阅读说明：本技术 一种多支撑轮式蠕动管道清理机器人 (A kind of more support wheel type wriggle pipeline cleanings robot ) 是由 刘俊松 鲍梦媛 俞俊 孙丽丽 苏学满 于 2019-08-26 设计创作，主要内容包括：本发明涉及一种多支撑轮式蠕动管道清理机器人,包括由柔性丝杠以及与其适配套筒所构成的主体、设置在主体两侧的左、右液压装置,主体两侧通过万向节对应连接有用于驱动左、右液压装置的一号驱动电机、二号驱动电机,主体上设有用于控制柔性丝杠正反转的步进电机以及起到稳定性和支撑扶正作用的稳定装置,左、右液压装置上对应设有清洁装置、勘探摄像装置。本发明打破了传统管道系统维修检测的方式。通过工程人员的操控,完成管道的检测、维修、清理等相关作业,为人工不可触及的工作提供了解决方案。运行稳定,速度快,承载能力强,越障过弯能力良好,克服了对管壁磨损的问题,节省了人力,降低了成本。(The present invention relates to a kind of more support wheel type wriggle pipelines to clear up robot, including by flexible feed screw and the main body constituted with its conforming sleeves, the left and right hydraulic device that main body two sides are arranged in, main body two sides are correspondingly connected with No.1 driving motor, No. two driving motors for driving left and right hydraulic device by universal joint, main body is equipped with for controlling the stepper motor of flexible feed screw positive and negative rotation and playing the stabilising arrangement of stability and support centralizing function, and cleaning device, exploration photographic device are correspondingly provided on left and right hydraulic device.The present invention has broken the mode of conventional ductwork maintenance conditions.By the manipulation of engineering staff, the related operation such as detection, maintenance, cleaning of pipeline is completed, provides solution for artificial untouchable work.Stable, speed is fast, and bearing capacity is strong, and the excessively curved ability of obstacle detouring is good, the problem of overcoming to transducer wall's abrasion, saves manpower, reduces costs.)

1. a kind of more support wheel type wriggle pipelines clear up robot, including by flexible feed screw (12) and with its conforming sleeves institute structure At main body, the left and right hydraulic devices of main body two sides is set, it is characterised in that: it is corresponding that main body two sides pass through universal joint (15) It is connected with No.1 driving motor (4) for driving left and right hydraulic device, No. two driving motors (16), main body is equipped with and is used for It controls the stepper motor (39) of flexible feed screw (12) positive and negative rotation and plays stability and support the stabilizing mechanism of centralizing function, Cleaning device, exploration photographic device are correspondingly provided on left and right hydraulic device.

2. a kind of more support wheel type wriggle pipelines according to claim 1 clear up robot, it is characterised in that: the left side, Right hydraulic device by hollow shaft (8), setting hollow shaft (8) end round bottom disk (5), in a ring correspondence be hinged on hollow shaft (8), on round bottom disk (5) and with the walking mechanism of adaptive variable diameter and self-locking function composition, the hollow shaft (8) and vehicle with walking machine Structure is connected with petroleum pipeline (34), and the pressure for controlling walking mechanism variable diameter is equipped between the walking mechanism and round bottom disk (5) Spring (18), the hollow shaft (8) are connected by hydraulic package with corresponding No.1 driving motor (4), No. two driving motors (16) It connects.

3. a kind of more support wheel type wriggle pipelines according to claim 2 clear up robot, it is characterised in that: described hydraulic Component include sleeve (33), setting it is internal in sleeve (33) and with No.1 driving motor (4), No. two driving motor (16) corresponding companies The motor lead screw (26) connect, the motor lead screw (26) are equipped with for axial pressure through petroleum pipeline (34) so that walking mechanism Realize the feed screw nut (25) of self-locking function.

4. a kind of more support wheel type wriggle pipelines according to claim 3 clear up robot, it is characterised in that: the sleeve (33) it is equipped with guide groove (33a) along axis on, it is sliding equipped with the limit structure being connect with feed screw nut (25) in the guide groove (33a) Part (17).

