CN101531217A - Spirally driven walking robot in pipe - Google Patents
Spirally driven walking robot in pipe Download PDFInfo
- Publication number
- CN101531217A CN101531217A CN200910030752A CN200910030752A CN101531217A CN 101531217 A CN101531217 A CN 101531217A CN 200910030752 A CN200910030752 A CN 200910030752A CN 200910030752 A CN200910030752 A CN 200910030752A CN 101531217 A CN101531217 A CN 101531217A
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- wheel carrier
- walking
- pipe
- wheels
- rotor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a spirally driven walking robot in a pipe, which consists of a power-driven device, a walking guide device and a universal joint (8) connecting the power-driven device and the walking guide device; the power-driven device is formed by a motor (1) driving a circular rotor (5); the outer wall of the circular rotor (5) is respectively provided with three groups of symmetrically distributed wheel carriers (2); each group of wheel carrier (2) is provided with two wheels (3), and the rotating axes of the two wheels forms an acute elevation angle with the axes of the rotor (5); the walking guide device consists of three groups of symmetrically distributed guide wheel carriers (12) which are arranged on the outer wall of a cylinder or a cylindrical body (11); each group of guide wheel carrier (12) is provided with two wheels (10), and the rotating axes of the two wheels is vertical to the axes of the cylindrical body (11); and the wheel carriers (2) on the rotor (5) of the power-driven device and the guide wheel carriers (12) on the cylinder or the cylindrical body (11) of the walking guide device are all floating bodies, and certain radial dilation generated by a spring (9) is used to make all wheels on the wheel carriers (2) and the guide wheel carriers (12) always attach to the inner wall of the pipe. The motor drives the walking robot in the pipe to advance or retreat along the axes direction of the pipe.
Description
Technical field
The present invention relates to a kind of robot of in pipeline, walking, that is to say that operations such as detection for various industrial delivery ducts, cleaning, reparation provide a kind of later-model pipe walking robot.
Background technology
The important carrier that pipeline is carried as oil, natural fuels, the isometric distance of tap water, effect in modern industry construction and daily life becomes increasingly conspicuous, for the consideration of working stability, safety and work efficiencys such as pipeline installation, maintenance and detection, pipeline operations requires to adopt pipe robot to replace manual operation as mobile vehicle more and more.The type of drive of pipe robot travel mechanism comprises motor-driven, Piezoelectric Driving, Electromagnetic Drive, air pressure driving, hydraulic-driven etc. both at home and abroad at present; And the walking manner of robot can be divided into inertia impact walking, climbing, elastic drive walking and running on wheels or the like, find by comparative study, existing pipe robot all exist such as: driving principle and complex structure, processing difficulties, inefficiency, then be difficult to weak points in various degree such as realizations, to such an extent as to they are very difficultly applied widely for the less pipeline of diameter.Application number [200710050056.8] discloses a kind of round pipe robot of screw drives, adopted the easier screw type of principle to drive and can reducing, but because driving wheel carrier and guiding wheel carrier are installed on two ends of body respectively, and body has certain length, therefore, be difficult to be applicable to the walking of curvature than large pipeline.
In sum, the development of pipe detection technology and practicability press for and create the more excellent pipe robot of performance.
Summary of the invention
The present invention seeks to overcome the shortcoming and defect of prior art, its technic relization scheme is: by Power Drive Unit, the guide piece and connect two-part universal-joint or ball pivot is formed of walking, Power Drive Unit is made of the motor-driven rotor, be separately installed with the wheel carrier that is symmetric arrangement more than two groups on the outer wall of rotor, two wheels are installed on every group of wheel carrier again, and the pivot center of the pivot center of wheel and rotor is an acute angle of inclination; Form and on the outer wall of walking guide piece by a cylindricality or cylindrical body the guiding wheel carrier that is symmetric arrangement more than two groups is installed, on every group of guiding wheel carrier two wheels are installed also, the pivot center of wheel is vertical mutually with the axis of cylindricality or cylindrical body; Epitrochanterian wheel carrier of Power Drive Unit and the guiding wheel carrier of walking on the guide piece are buoyancy body, and produce the inwall that all wheels that certain warp-wise harmomegathus amount makes wheel carrier and guiding wheel carrier are closely attached on pipeline all the time with elastic element.
