CN208138704U - A kind of pipeline rotation detection robot diameter changing mechanism - Google Patents
A kind of pipeline rotation detection robot diameter changing mechanism Download PDFInfo
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- CN208138704U CN208138704U CN201820382892.XU CN201820382892U CN208138704U CN 208138704 U CN208138704 U CN 208138704U CN 201820382892 U CN201820382892 U CN 201820382892U CN 208138704 U CN208138704 U CN 208138704U
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- gear
- wheel
- diameter changing
- sliding block
- rotation detection
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Abstract
The utility model relates to a kind of pipelines to rotate detection robot diameter changing mechanism, the support diameter changing device for being arranged symmetrically in rotation detection device two sides by two groups forms, and includes intermediate gear, transmission gear, gear wheel, connecting rod, sliding block, wheel mount, wheel, cushioning supportive bar and other connectors：Intermediate gear, transmission gear and gear wheel are for transmitting power；Connecting rod is attached with gear wheel and sliding block, so that the rotation of gear wheel is converted to sliding block movement in the radial direction；Slips end is equipped with wheel mount, and wheel is housed thereon.Pipeline provided by the utility model rotation detection robot diameter changing mechanism, which solves the prior art and can not provide detection device, stablizes support, the rotary operation space of device for detecting occupation, the problems such as structure is not compact enough, the pipeline environment of different-diameter is not only adapted to, and so that pipe robot is carried out rotation and detects and there is good excessively curved performance；The pipeline rotary operation equipment of variable diameter can also be needed to be used cooperatively with other.
Description
Technical field
The utility model relates to pipeline robot technique fields, make more particularly to a kind of with the cooperation of rotary detection device
Detecting robot of pipe diameter changing mechanism.
Background technique
Currently, non-destructive testing device provisioned in detecting robot of pipe is mostly fixed, it is therefore desirable to usage quantity compared with
More probes is to cover pipeline comprehensively.Such as Shanghai Communications University Zhang Yun it is big in 2007 doctoral thesis " gas piping detection
In robot system and its movement control technology research ", the detection device proposed for the pipeline of 400 ~ 650mm of Φ uses three
12 groups of probes, structure are sufficiently complex.Probe quantity, simplified integrally-built purpose are reduced to reach, rotary inspection should be taken
Survey scheme.
In order to improve the operation scope of application, pipe robot is generally configured with diameter changing mechanism to adapt to different calibers.According to
Literature search, pipe robot diameter changing mechanism mostly use parallel four-bar structure, such as the big coal gas proposed in above-mentioned paper of Zhang Yun
Detecting robot of pipe, application No. is the pipeline cleaning robot of 200610097974.1 patent disclosure, Zhang Feng to exist《Mining machine
Tool》The coal mine pipeline detection proposed in " design of reducing coal mine pipeline detection robot " text that 8th phase in 2011 delivers
Robot has been all made of this variable diameter mode.But for rotation detection device, will be existed using this diameter changing mechanism very big
The problem of.In the detection process, to ensure measurement accuracy, detection device, which should obtain, stablizes support to keep attitude stabilization.Such as
If fruit is arranged in parallel four-bar structure middle position, then horizontal bars will seriously interfere the rotary motion of detection device.
But if being arranged on the outside of parallel four-bar structure, then other mechanism is needed to solve the problems, such as support.In addition this
The axial dimension of structure is longer, and will lead to robot has very big difficulty when passing through bend pipe.
Summary of the invention
The purpose of this utility model is that being directed to the deficiency of background technique and providing a kind of diameter changing mechanism, make pipe robot
Adaptability with different tube diameters simultaneously realizes rotation detection, the compact-sized requirement to meet robot bend pipe passability.
The utility model uses following technical scheme：
A kind of pipeline rotation detection robot diameter changing mechanism, the left side including being arranged symmetrically in 14 two sides of rotation detection device is set
Support diameter changing device is set on support diameter changing device and the right side, and the left and right support diameter changing device of setting includes gear fixing body 1, centre
Gear 2, transmission gear 3, gear wheel 4, outer diameter regulating member and it is fixedly mounted with disk 10；There are three the transmission gears 3, while in
Between gear 2 and gear wheel 4 be engaged；The outer diameter regulating member is three groups, is distributed with 120 ° of the even angle in space, every group
Outer diameter regulating member includes connecting rod 5, sliding block 9, wheel mount 7, wheel 6 and buffering support rod 8.