5. a kind of more support wheel type wriggle pipelines according to claim 2 clear up robot, it is characterised in that: the walking Mechanism includes the interior wheel carrier (27) and driving wheel of the outer wheel carrier (1) being hinged on round bottom disk (5), setting on outer wheel carrier (1) (9), with driving wheel (9) coaxially connected Self locking gears a (20), the interior wheel carrier (27) with petroleum pipeline (34) equipped with by connecting It connects for engaging the Self locking gears b (21) for realizing self-locking function with Self locking gears a (20).

6. a kind of more support wheel type wriggle pipelines according to claim 5 clear up robot, it is characterised in that: the walking Mechanism further includes by supporting the cylindrical connector that the linear bearing (10) closed is nested on hollow shaft (8) with compression spring (18) (24), one end of the cylindrical connector (24) passes through in the sliding sliding slot (22) mounted on outer wheel carrier (1) side wall of bolt.

7. a kind of more support wheel type wriggle pipelines according to claim 1 clear up robot, it is characterised in that: the stabilization Mechanism includes that two polygons being set on flexible feed screw (12) by sliding axle reinforce connecting plate (29), two polygons Reinforce that the support of parallel four side with support wheel (13) wheel carrier, the parallel four side branch is hingedly distributed in ring on connecting plate (29) It supports and is equipped with tension spring (3) between cornerwise two connecting shafts on wheel carrier.

8. a kind of more support wheel type wriggle pipelines according to claim 1 clear up robot, it is characterised in that: the cleaning Device includes being arranged on left lateral walking apparatus and carrying out clean rotatable wire cleaning head (7) by rotation, be arranged in main body Clean cleaning collodion (11) is carried out by rotation, rotatable wire cleaning head (7) end is additionally provided with the sprinkling for cleaning Head (6).

9. a kind of more support wheel type wriggle pipelines according to claim 1 clear up robot, it is characterised in that: the exploration Photographic device includes the steering wheel of the fixing sucking disk (32) being arranged on right lateral walking apparatus, setting on fixing sucking disk (32) (35), the camera (37) that is arranged on steering wheel (35) and can swing up and down, the steering wheel (35), which is connected with, controls it The steering-engine (36) of 360 ° omni-directional rotation.

Technical field

The present invention relates to pipeline cleaning machine people field, specially a kind of more support wheel type wriggle pipelines clear up robot.

Background technique

Now, pipeline either all plays highly important effect in industrial production or daily life.Pipeline is made For a kind of important means of delivery, irreplaceable role is played in transportation aspects such as tap water, petroleum, natural gases.With The application of urbanization and the fast development of modern industry, pipeline increasingly increases severely.A large amount of uses of pipeline, in the life for giving the mankind It produces, living also brings new problem while offering convenience.Pipeline in long-term use, due to external environment erosion with And the reasons such as aging of itself, it is likely to result in pipeline breaking, deformation, perforation, blocking, not only affects normally making for pipeline With, and the unnecessary waste of resource is caused, or even pollution environment, heavy losses are caused to the people's lives and property.Therefore, Detected, cleared up and safeguarded to be very necessary to pipeline.Traditional manual type large labor intensity and dangerous, pipeline Robot can then well solve this thorny problem.

The type of pipe robot is increasing, and career field is also constantly extending, according to walking manner can be divided into it is wheeled, Crawler type, creeping motion type, oscillatory type etc. are several.Since running on wheels has structure simple, walking continuous and stable, speed are fast, reliable Property it is high, wheel efficiency is high many advantages, such as, the pipe robot developed at present be mostly wheeled and Practical Project in make With a kind of most modes.The driving wheel of wheeled mobile robot will lean on spring force, hydraulic and aerodynamic force, and magnetive attraction etc. is pressed on With supporting machine human body and certain normal pressure is generated in inner wall of the pipe, such wheeled mobile robot just has walking Primary condition, we will make robot ambulation wheel be pressed on the power on tube wall seal force, driving wherein some or several wheels Son rotation generates the driving force walked before and after robot by the adhesive force between driving wheel and tube wall, to realize the shifting of robot Dynamic, this is the basic principle of wheeled movable robot in pipe walking.Crawler type movable robot in pipe, which has many advantages, to be borrowed Mirror, but its structure is complex, is not easy to minimize, and turn performance is poor, therefore the pipe machine of Large diameter is mostly used in practical application On device people's carrier, crawler type movable robot in pipe efficiently solves lance of the driving force --- normal pressure --- between frictional force Shield is a kind of walking manner effective in the presence of a harsh environment.There is wheeled and crawler type in-pipe robot, people are finding newly Continue to explore novel structure in walking in pipe mode, the animal of the caves life such as observation earthworm, caterpillar is it can be found that they are It being moved by flexible (wriggling) of body, tail portion bearing, body elongation drives head to travel forward, then, and head rest supporting, body Body is shunk, and tail portion is driven to travel forward, and this motion cycle is gone down, and realization is walked in cave, utilization similar principle therewith People produce creeping motion type movable robot in pipe.

