CN102954314A - Pipeline robot dragging mechanism - Google Patents
Pipeline robot dragging mechanism Download PDFInfo
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- CN102954314A CN102954314A CN2012104744825A CN201210474482A CN102954314A CN 102954314 A CN102954314 A CN 102954314A CN 2012104744825 A CN2012104744825 A CN 2012104744825A CN 201210474482 A CN201210474482 A CN 201210474482A CN 102954314 A CN102954314 A CN 102954314A
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Abstract
The invention discloses a pipeline robot dragging mechanism, which mainly comprises a driving mechanism (1), a support mechanism (2), a sensor module (3) and a frame (4), wherein a single-motor all-wheel-drive way is adopted for the driving mechanism (1); three driving wheels are arranged uniformly at angles of 120 degrees; each driving wheel comprises a worm and gear, a synchronous belt, a driving wheel and the like; active and passive support can be realized through the support mechanism (2), so that a robot has certain pipe diameter change adaptability; the sensor module (3) consists of pressure sensors, and can be used for realizing adjustment of dragging force and control over the support mechanism in cooperation with other mechanisms; and the frame (4) is connected with and used for fixing the driving mechanism (1) and the support mechanism (2). Due to the adoption of the dragging mechanism disclosed by the invention, a nondestructive detection device and an operation device can be carried, in-service testing, clearing and maintenance are performed on a working oil-gas pipeline, and safe and smooth work of the pipeline is guaranteed.
Description
Technical field
The present invention relates to the traction gear of pipeline robot, in particular for carrying the cannot-harm-detection device and apparatus for work, oil and gas pipes in the work is carried out detecting in labour, cleaning, safeguards, with the safety that ensures pipeline and unblocked support wheel type pipeline robot haulage gear of working.
Background technique
Pipeline robot is a kind of specialized robot of developing for Maintenance and Repair operations such as the detection of the industrial pipelines such as oil transportation, gas, spraying, joint weld, foreign matter cleanings, and it combines intelligent mobile carrier technique and defect of pipeline Dynamic Non-Destruction Measurement.By the cannot-harm-detection device and the apparatus for work that carries, the oil and gas pipes in the work is carried out detecting in labour, cleaning, safeguards, with the safety that ensures pipeline and unblocked work.。Power source and motion controllability according to pipeline robot moves in pipeline can be divided into motion mode in these robot pipes passive movement mode and active movement mode two large classes.Wherein, initiatively the method for operation mainly contains bionic movement formula, crawler, helical driving type, vehicle formula and support wheel type; The passive method of operation is take the PIG of pipeline medium pressure reduction as driving.
The support wheel type pipeline robot is supported on the tube wall at some groups of supporting mechanisms of circumferential arrangement, and whole title is symmetrical, can vertically walking in pipe.Because symmetric support, when robot moves in pipeline, run into when pipe diameter changes or runnability changes, the central axis of robot can be automatically and central axis be consistent.So robot motion's good stability.Open by supporting mechanism and can produce larger seal force, driving power is strong.Wherein haulage gear is the core of robot, and it has determined the performance of pipeline robot integral body.
Summary of the invention
According to background technique, the object of the present invention is to provide traction gear of pipeline robot, adopt the support wheel type pipeline robot technique, make robot have enough tractive force and caliber variation adaptive capacity, can carry the support wheel type pipeline robot haulage gear of the cannot-harm-detection device and apparatus for work.
To achieve these goals, the present invention is achieved through the following technical solutions:
A kind of pipeline robot haulage gear, mainly be comprised of driving mechanism (1), supporting mechanism (2), sensor assembly (3) and frame (4), wherein: driving mechanism (1) is comprised of worm screw (11), worm gear (12), synchronous pulley (13), Timing Belt (14) and driving wheel (15); Supporting mechanism is by ball screw (21), drive hub (22), and quadratic crank mechanism (23), flexible buffer device (24) form; Sensor assembly (3) is comprised of pressure transducer; Frame (4) is comprised of stationary hub (31), rear plate (32) and guide rail (33); Sensor assembly (3) places driving mechanism (1) upper control supporting mechanism (2) to strut or shrinks, and frame (4) is combined into an integral body with driving mechanism (1) and supporting mechanism (2).
Described driving mechanism (1) adopts the full driving mode of single motor, and worm screw (11) is fixed on (31) on the stationary hub; Three worm gears (12) 120o evenly is installed on the worm screw (11); Synchronous pulley (13) and worm gear (12) coaxial arrangement; Timing Belt (14) connects synchronous pulley (13) and driving wheel (15).