The present invention compares with existing pipe robot, has following characteristics and advantage: 1). and simple in structure, the processing and manufacturing cost is low, and the warp-wise size can be as small as and is used in the pipeline that diameter is 40mm; 2). because use universal-joint or ball pivot are connected between Power Drive Unit and the walking guide piece, robot can be advanced in the bigger bend pipe of curvature flexibly and comfortably; 3). elastic elements such as employing spring make all wheels be close to inner-walls of duct, this robot can be advanced in the vicissitudinous pipeline of radius, play the shock-absorbing effect simultaneously, make that operation is more steady, and be not also can advance smoothly in the strict circular pipeline in vertical or cross section.
The invention will be further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention.
Fig. 2 is the front view and the right elevation of its Power Drive Unit.
Fig. 3 is the front view and the right elevation of its walking guide piece.
The specific embodiment
As embodiment, as shown in Figure 1, the present invention can and connect this two-part universal-joint 8 by Power Drive Unit, walking guide piece and form, Power Drive Unit (Fig. 2) drives round rotor 5 by motor 1 and constitutes, be separately installed with three groups of wheel carriers 2 that are symmetric arrangement on the outer wall of round rotor 5, two wheels 3 are installed on every group of wheel carrier 2 again, and the axis of the pivot center of wheel 3 and rotor 5 is an acute angle of inclination; Form and on the outer wall of walking guide piece (Fig. 3) by a cylinder or cylindrical body 11 three groups of guiding wheel carriers 12 that are symmetric arrangement are installed, on every group of guiding wheel carrier 12 two wheels 10 are installed also, the pivot center of wheel 10 is vertical mutually with the axis of cylinder or cylindrical body 11.Power Drive Unit can be a universal-joint 8 with the two-part connector of walking guide piece, also can be ball pivot, like this, robot can be turned in having than the bend pipe of larger radius of curvature neatly freely advance and retreat.Guiding wheel carrier 12 on wheel carrier 2 on the Power Drive Unit rotor 5 and the walking guide piece on cylinder or the cylindrical body 11 is buoyancy body, and produce the inwall that certain warp-wise harmomegathus amount makes all wheels 3 on the wheel carrier 2 and all wheels 10 on the guiding wheel carrier 12 be closely attached on pipeline all the time with spring 6 and spring 9 respectively, to adapt to certain limit interior conduit diameter variation.
The principle of work of this pipe walking robot is: motor 1 drives round rotor 5 and rotates, three groups of wheels 3 on round rotor 5 outer walls rotate because of the friction force that is closely attached on the inner-walls of duct generation, because of the pivot center of wheel 3 and the axis of rotor 5 are an acute angle of inclination, therefore, the path of motion of wheel 3 and inner-walls of duct contact point is the spatially spiral line along conduit axis, thereby forces Power Drive Unit to be walked along conduit axis; And three groups of guiding wheels 10 of the cylinder of walking guide piece or cylindrical body 11, because of its pivot center vertical mutually with the axis of cylinder or cylindrical body 11, so the walking guide piece can only advance with Power Drive Unit or retreats along the conduit axis direction, play directional tagging, in pipeline, can advance reposefully to guarantee robot integral body.The described motor 1 of this case both can adopt and carry battery-operatedly, also can adopt external AC or dc powered.
If install camera, cleanout tool or defect-detecting equipment 7 additional at motor 1 shell or end, and configuration radio control unit 4 (as shown in Figure 1), utilize means such as wireless video transmission imaging technique again, just can make this pipe robot finish the intellectuality of work such as pipeline installation, maintenance and detection.