The above-mentioned analysis and summary advantage and disadvantage of various pipe robots.First is that wheeled pipe robot: it is relatively simple for structure, Speed ratio is very fast, and tractive force is big, and bearing capacity is stronger, is easy design and manufacture.But when having barrier in pipeline, lead to Cross that ability is weaker, the raising of tractive force is limited by seal force size, and its driving wheel is as a source of power, is leaned on and pipe The friction of road wall moves, to the abrasion of duct wall bigger, is easy to damage pipeline；Second is that crawler belt type pipeline robot: movement Process is stablized, and obstacle climbing ability is stronger, but for complicated pipeline, forward travel is obstructed, and due to itself heaviness, travel speed is slow Slowly, while to inner wall of the pipe damage larger.

Summary of the invention

In order to solve the above-mentioned technical problem, the invention proposes a kind of more support wheel type wriggle pipelines to clear up robot.It should More support wheel type wriggle pipelines cleaning robot not only has the wheeled pipe robot speed of service fast, strong excellent of bearing capacity Point, and stable, the strong advantage of obstacle climbing ability with crawler belt type pipeline robot.

The technical problems to be solved by the invention are realized using following technical scheme:

A kind of more support wheel type wriggle pipeline cleanings robot, including constituted by flexible feed screw and with its conforming sleeves Main body, the left and right hydraulic devices of main body two sides is set, main body two sides by universal joint be correspondingly connected with for drive it is left, The No.1 driving motor of right hydraulic device, No. two driving motors, main body are equipped with the stepping for controlling flexible feed screw positive and negative rotation It motor and plays stability and supports the stabilizing mechanism of centralizing function, be correspondingly provided with cleaning device on left and right hydraulic device, survey Visit photographic device.

Further, the left and right hydraulic device by hollow shaft, round bottom disk that hollow shaft end is set, in a ring It is corresponding to be hinged on hollow shaft, on round bottom disk and with the walking mechanism of adaptive variable diameter and self-locking function composition, the hollow shaft It is connected with petroleum pipeline with walking mechanism, the pressure for controlling walking mechanism variable diameter is equipped between the walking mechanism and round bottom disk Spring, the hollow shaft are connected by hydraulic package with corresponding No.1 driving motor, No. two driving motors.

Further, the hydraulic package includes sleeve, is arranged in sleeve inner and drives with No.1 driving motor, No. two The motor lead screw that motor is correspondingly connected with, the motor lead screw are equipped with for axial pressure through petroleum pipeline so that walking mechanism is real The feed screw nut of existing self-locking function.

Further, it is equipped with guide groove along axis on the sleeve, sliding be equipped with connect with feed screw nut in the guide groove Limit component.

Further, the walking mechanism includes the outer wheel carrier being hinged on round bottom disk, the lubrication groove being arranged on outer wheel carrier Frame and driving wheel and the coaxially connected Self locking gears a of driving wheel, the interior wheel carrier are equipped with by connecting with petroleum pipeline to be used for The Self locking gears b for realizing self-locking function is engaged with Self locking gears a.

Further, the walking mechanism further includes being nested in hollow shaft by supporting the linear bearing closed with compression spring Cylindrical connector, one end of the cylindrical connector passes through in the sliding sliding slot mounted on outer wheel carrier side wall of bolt.

Further, the stabilizing mechanism includes that two polygons being set on flexible feed screw by sliding axle are reinforced Connecting plate, two polygons reinforce that the support wheel carrier of the parallelogram with support wheel, institute is hingedly distributed in ring on connecting plate Stating on parallelogram support wheel carrier is in that tension spring is equipped between cornerwise two connecting shafts.