Further technical solution, the intermediate gear 2, transmission gear 3, gear wheel 4 are arranged in the gear installation
The inside of body 1, intermediate gear 2 are mounted on jackshaft 19, and transmission gear 3 is mounted on the column of 1 inside of gear fixing body, tooth
The inner face of wheel fixing body 1 is connected with the disk 10 that is fixedly mounted with.
Further technical solution, the both ends of the connecting rod 5 are hinged with the gear wheel 4 and the sliding block 9 respectively, institute
State sliding block 9 be mounted on it is described be fixedly mounted in the radial groove on disk 10, end is filled with the wheel mount 7, in the sliding block 9
The cushioning supportive bar 8 is connected to by articulated manner between the wheel mount 7, the wheel 6 is mounted in the wheel
The end of installation part 7.
Further technical solution, the left and right support diameter changing device of setting are connected by the jackshaft 19 to ensure
Synchronization action is kept both during variable diameter.
By adopting the above technical scheme, the beneficial effect of the utility model compared with prior art is：It can be rotated for pipeline
Detection device, which provides, to be stablized support and does not interfere it to be freely rotated, it is ensured that pipe robot is carried out rotation detection scheme；Greatly
The big whole axial dimension for shortening pipe robot, pass through robot can in various complex grids；Robot
With good caliber adaptability, two groups of support diameter changing device synchronization actions when variable diameter adjusts adjust high reliablity, operation letter
It is single.
Detailed description of the invention
Fig. 1 is the left explosive view for setting support diameter changing device in the utility model.
Fig. 2 is the assembling schematic diagram of diameter changing mechanism provided by the utility model and detection device.
Fig. 3 is the main view of Fig. 2.
Fig. 4 is the right view of Fig. 2.
Wherein, 1, gear fixing body；2, intermediate gear；3, transmission gear；4, gear wheel；5, connecting rod；6, wheel；7, it takes turns
Sub- installation part；8, cushioning supportive bar；9, sliding block；10, it is fixedly mounted with disk；11, thrust bearing；12, bearing；13, thrust bearing；14, it revolves
Turn detection device；15, mounting blocks；16, variable diameter lock screw；17, adapter；18, installation base body；19, jackshaft.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the utility model is described in further detail, but the utility model is simultaneously
It is not limited to these embodiments.
As shown in Figures 1 to 4, a kind of pipeline rotation detection robot diameter changing mechanism, including it is arranged symmetrically in rotation detection
Support diameter changing device is set on a left side for 14 two sides of device and support diameter changing device is set on the right side, and left and right support diameter changing device of setting is mounted on centre
The both ends of axis 19 are attached by jackshaft 19, so that it is guaranteed that the two remains synchronization action during variable diameter.Left,
The right side set support diameter changing device include gear fixing body 1, intermediate gear 2, transmission gear 3, gear wheel 4, outer diameter regulating member and
It is fixedly mounted with disk 10.There are three transmission gears 3, while being engaged with intermediate gear 2 and gear wheel 4, thus by power the two it
Between transmitted.
As shown in figure 1, figure 3 and figure 4, intermediate gear 2, transmission gear 3, gear wheel 4 are arranged in the interior of gear fixing body 1
Portion, intermediate gear 2 are mounted on jackshaft 19, and transmission gear 3 is mounted on the column of 1 inside of gear fixing body, gear installation
The inner face of body 1 is connected with disk 10 is fixedly mounted with.
As shown in Figure 1, Figure 3,4 exterior portion of gear wheel is ring gear, is set with the one of thrust bearing 13 on external cylindrical surface
A lasso, another lasso of the bearing is arranged in the annular convex platform on 1 medial surface of gear fixing body, to make gear wheel 4
Axial position fixed.Annulus is set in the outer circle of 4 inboard portion of gear wheel, be uniformly distributed on annulus there are three connection
Block, it is by link block that gear wheel 4 and connecting rod 5 is hinged.