Described ball screw (21) is fixed on the rear plate on (32); Drive hub (22) is installed in ball screw (21) upward and can advances or retreat, and quadratic crank mechanism (23) is connected 22 with stationary hub (31) with drive hub) be connected; Flexible buffer device (24) is made of spring.
Described quadratic crank mechanism (23) is upper installs three groups of driving wheels (15), Timing Belt (14) and flexible buffer device (24), and is evenly arranged with 120o.
Described guide rail (33) is connected and fixed wheel hub (31), drive hub (22) and rear plate (32).
Because adopt technique scheme, the present invention has the following advantages and effect:
1, the present invention realizes feedback control by sensor assembly, and the Real-time Collection tube wall is to the pressure of driving wheel, and control tractive force changes;
2, the present invention gathers pressure surge by sensor assembly, thereby the variation control supporting mechanism of analyzing caliber opens or shrinks, and changes to adapt to caliber;
3, sensor assembly of the present invention plays overload protective function, and anti-locking mechanism surpasses load rating.
Description of drawings
Fig. 1 is structure collectivity schematic representation of the present invention;
Fig. 2 is driving mechanism schematic representation of the present invention;
Fig. 3 is supporting mechanism schematic representation of the present invention;
Fig. 4 is rack construction schematic representation of the present invention.
Embodiment
The present invention can implement with reference to the accompanying drawings, is described in further detail below in conjunction with the accompanying drawings.
By Fig. 1 a kind of pipeline robot haulage gear schematic representation is shown, is mainly formed by driving mechanism 1, supporting mechanism 2, sensor assembly 3 and frame 4.
By Fig. 2 driving mechanism 1 being shown is comprised of worm screw 11, worm gear 12, synchronous pulley 13, Timing Belt 14 and driving wheel 15, driving mechanism 1 adopts the full driving mode of single motor, three driving wheel 120 degree are evenly arranged, and worm screw 12 arranges and is fixed on the stationary hub 31 along the haulage gear central axis; Three worm gear 120 degree evenly are installed on the worm screw 12; Synchronous pulley 13 and worm gear 12 are coaxial and be installed on the stationary hub 31; Timing Belt 14 connects synchronous pulley 13 and driving wheel 15.External motor passes to three worm gears 12 with moment of torsion by worm screw 11, and worm gear 12 drives synchronous pulley 13 motions simultaneously, by Timing Belt 14 moment of torsion is passed to driving wheel 15, and then lead agency advances.
Supporting mechanism 2 is shown by ball screw 21, drive hub 22 by Fig. 3, quadratic crank mechanism 23 and flexible buffer device 24 form.Ball screw 21 is arranged on the rear plate on 32 along the haulage gear central axis; Drive hub 22 is installed on the ball screw 21, advances or retreats along with the rotation of ball screw 21, and guide rod 33 passes drive hub 22, makes it circumferentially relatively fixing; Quadratic crank mechanism 23 and stationary hub 31 are connected with drive hub and are connected, and advancing or retreat and move along with drive hub 22; Flexible buffer device 24 mainly is made of spring.21 rotations of external motor driven ball screws are advanced drive hub 22 on it or are retreated, and make quadratic crank mechanism 23 motions, thereby make supporting mechanism 2 open or shrink to adapt to the caliber variation.
By Fig. 4 frame 4 is shown and is comprised of stationary hub 31, rear plate 32 and guide rail 33, frame is combined into an integral body with driving mechanism 1 and supporting mechanism 2.
Claims (5)
1. pipeline robot haulage gear, mainly be comprised of driving mechanism (1), supporting mechanism (2), sensor assembly (3) and frame (4), it is characterized in that: driving mechanism (1) is comprised of worm screw (11), worm gear (12), synchronous pulley (13), Timing Belt (14) and driving wheel (15); Supporting mechanism (2) is by ball screw (21), drive hub (22), and quadratic crank mechanism (23), flexible buffer device (24) form; Sensor assembly (3) is comprised of pressure transducer; Frame (4) is comprised of stationary hub (31), rear plate (32) and guide rail (33); Sensor assembly (3) places driving mechanism (1) upper control supporting mechanism (2) to strut or shrinks, and frame (4) is combined into an integral body with driving mechanism (1) and supporting mechanism (2).
2. pipeline robot haulage gear according to claim 1 is characterized in that: described driving mechanism (1) adopts the full driving mode of single motor, and worm screw (11) is fixed on (31) on the stationary hub; Three worm gears (12) 120o evenly is installed on the worm screw (11); Synchronous pulley (13) and worm gear (12) coaxial arrangement; Timing Belt (14) connects synchronous pulley (13) and driving wheel (15).