Claims (3)
1. spirally driven walking robot in pipe, by Power Drive Unit, walking guide piece and connect this two-part attaching parts and form, it is characterized in that Power Drive Unit is made of the motor-driven rotor, be separately installed with the wheel carrier that is symmetric arrangement more than two groups on the rotor outer wall, 1～2 wheel is installed on every group of wheel carrier again, and the pivot center of the pivot center of wheel and rotor is an acute angle of inclination; Form and on the outer wall of walking guide piece by a cylindricality or cylindrical body the guiding wheel carrier that is symmetric arrangement more than two groups is installed, on every group of guiding wheel carrier 1～2 wheel is installed again, the pivot center of wheel is vertical mutually with the axis of cylindricality or cylindrical body.
2. by the described spirally driven walking robot in pipe of claim 1, it is characterized in that Power Drive Unit and the two-part attaching parts of walking guide piece can be universal-joints, also can be ball pivot.
3. by claim 1 or 2 described spirally driven walking robot in pipe, the epitrochanterian wheel carrier and the guiding wheel carrier of walking on the guide piece that it is characterized in that Power Drive Unit are buoyancy body, and produce certain warp-wise harmomegathus amount with elastic element and make all wheels on wheel carrier and the guiding wheel carrier be closely attached on the inwall of pipeline all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910030752A CN101531217A (en) | 2009-04-15 | 2009-04-15 | Spirally driven walking robot in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910030752A CN101531217A (en) | 2009-04-15 | 2009-04-15 | Spirally driven walking robot in pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101531217A true CN101531217A (en) | 2009-09-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910030752A Pending CN101531217A (en) | 2009-04-15 | 2009-04-15 | Spirally driven walking robot in pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN101531217A (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102182895A (en) * | 2011-03-14 | 2011-09-14 | 中国石油大学(华东) | Rotating propulsion system for gas pipeline online internal detector |
| CN102691856A (en) * | 2012-06-02 | 2012-09-26 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN102979988A (en) * | 2012-11-24 | 2013-03-20 | 西南石油大学 | Initiative-driving spiral pipeline robot |
| CN104143792A (en) * | 2014-07-08 | 2014-11-12 | 国家电网公司 | Assembly fixture for three-phase common-box conducting rods |
| CN104143793A (en) * | 2014-07-08 | 2014-11-12 | 国家电网公司 | Three-phase common tank conducting rod assembling tool |
| CN104332902A (en) * | 2014-07-08 | 2015-02-04 | 国家电网公司 | Swinging three-phase common-box conductive rod assembling tool |
| CN104787144A (en) * | 2015-04-20 | 2015-07-22 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN105114757A (en) * | 2015-04-28 | 2015-12-02 | 中国石油大学(华东) | Screw type geometry detecting robot device |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| CN105299382A (en) * | 2014-06-20 | 2016-02-03 | 国网山西省电力公司电力科学研究院 | Endoscopic camera lens crawling support |
| CN105318142A (en) * | 2015-11-27 | 2016-02-10 | 河南理工大学 | Spiral-pipeline robot |
| CN105318141A (en) * | 2015-11-03 | 2016-02-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN105487545A (en) * | 2016-01-28 | 2016-04-13 | 天津理工大学 | Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus |
| GB2531706A (en) * | 2014-10-19 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