As Figure 1 and Figure 4, outer diameter regulating member is three groups, with 120 ° of the even angle distribution in space, every group of outer diameter tune
Section component includes connecting rod 5, sliding block 9, wheel mount 7, wheel 6 and buffering support rod 8；Connecting rod 5 with certain radian with
Prevent the outer profile in rotation process with gear wheel 4 from interfering, its one end and the link block on 4 excircle of gear wheel is mutually cut with scissors
Connect, the lateral surface of the other end and sliding block 9 carry out it is hinged；There is elongated boss to be used to and be fixedly mounted on disk 10 on the medial surface of sliding block 9
Radial groove match, end is filled with wheel mount 7, passes through hinge between the lateral surface and wheel mount 7 of sliding block 9
The mode of connecing is also connected with cushioning supportive bar 8；Cushioning supportive bar 8 has elastic element, plays the role of certain buffering absorbing, and make
Diameter changing mechanism has certain obstacle climbing ability；The end of wheel mount 7 is welded with a U-shaped component, in the centre of the component
It is fixed equipped with wheel 6, and by pin shaft.
As shown in Figure 1 and Figure 2, the main body for being fixedly mounted with disk 10 is disc-shaped structure, has on disk body excircle and is separated by 120 °
Three radial protrusions.Being fixedly mounted with disk 10, radially ecto-entad is followed successively by circumferentially uniformly distributed three through the radial groove of entire protrusion
To constrain the mobile route and three sections of circumferentially arcuate notches of sliding block 9.The centre bore for being fixedly mounted with disk 10 is used to install jackshaft 19,
Be used to be set with a lasso of thrust bearing 11 between the centre bore and arc-shaped slot for annular convex platform, the bearing it is another
A lasso is assemblied in the central stepped of gear wheel 4.
As shown in Figure 1, Figure 2, Figure 4 shows, the main body of gear fixing body 1 is shell type structure, and excircle has uniformly done at three and cut
It removes, to prevent from interfering in relative movement with connecting rod 5；There are three spaces each other to be separated by 120 ° on its inner side end
Column is machined with positioning shaft shoulder on each column, for positioning to the bearing 12 being mounted in transmission gear 3.Gear
The inside curved end of fixing body 1 is attached with disk 10 is fixedly mounted with by screw；Stretch out in the shaft part of 1 outer end face of gear fixing body
Other component for diameter changing mechanism to be rotated detection robot with pipeline is attached.
As shown in figure 3, rotation detection device 14 is mounted in by bearing holder (housing, cover) when diameter changing mechanism and detection device are assembled
In installation base body 18, the axial position of installation base body 18 is determined by mounting blocks 15.The outer end face of mounting blocks 15 passes through screw
It is connected with adapter 17, adapter 17 is connected further through bolt with disk 10 is fixedly mounted with, and then sets support diameter changing device and rotation for left and right
Turn detection device 14 to link together.Adapter 17 is the ladder-like disk-shaped structure with centre bore, to prevent from sending out between components
Raw interference, has three sections of circumferentially arcuate notches for corresponding with the notch being fixedly mounted on disk 10, also thereon so as at the end of variable diameter
Variable diameter lock screw 16 is installed.
When carrying out variable diameter operation in the case where predicting pipe diameter, the position of one of wheel 6 is manually adjusted first,
7 opening angle of wheel mount being attached thereto changes.Due between wheel mount 7 and cushioning supportive bar 8, sliding block 9
Triangular structure is formd, then cushioning supportive bar 8 is compressed or elongated, thus with movable slider 9 along the diameter being fixedly mounted on disk 10
It is slided to sliding slot.Because sliding block 9 and connecting rod 5 are hinged, therefore connecting rod 5 is driven to swing, then gear wheel 4 is driven to rotate.Due to
Gear wheel 4 is connected with three groups of outer diameter regulating members, therefore the position of the another two wheel 6 of the side also synchronizes and changes.With
This simultaneously, power is transferred to intermediate gear 2 by transmission gear 3 by gear wheel 4, and intermediate gear 2 drives jackshaft 19 to rotate.