Further, the cleaning device includes being arranged on left lateral walking apparatus and carrying out clean rotation steel by rotation Silk cleaning head is arranged in main body through the clean cleaning collodion of rotation progress, and the rotatable wire cleaning cephalic par is additionally provided with Sprinkler head for cleaning.

Further, the exploration photographic device includes the fixing sucking disk being arranged on right lateral walking apparatus, is arranged in fixation Steering wheel on sucker, setting on the steering wheel and the camera that can swing up and down, the steering wheel be connected with control its The steering-engine of 360 ° omni-directional rotation.

The beneficial effects of the present invention are:

Compared with prior art, the present invention has broken the mode of conventional ductwork maintenance conditions.Pass through engineering staff's Manipulation, completes the related operation such as detection, maintenance, cleaning of pipeline, provides solution for artificial untouchable work.Fortune Row is stablized, and speed is fast, and bearing capacity is strong, and the excessively curved ability of obstacle detouring is good, the problem of overcoming to transducer wall's abrasion, saves manpower, It reduces costs.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples:

Fig. 1 is overall structure diagram of the invention；

Fig. 2 is the structural schematic diagram of right lateral walking apparatus and No. two driving motors in the present invention；

Fig. 3 is the structural schematic diagram of walking mechanism in the present invention；

Fig. 4 is the structural schematic diagram of self-locking device in walking mechanism of the present invention；

Fig. 5 is the structural schematic diagram of stabilizing mechanism in the present invention；

Fig. 6 is the structural schematic diagram that camera is explored in the present invention；

Fig. 7 is the structural schematic diagram of rotatable wire cleaning head and sprinkler head in the present invention；

Fig. 8 is the schematic diagram of internal structure that collodion is cleaned in the present invention.

Specific embodiment

In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below It closes attached drawing and the present invention is further described in embodiment.

As shown in Figure 1, a kind of more support wheel type wriggle pipelines clear up robot, including fitted by flexible feed screw 12 and with it The main body constituted with sleeve, the left and right hydraulic device being arranged at left and right sides of main body, the main body left and right sides, which is correspondingly provided with, to be used for 4, No. two driving motors 16 of No.1 driving motor of left and right hydraulic device are driven, wherein No. two driving motors 16 pass through ten thousand It connect with flexible feed screw 12 to section 15 and connector 2, the No.1 driving motor 4 is connected directly between to be adapted to flexible feed screw 12 On sleeve；4, No. two driving motors 16 of the No.1 driving motor are connected with corresponding left and right hydraulic device by hydraulic package, Main body is equipped with for playing stability and supporting the stabilizing mechanism of centralizing function, is correspondingly provided with cleaning on left and right hydraulic device Device, exploration photographic device.

Wherein, as shown in figure 3, the left and right hydraulic device by hollow shaft 8, the round bottom disk of 8 end of hollow shaft is set 5, the walking mechanism composition with adaptive variable diameter and self-locking function being distributed in a ring；Straight line is nested in the hollow shaft 8 Bearing 10, the linear bearing 10 is equipped with trident sleeve 19, there are three the walking mechanism is distributed in a ring.

Each walking mechanism include the outer wheel carrier 1 being hinged on by hydraulic-pressure sleeve 23 on round bottom disk 5, correspondence be hinged on The cylindrical connector 24 of 19 hinged end of trident sleeve, as shown in figure 4, being correspondingly provided with interior wheel carrier 27 and driving on the outer wheel carrier 1 Wheel 9,9 two sides of driving wheel are coaxially provided with Self locking gears a20, and the end of the interior wheel carrier 27 is fixedly installed and Self locking gears The corresponding Self locking gears b21 of a20, interior 27 tail portion of wheel carrier is sliding in hydraulic-pressure sleeve 23, when by hydraulic-driven, interior wheel carrier 27 It is mobile to make Self locking gears b21 engaging corresponding with Self locking gears a20, locking carried out to driving wheel 9, and then realization driving wheel 9 certainly Lock；The upper end of the cylindrical connector 24 is sliding mounted in the sliding slot 22 for being located at the setting of 1 two sides of foreign steamer frame by the bolt of setting It is interior.