| CN105737668A (en) * | 2016-04-29 | 2016-07-06 | 严松法 | Helical driving structure for gun barrel duct cleaning robot |
| CN105758254A (en) * | 2016-04-29 | 2016-07-13 | 严松法 | Pipeline robot for cleaning gun barrels |
| CN106066165A (en) * | 2016-07-25 | 2016-11-02 | 南京信息职业技术学院 | Self-centering aperture measuring robot |
| CN106489787A (en) * | 2016-11-10 | 2017-03-15 | 宁波大学 | A kind of bait batch charger |
| CN108612956A (en) * | 2018-07-06 | 2018-10-02 | 江南大学 | A kind of pipe robot |
| CN108672423A (en) * | 2018-06-22 | 2018-10-19 | 浙江工业大学 | A kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot |
| CN109458517A (en) * | 2018-12-25 | 2019-03-12 | 南昌大学 | A kind of sectional type transfer of pipe robot |
| CN109538878A (en) * | 2018-12-25 | 2019-03-29 | 南昌大学 | A kind of screw drives mechanism for pipe robot |
| CN109649413A (en) * | 2018-12-28 | 2019-04-19 | 浙江领航市政工程有限公司 | The shock absorbing apparatus of airbus |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN111067245A (en) * | 2019-11-25 | 2020-04-28 | 西安居正知识产权运营管理有限公司 | Tea filter screen cleaning device |
| CN111425698A (en) * | 2020-04-01 | 2020-07-17 | 长安大学 | Spiral advancing micro-miniature pipeline robot |
| CN112354708A (en) * | 2020-11-08 | 2021-02-12 | 严高超 | Pipeline inner wall spraying device |
| CN112761611A (en) * | 2020-12-07 | 2021-05-07 | 中国地质调查局油气资源调查中心 | Novel real-time coal gasification of underground coal device |
| CN114179937A (en) * | 2021-07-14 | 2022-03-15 | 苏州荣坤智能机器科技有限公司 | Robot suitable for steel plate edge cleaning, recycling and flaw detection operation before welding |
| CN114210670A (en) * | 2021-12-15 | 2022-03-22 | 西安科技大学 | Cable duct bank dredging robot capable of adapting to pipeline shape |
| WO2022205613A1 (en) * | 2021-03-30 | 2022-10-06 | 中国地质大学（武汉） | Unmanned landslide lateral deformation monitoring system and method based on inertial measurement technology |
| CN115432082A (en) * | 2022-09-09 | 2022-12-06 | 北京合聚数字技术有限公司 | Communication cable is robot for use |
| JP7448949B2 (en) | 2020-07-31 | 2024-03-13 | 学校法人立命館 | Pipe running device |
-
2009
- 2009-04-15 CN CN200910030752A patent/CN101531217A/en active Pending
Cited By (45)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102182895A (en) * | 2011-03-14 | 2011-09-14 | 中国石油大学(华东) | Rotating propulsion system for gas pipeline online internal detector |
| CN102182895B (en) * | 2011-03-14 | 2013-11-20 | 中国石油大学(华东) | Rotating propulsion system for gas pipeline online internal detector |
| CN102691856A (en) * | 2012-06-02 | 2012-09-26 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN102691856B (en) * | 2012-06-02 | 2014-01-08 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN102979988A (en) * | 2012-11-24 | 2013-03-20 | 西南石油大学 | Initiative-driving spiral pipeline robot |
| CN102979988B (en) * | 2012-11-24 | 2014-07-16 | 西南石油大学 | Initiative-driving spiral pipeline robot |
| CN105299382A (en) * | 2014-06-20 | 2016-02-03 | 国网山西省电力公司电力科学研究院 | Endoscopic camera lens crawling support |
| CN104143793A (en) * | 2014-07-08 | 2014-11-12 | 国家电网公司 | Three-phase common tank conducting rod assembling tool |
| CN104332902A (en) * | 2014-07-08 | 2015-02-04 | 国家电网公司 | Swinging three-phase common-box conductive rod assembling tool |
| CN104143792A (en) * | 2014-07-08 | 2014-11-12 | 国家电网公司 | Assembly fixture for three-phase common-box conducting rods |
| CN104143792B (en) * | 2014-07-08 | 2017-05-03 | 国家电网公司 | Assembly fixture for three-phase common-box conducting rods |
| GB2531706A (en) * | 2014-10-19 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
