adjusting seat (122) is provided with a through hole, the large end of the T-shaped shaft (128) is connected with the rack (121), the small end of the T-shaped shaft (128) penetrates through the through hole, then the spring (129) is sleeved on the T-shaped shaft (128), and the adjusting nut (127) is installed at the small end of the T-shaped shaft (128) and presses against the spring (129).
5. The autonomously turning pipeline robot according to any one of claims 1 to 4, further comprising at least one sizing plate (3);
the periphery of the shaping plate (3) is provided with first through grooves (31), and the flexible shafts (2) correspondingly penetrate through the first through grooves (31).
6. The autonomously turning pipeline robot according to claim 5, further comprising a stopper rope (4);
the center of stereotype (3) is equipped with the second and link up groove (32), spacing rope (4) are passed the second of stereotype (3) links up groove (32), and is corresponding the second of stereotype (3) links up groove (32) department and ties a knot, just the both ends of spacing rope (4) are connected respectively on corresponding fixing base (13).
7. The autonomously turning pipeline robot according to claim 1, characterized in that said traveling assembly (11) comprises a reduction motor (111), a traveling assembly stage (112), a rotation shaft, and wheels (114);
the traveling assembly rack (112) is arranged on the fixed seat (13), the speed reducing motor (111) is fixed on the traveling assembly rack (112), and the wheel (114) is connected to an output shaft of the speed reducing motor (111) through the rotating shaft.
8. The autonomously turning pipeline robot according to claim 1, characterized in that said traveling assembly (11) comprises a reduction motor (111), a traveling assembly stage (112), two hexagonal shafts (113), and two wheels (114);
gear motor (111) are fixed on the subassembly rack (112) of traveling, two the one end of hexagonal pivot (113) with gear motor (111) are connected, and the other end is the output, two wheel (114) one-to-one install on the output of hexagonal pivot (113).
9. The autonomous turning pipeline robot according to claim 7 or 8, characterized in that the driving module (1) further comprises a tensioning assembly (14), the tensioning assembly (14) comprises a support bar (141) and a tensioning driving mechanism, and the tensioning driving mechanism is mounted on the fixed base (13); the first end of bracing piece (141) with go subassembly (11) and be connected, the second end of bracing piece (141) with rise tight actuating mechanism and be connected, rise tight actuating mechanism and pass through bracing piece (141) drive go subassembly (11) butt on the pipeline inner wall.
10. The autonomous turning pipeline robot according to claim 9, wherein the tensioning driving mechanism comprises a second motor (142), a screw rod (143) and a nut (144), the second motor (142) is fixed on the fixed seat (13), the second motor (142) drives the screw rod (143) to rotate, the nut (144) is connected to the screw rod (143) in a threaded manner, and the second end of the supporting rod (141) is connected to the nut (144); or,
the tensioning driving mechanism comprises a spiral spring (145), a guide post (146) and a moving member (147), the guide post (146) is fixed on the fixed seat (13), the spiral spring (145) is sleeved on the guide post (146), one end of the spiral spring (145) is fixedly connected with the fixed seat (13), the other end of the spiral spring (145) is fixedly connected with the moving member (147), when the spiral spring (145) is stretched by the moving member (147), the spiral spring (145) provides a pulling force close to the fixed seat (13) for the moving member (147), or when the spiral spring (145) is compressed by the moving member (147), the spiral spring (145) provides a pushing force far away from the fixed seat (13) for the moving member (147).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821128099.3U CN208764559U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot independently turned |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821128099.3U CN208764559U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot independently turned |
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| CN208764559U true CN208764559U (en) | 2019-04-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758164A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of pipe robot independently turned |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758164A (en) * | 2018-07-16 | 2018-11-06 | 香港中文大学（深圳） | A kind of pipe robot independently turned |
| CN108758164B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Autonomous turning pipeline robot |
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