It is wound in the hollow shaft 8 and between linear bearing 10 and round bottom disk 5 for the adaptive strain of walking mechanism The compression spring 18 that diameter is adjusted.

As shown in Fig. 2, the hydraulic package includes that one end is connect with hollow shaft 8, the other end drives electricity with corresponding No.1 The sleeve 33 of 4 shell of machine, No. two 16 cage connections of driving motor, is equipped with inside the sleeve 33 and No.1 driving motor 4, two The motor lead screw 26 that driving motor 16 is correspondingly connected with, the motor lead screw 26 are equipped with feed screw nut 25, the feed screw nut 25 One end is equipped with the push rod in insertion hollow shaft 8, and the feed screw nut 25 is equipped with limit component 17, and the sleeve 33 is equipped with Guide groove 33a corresponding with limit component 17 ensure that the single of feed screw nut 25 by guide groove 33a and limit component 17 Direction movement prevents opposite slide.

The hollow shaft 8 be carbon steel, shafts, be internally provided with hydraulic oil, set in the hollow shaft 8 there are three position with it is hydraulic The corresponding oil transportation mouth of sleeve 23, each oil transportation mouth pass through a petroleum pipeline 34 and are tightly connected with corresponding hydraulic-pressure sleeve 23. In the left and right walking mechanism alternating moving process of the robot, when needing to brake braked wheel, driven by driving motor Motor lead screw 26 drives feed screw nut 25 to move into hollow shaft 8, and the hydraulic oil in hollow shaft 8 is pressed into liquid by petroleum pipeline 34 In pressing sleeve cylinder 23, interior wheel carrier 27 is pushed to move towards driving wheel 9, so that Self locking gears b21 engages with Self locking gears a20, thus Realize the self-locking of driving wheel 9.

Function that there are two the left and right hydraulic devices passes through compression spring 18 first is that being adapted to a certain range of caliber It contacts three driving wheels 9 with inner wall of the pipe always, is easy to implement creep feed；Second is that the brake bracket by controlling it, drive Driving wheel 9 is locked, and provides condition for the realization of robot creep feed, and in addition controlling robot bidirectional-movement is exactly to pass through control Make the locked sequence realization of driving wheel 9 in left and right hydraulic device.

As shown in figure 5, the stabilizing mechanism includes that two triangles reinforce connecting plate 29, each triangle reinforces connection The middle part of plate 29 is equipped with circular through hole, and three apexes are welded with cylinder-shaped link, set between the cylinder-shaped link There is stiffening plate 31, sliding shaft sleeve is cased on the cylinder-shaped link, flexible feed screw 12 moves wherein；Each triangle adds The straight pin 28 parallel with its side is equipped on three outsides of strong ties plate 29, correspondence is hinged on two straight pins 28 of left and right One parallelogram with support wheel 13 supports wheel carrier.

The parallelogram support wheel carrier includes the corresponding square connecting member 30 for being hinged on 28 both ends of straight pin, coaxial It is corresponding on the square connecting member 30 of distribution to be hinged with fixed support plate 14, it is corresponded at left and right sides of 14 upper end of fixed support plate The support wheel 13 being distributed side by side equipped with two groups two, wherein left side triangle reinforces straight pin 28 and right side branch on connecting plate 29 The tension spring 3 that the adaptive variable diameter of control stabilizing mechanism is adjusted is equipped between the rotation axis of support wheel 13.

By the way that stabilizing mechanism is arranged, increases the contact between the robot and pipeline, improve robot in motion process In stability, while decreasing damage of the robot to inner wall of the pipe.Wherein parallelogram wheel frame plays support and helps Positive interaction ensure that this completes creep feed robot stabilizedly.

As shown in Fig. 1, Fig. 7, Fig. 8, the cleaning device includes the rotation steel being arranged in left lateral walking apparatus on round bottom disk 5 Silk cleaning head 7, the cleaning collodion 11 that main body center is arranged in, 7 end of rotatable wire cleaning head is additionally provided with for cleaning Sprinkler head 6, the rotatable wire cleaning head 7 and cleaning collodion 11 inside be equipped with corresponding hub motor 40, to make Rotatable wire cleaning head 7, cleaning collodion 11 are rotated always to have the function that clean pipeline；In addition, the stepper motor 39 Inside cleaning collodion 11.