3. pipeline robot haulage gear according to claim 1 is characterized in that: described ball screw (21) is fixed on the rear plate on (32); Drive hub (22) is installed in ball screw (21) upward and can advances or retreat, and quadratic crank mechanism (23) is connected 22 with stationary hub (31) with drive hub) be connected; Flexible buffer device (24) is made of spring.
4. pipeline robot haulage gear according to claim 1 is characterized in that: three groups of driving wheels (15), Timing Belt (14) and flexible buffer device (24) are installed on the described quadratic crank mechanism (23), and are evenly arranged with 120o.
5. pipeline robot haulage gear according to claim 1, it is characterized in that: described guide rail (33) is connected and fixed wheel hub (31), drive hub (22) and rear plate (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104744825A CN102954314A (en) | 2012-11-21 | 2012-11-21 | Pipeline robot dragging mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104744825A CN102954314A (en) | 2012-11-21 | 2012-11-21 | Pipeline robot dragging mechanism |
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| CN102954314A true CN102954314A (en) | 2013-03-06 |
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| CN2012104744825A Pending CN102954314A (en) | 2012-11-21 | 2012-11-21 | Pipeline robot dragging mechanism |
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| CN103322300A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-variable support mechanism for pipe section |
| CN103317962A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-changing wheel based on rocker sliding block series combination |
| CN103383019A (en) * | 2013-08-10 | 2013-11-06 | 北华航天工业学院 | Adaptive three-point umbrella pipeline inner wall supporting device |
| CN103629477A (en) * | 2013-12-03 | 2014-03-12 | 苏州大学张家港工业技术研究院 | Pipeline advancing device and driving method thereof |
| CN103683120A (en) * | 2013-12-18 | 2014-03-26 | 国家电网公司 | Auxiliary drawing head of power cable threading apparatus |
| CN103712035A (en) * | 2014-01-08 | 2014-04-09 | 北京理工大学 | Cage type pipeline aircraft |
| CN103894383A (en) * | 2014-03-25 | 2014-07-02 | 上海电力学院 | Adaptive tunneling cleaning device for rectangular ventilating ducts |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104763858A (en) * | 2015-03-10 | 2015-07-08 | 北京中通柯翔科技有限公司 | Novel pipeline surveying carrying platform |
| CN105276334A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Pipeline inspection robot |
| CN105508805A (en) * | 2016-01-27 | 2016-04-20 | 金华职业技术学院 | Self-adaptation pipeline crawler |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106224691A (en) * | 2016-07-27 | 2016-12-14 | 天津爱迪自动化科技有限公司 | A kind of pipeline is explored the way car |
| CN106352198A (en) * | 2016-11-04 | 2017-01-25 | 航天科工智能机器人有限责任公司 | Pipeline crawler |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
| CN107314191A (en) * | 2017-08-09 | 2017-11-03 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite flooding |
| CN107543010A (en) * | 2017-08-31 | 2018-01-05 | 中国石油大学(华东) | A kind of detection robot for petroleum pipeline |
| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN108331998A (en) * | 2018-04-03 | 2018-07-27 | 华北理工大学 | A kind of caliber regulating mechanism |
| CN108548048A (en) * | 2018-06-27 | 2018-09-18 | 中国石油大学(北京) | Reducing automatic creeping marine riser internal detector |
| CN109000085A (en) * | 2017-06-07 | 2018-12-14 | 西华大学 | One kind can turn circular pipe robot |
| CN109185557A (en) * | 2018-10-19 | 2019-01-11 | 安徽卓科智能装备有限公司 | A kind of position limiting structure for inside push-bench main pipeline transport device |
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110513566A (en) * | 2019-01-25 | 2019-11-29 | 四川大学 | A kind of oil-gas pipeline detection robot |
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN113211423A (en) * | 2021-04-21 | 2021-08-06 | 河海大学 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
| CN113374986A (en) * | 2021-06-11 | 2021-09-10 | 南京信息职业技术学院 | Diameter-variable telescopic mechanism of pipeline robot |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN113970030A (en) * | 2021-10-25 | 2022-01-25 | 季华实验室 | Six-foot pipeline robot system with self-adjusting function |
| CN117514983A (en) * | 2024-01-05 | 2024-02-06 | 成都理工大学 | Supporting mechanism of self-adaptive traction robot for complex shaft and control method of supporting mechanism |