Then, power is transferred to the intermediate gear 2 in other side support diameter changing device by jackshaft 19, to drive transmission gear 3, big
Gear 4 rotates, and connecting rod 5 follows swing, and three sliding blocks 9 is driven to move up and down simultaneously, so that the radial direction of three wheels 6 of the side
Synchronous variation occurs for position, until six wheels 6 of the left and right sides are formed by the diameter of theoretical circular diameter Yu detected pipeline
It is identical.Finally, being fastened on gear wheel 4 after variable diameter lock screw 16 is passed through adapter 17 and the arc-shaped slot being fixedly mounted on disk 10
On inner face, so that the position of gear wheel 4 be locked.It can be seen that left and right set support diameter changing device movement holding together
Step, as long as the position of any one wheel changes, the also synchronous variation of other wheels.
The utility model in addition to for other than rotation detection device, can also be needed with other variable diameter, for joint coating on pipeline with
And the rotating device of the operations such as pipeline spraying is used cooperatively.
In the description of the present invention, it should be understood that term " center ", "left", "right", "inner", "outside",
The orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
The simplified description stating the utility model and carrying out, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Claims (4)
1. a kind of pipeline rotation detection robot diameter changing mechanism, including it is arranged symmetrically in rotation detection device（14）It sets on a left side for two sides
Support diameter changing device is set on support diameter changing device and the right side, which is characterized in that the left and right support diameter changing device of setting includes gear peace
Fill body（1）, intermediate gear（2）, transmission gear（3）, gear wheel（4）, outer diameter regulating member and be fixedly mounted with disk（10）；The transmitting
Gear（3）There are three, while and intermediate gear（2）And gear wheel（4）It is engaged；The outer diameter regulating member is three groups, with
The even angle distribution that 120 ° of space, every group of outer diameter regulating member includes connecting rod（5）, sliding block（9）, wheel mount（7）, wheel
Son（6）With buffering support rod（8）.
2. a kind of pipeline rotation detection robot diameter changing mechanism according to claim 1, which is characterized in that the center tooth
Wheel（2）, transmission gear（3）, gear wheel（4）It is arranged in the gear fixing body（1）Inside, intermediate gear（2）In being mounted on
Between axis（19）On, transmission gear（3）It is mounted on gear fixing body（1）On the column of inside, gear fixing body（1）Inner face with
It is described to be fixedly mounted with disk（10）It is connected.
3. a kind of pipeline rotation detection robot diameter changing mechanism according to claim 1, which is characterized in that the connecting rod
（5）Both ends respectively with the gear wheel（4）With the sliding block（9）It is hinged, the sliding block（9）Disk is fixedly mounted with described in being mounted on
（10）On radial groove in, end is filled with the wheel mount（7）, in the sliding block（9）With the wheel mount
（7）Between the cushioning supportive bar is connected to by articulated manner（8）, the wheel（6）Mounted in the wheel mount（7）'s
End.
4. a kind of according to claim 1, pipeline rotation detection robot diameter changing mechanism described in 2, which is characterized in that the left side,
It sets support diameter changing device and passes through the jackshaft in the right side（19）It is connected to ensure that the two keeps synchronization action during variable diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820382892.XU CN208138704U (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820382892.XU CN208138704U (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208138704U true CN208138704U (en) | 2018-11-23 |
Family
ID=64289738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820382892.XU Expired - Fee Related CN208138704U (en) | 2018-03-21 | 2018-03-21 | A kind of pipeline rotation detection robot diameter changing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208138704U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN111578038A (en) * | 2020-04-24 | 2020-08-25 | 湖南斐曼特种机器人有限公司 | Shock-proof pipeline robot |
| CN112576863A (en) * | 2020-11-26 | 2021-03-30 | 中国科学院光电技术研究所 | Robot for gluing and repairing pipelines in nuclear radiation environment |
-
2018
- 2018-03-21 CN CN201820382892.XU patent/CN208138704U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN111578038A (en) * | 2020-04-24 | 2020-08-25 | 湖南斐曼特种机器人有限公司 | Shock-proof pipeline robot |
| CN112576863A (en) * | 2020-11-26 | 2021-03-30 | 中国科学院光电技术研究所 | Robot for gluing and repairing pipelines in nuclear radiation environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181123 Termination date: 20210321 |
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| CF01 | Termination of patent right due to non-payment of annual fee |