| CN104787144A (en) * | 2015-04-20 | 2015-07-22 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN104787144B (en) * | 2015-04-20 | 2017-01-25 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN105114757A (en) * | 2015-04-28 | 2015-12-02 | 中国石油大学(华东) | Screw type geometry detecting robot device |
| CN105114757B (en) * | 2015-04-28 | 2017-04-26 | 中国石油大学(华东) | Screw type geometry detecting robot device |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| CN105318141A (en) * | 2015-11-03 | 2016-02-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN105318141B (en) * | 2015-11-03 | 2017-05-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN105318142A (en) * | 2015-11-27 | 2016-02-10 | 河南理工大学 | Spiral-pipeline robot |
| CN105487545A (en) * | 2016-01-28 | 2016-04-13 | 天津理工大学 | Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus |
| CN105737668A (en) * | 2016-04-29 | 2016-07-06 | 严松法 | Helical driving structure for gun barrel duct cleaning robot |
| CN105758254A (en) * | 2016-04-29 | 2016-07-13 | 严松法 | Pipeline robot for cleaning gun barrels |
| CN106066165A (en) * | 2016-07-25 | 2016-11-02 | 南京信息职业技术学院 | Self-centering aperture measuring robot |
| CN106066165B (en) * | 2016-07-25 | 2019-01-04 | 南京信息职业技术学院 | Self-centering aperture measuring robot |
| CN106489787A (en) * | 2016-11-10 | 2017-03-15 | 宁波大学 | A kind of bait batch charger |
| CN108672423B (en) * | 2018-06-22 | 2023-04-07 | 浙江工业大学 | Pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot |
| CN108672423A (en) * | 2018-06-22 | 2018-10-19 | 浙江工业大学 | A kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot |
| CN108612956A (en) * | 2018-07-06 | 2018-10-02 | 江南大学 | A kind of pipe robot |
| CN109538878A (en) * | 2018-12-25 | 2019-03-29 | 南昌大学 | A kind of screw drives mechanism for pipe robot |
| CN109458517A (en) * | 2018-12-25 | 2019-03-12 | 南昌大学 | A kind of sectional type transfer of pipe robot |
| CN109649413A (en) * | 2018-12-28 | 2019-04-19 | 浙江领航市政工程有限公司 | The shock absorbing apparatus of airbus |
| CN109649413B (en) * | 2018-12-28 | 2023-10-24 | 浙江领航市政工程有限公司 | Shock absorbing device for air bus |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN110206961B (en) * | 2019-07-08 | 2021-01-15 | 中北大学 | Plugging system in pipeline robot |
| CN111067245A (en) * | 2019-11-25 | 2020-04-28 | 西安居正知识产权运营管理有限公司 | Tea filter screen cleaning device |
| CN111425698A (en) * | 2020-04-01 | 2020-07-17 | 长安大学 | Spiral advancing micro-miniature pipeline robot |
| JP7448949B2 (en) | 2020-07-31 | 2024-03-13 | 学校法人立命館 | Pipe running device |
| CN112354708A (en) * | 2020-11-08 | 2021-02-12 | 严高超 | Pipeline inner wall spraying device |
| CN112761611A (en) * | 2020-12-07 | 2021-05-07 | 中国地质调查局油气资源调查中心 | Novel real-time coal gasification of underground coal device |
| WO2022205613A1 (en) * | 2021-03-30 | 2022-10-06 | 中国地质大学（武汉） | Unmanned landslide lateral deformation monitoring system and method based on inertial measurement technology |
| CN114179937A (en) * | 2021-07-14 | 2022-03-15 | 苏州荣坤智能机器科技有限公司 | Robot suitable for steel plate edge cleaning, recycling and flaw detection operation before welding |
| CN114210670A (en) * | 2021-12-15 | 2022-03-22 | 西安科技大学 | Cable duct bank dredging robot capable of adapting to pipeline shape |
| CN115432082A (en) * | 2022-09-09 | 2022-12-06 | 北京合聚数字技术有限公司 | Communication cable is robot for use |
| CN115432082B (en) * | 2022-09-09 | 2023-08-15 | 北京合聚数字技术有限公司 | Communication cable is with operation robot |
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Open date: 20090916 |