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| CN103317962A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-changing wheel based on rocker sliding block series combination |
| CN103322300A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-variable support mechanism for pipe section |
| CN103322300B (en) * | 2013-06-14 | 2016-08-10 | 上海大学 | A kind of Diameter-variable support mechanism for pipe section |
| CN103317962B (en) * | 2013-06-14 | 2016-05-25 | 上海大学 | Take turns in the footpath that straightens based on rocker slider tandem compound |
| CN103383019B (en) * | 2013-08-10 | 2015-10-07 | 北华航天工业学院 | Self adaption 3 umbrella-type inner-walls of duct bearing devices |
| CN103383019A (en) * | 2013-08-10 | 2013-11-06 | 北华航天工业学院 | Adaptive three-point umbrella pipeline inner wall supporting device |
| CN103629477A (en) * | 2013-12-03 | 2014-03-12 | 苏州大学张家港工业技术研究院 | Pipeline advancing device and driving method thereof |
| CN103629477B (en) * | 2013-12-03 | 2015-09-23 | 苏州大学张家港工业技术研究院 | A kind of pipeline moving device and method for driving thereof |
| CN103683120A (en) * | 2013-12-18 | 2014-03-26 | 国家电网公司 | Auxiliary drawing head of power cable threading apparatus |
| CN103683120B (en) * | 2013-12-18 | 2017-02-15 | 国家电网公司 | Auxiliary drawing head of power cable threading apparatus |
| CN103712035A (en) * | 2014-01-08 | 2014-04-09 | 北京理工大学 | Cage type pipeline aircraft |
| CN103894383A (en) * | 2014-03-25 | 2014-07-02 | 上海电力学院 | Adaptive tunneling cleaning device for rectangular ventilating ducts |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104763858A (en) * | 2015-03-10 | 2015-07-08 | 北京中通柯翔科技有限公司 | Novel pipeline surveying carrying platform |
| CN105276334A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Pipeline inspection robot |
| CN105276334B (en) * | 2015-10-23 | 2018-01-09 | 河北工业大学 | A kind of detecting robot of pipe |
| CN105508805A (en) * | 2016-01-27 | 2016-04-20 | 金华职业技术学院 | Self-adaptation pipeline crawler |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106224691A (en) * | 2016-07-27 | 2016-12-14 | 天津爱迪自动化科技有限公司 | A kind of pipeline is explored the way car |
| CN106352198A (en) * | 2016-11-04 | 2017-01-25 | 航天科工智能机器人有限责任公司 | Pipeline crawler |
| CN109000085A (en) * | 2017-06-07 | 2018-12-14 | 西华大学 | One kind can turn circular pipe robot |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
| CN107131391B (en) * | 2017-07-19 | 2019-02-15 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
| CN107314191A (en) * | 2017-08-09 | 2017-11-03 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite flooding |
| CN107314191B (en) * | 2017-08-09 | 2019-03-12 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite drive |
| CN107543010A (en) * | 2017-08-31 | 2018-01-05 | 中国石油大学(华东) | A kind of detection robot for petroleum pipeline |
| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN108331998A (en) * | 2018-04-03 | 2018-07-27 | 华北理工大学 | A kind of caliber regulating mechanism |
| CN108548048A (en) * | 2018-06-27 | 2018-09-18 | 中国石油大学(北京) | Reducing automatic creeping marine riser internal detector |
| CN109185557A (en) * | 2018-10-19 | 2019-01-11 | 安徽卓科智能装备有限公司 | A kind of position limiting structure for inside push-bench main pipeline transport device |
| CN110513566B (en) * | 2019-01-25 | 2021-02-23 | 四川大学 | Oil gas pipeline detection robot |
| CN110513566A (en) * | 2019-01-25 | 2019-11-29 | 四川大学 | A kind of oil-gas pipeline detection robot |
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN113211423A (en) * | 2021-04-21 | 2021-08-06 | 河海大学 | Spherical hinge pull wire variable auxiliary wheel type snake-shaped robot |
| CN113374986A (en) * | 2021-06-11 | 2021-09-10 | 南京信息职业技术学院 | Diameter-variable telescopic mechanism of pipeline robot |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN113970030A (en) * | 2021-10-25 | 2022-01-25 | 季华实验室 | Six-foot pipeline robot system with self-adjusting function |
| CN117514983A (en) * | 2024-01-05 | 2024-02-06 | 成都理工大学 | Supporting mechanism of self-adaptive traction robot for complex shaft and control method of supporting mechanism |
| CN117514983B (en) * | 2024-01-05 | 2024-03-19 | 成都理工大学 | Supporting mechanism of self-adaptive traction robot for complex shaft and control method of supporting mechanism |
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Application publication date: 20130306 |