By the sprinkler head 6 on top, rotatable wire cleaning head 7, the cleaning triple cleaning plants of collodion 11, realize when shorter Reach higher cleaning effect under interior and lower energy consumption condition.

As shown in fig. 6, the exploration photographic device includes the fixing sucking disk being arranged in right lateral walking apparatus on round bottom disk 5 32, the steering wheel 35 being arranged on fixing sucking disk 32, the camera 37 that is arranged on steering wheel 35 and can swing up and down, it is described Steering wheel 35 is connected with the steering-engine 36 for controlling the rotation of its 360 ° omni-directional, and the side of the camera 37, which is equipped with, is used for angle The knob 38 of adjusting and the arc chute slided for knob 38, can pass through movement of the control handle 38 in arc chute To control the bearing oscillation up and down of camera 37.

The fixing sucking disk 32 enables to exploration photographic device to be steadily adsorbed on the round bottom disk 5 in right lateral walking apparatus On, and it is easy to disassemble.Steering wheel 35 and turning machine 36 enable to camera 37 to realize that 360 ° omni-directional images, no dead angle Situation in pipeline is monitored in real time, facilitates engineering staff to robot control and adjustment instruction.

Robot can frequently encounter bend in pipeline, in order to guarantee to pass through bend, be arranged in robot Universal joint 15 and space support wheel carriers at 120 ° of symmetrical three parallelogram, this is because robot is curved Road will appear two problems during moving；First is that the self weight of flexible feed screw 12 can make sleeve and flexible feed screw 12 bend To make the frictional force between sleeve and flexible feed screw 12 increase and then influence the transmission efficiency of flexible feed screw 12, increase simultaneously The frictional force of driving wheel 9 aggravates abrasion, robot cisco unity malfunction: second is that relative motion occurs for sleeve and flexible feed screw 12 When, since sleeve is long, whole distance is long when flexible feed screw 12 is outside, and sleeve is possible to glance off at this time, Cause to be in contact with bend inner wall, to influence the creep feed of robot.There is space at 120 ° of symmetrical three Parallelogram supports wheel carrier just to have the opposite direction from support wheel if sleeve has the tendency that glancing off Moment loading is on sleeve, to play support centralizing function to sleeve, sleeve axis can be remained with conduit axis It is overlapped, the two variable diameter braked wheel mechanisms in left and right and lead screw will not glance off, and the normal creep feed of robot obtains Guarantee.

Working principle:

The process that the robot moves downward is as follows:

Right lateral walking apparatus keeps original state, and left lateral walking apparatus is in No.1 driving motor 4, hydraulic package and Self locking gears Locking state is under the action of a20, Self locking gears b21；Flexible feed screw 12 is driven to rotate at this point, stepper motor 39 rotates forward, from And No. two driving motors 16 and right lateral walking apparatus is driven to be moved to the left, in mobile process, left lateral walking apparatus is remained stationary.When soft When sex pilus thick stick 12 is moved to the position determined with some in its conforming sleeves, stepper motor 39 stops operating line delay of going forward side by side, Right lateral walking apparatus is in No. two driving motors 16, hydraulic package and Self locking gears a20, Self locking gears b21 during the delay Under the action of be in locking state, the driving wheel 9 in left lateral walking apparatus releases locking state；Then stepper motor 39 inverts It drives flexible feed screw 12 to rotate, by its opposition, pushes left lateral walking apparatus to be moved to the left, when flexible feed screw 12 is moved to When the position determined with some in its conforming sleeves, stepper motor 39 stops operating line delay of going forward side by side, and this completes one A wriggling process；By repeating the above process, which can be realized the quick movement in pipeline.

When robot advances in bend, pass through the support wheel 13 on universal joint 15 and three parallelogram wheel carriers The moment loading of opposite direction is supported righting on sleeve, to sleeve, make driving wheel 9 and support wheel 13 always with pipeline Inner wall contact, thus smooth excessively curved.

The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Object defines.