CN103912759A - Universal robot operating inside pipeline - Google Patents
Universal robot operating inside pipeline Download PDFInfo
- Publication number
- CN103912759A CN103912759A CN201410084806.3A CN201410084806A CN103912759A CN 103912759 A CN103912759 A CN 103912759A CN 201410084806 A CN201410084806 A CN 201410084806A CN 103912759 A CN103912759 A CN 103912759A
- Authority
- CN
- China
- Prior art keywords
- holding frame
- lifting
- guide rod
- wheel carrier
- robot
- Prior art date
- 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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Classifications
-
- 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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- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a universal robot operating inside a pipeline. The universal robot comprises four rubber wheels, a frame, a limit wheel, an actuating mechanism output component, four electromagnetic iron wheels, a driving component, a clamping frame, a clamping frame substrate, a liftable base, a manual lead screw, a lead screw, a motor, a guide rod, a spring, a liftable wheel carrier and a sleeve. The universal robot is wide in application prospect, has the advantages of small size and high working speed, accordingly, can be applied to treatment such as gas cutting, rust removal, spraying and flaw detection of inner walls of ferromagnetic metal pipelines with different pipe diameters and different types, and is excellent in dustproof performance and moving performance.
Description
Technical field
The present invention relates to a kind of all-purpose robot in pipe interior operation, belong to pipeline processing and technical field of construction.
Background technique
In engineering; a large amount of pipe interiors all need to carry out the processing such as derusting by sandblasting, spraying liquid, gas cutting, steel wheel rust cleaning, chemical rust removal and nondestructive inspection; and in processing and the job site of pipeline, also often can run into inwall irregular, as oval-shaped pipeline processing demand.Through the research to existing processing pipe problems device, at present, there is section of tubing robot successfully using electromagnetism iron tyre simultaneously as motive power wheel with overcome the mechanism of gravity in pipeline outer wall walking, as magnetic force pipeline cutting machine, but for inner-walls of duct robot field, electromagnet technology is not yet applied in the robot that processes inner-walls of duct problem.And existing inner-walls of duct machine mostly is superhuge cantilever structure, this class machine construction is huge and manufacture cost is very high, substantially can not process the pipeline below internal diameter 500mm.The machine for grinding surface of inside pipe wall device people of other movable type is owing to adopting the mode such as retractable support mechanism to adapt to the pipeline of different inner diameters, therefore it is very limited to adapt to caliber scope, and Zhe Lei robot volume and quality can increase along with the increase of target internal diameter of the pipeline, therefore application area is limited.
Summary of the invention
The present invention is directed to existing technology and defect, object is to provide a kind of all-purpose robot in pipe interior operation, has solved large this two hang-up of the excessive and pipeline change in radius of structure, and can guarantee that Disposal quality is good, does not damage inner-walls of duct.
For achieving the above object, the present invention adopts following technological scheme:
At an all-purpose robot for pipe interior operation, comprise four rubber wheels, vehicle frame, limited wheel, actuator's output block, four electromagnetism iron tyres, driver part, holding frame, holding frame substrate, lifting pedestal, manual lead screw, screw mandrel, motor, guide rod, spring, lifting wheel carrier and sleeves; Described rubber wheel is arranged on four jiaos of vehicle frame, and moving axially in process of robot, rubber wheel contacts with tube wall, and described electromagnetism iron tyre is arranged on four jiaos on lifting wheel carrier, and in the circumferential mobile moving process of robot, electromagnetism iron tyre contacts with tube wall; Described spring fitting is at guide rod end, spring upper end withstands on lifting wheel carrier lower surface, described guide rod is arranged on vehicle frame through lifting wheel carrier and the sleeve that is connected thereon, and sleeve and guide rod are slidably matched, and lifting wheel carrier can move up and down along guide rod; Described motor is arranged on vehicle frame top board, the output shaft connection wire rod of motor, and screw mandrel is connected by silk braid with lifting pedestal, and described holding frame and holding frame substrate are fixed together, and described holding frame substrate and lifting pedestal are fixed together; Described driver part is installed on holding frame, and actuator's output block is arranged on the output shaft of driver part; Described manual lead screw is installed on lifting pedestal, and its output terminal is connected by silk braid with holding frame substrate, for regulating the distance between holding frame substrate and lifting pedestal; Described limited wheel is arranged on the end of holding frame.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
The present invention has a extensive future, because its volume is little, fast these two features of operating rate, can be applicable to the work for the treatment of of different tube diameters, dissimilar ferromagnetic metalloid inner-walls of duct as work such as gas cutting, rust cleaning, spraying and flaw detections, and anti-dust performance and travelling performance fine.The present invention take to move axially and circumferentially mobile driving respectively can realize accurate and axially locating and axially locating fast, can improve to a certain extent this device operating rate and efficiency.The method that the present invention takes replaceable actuator output block and fuselage to move on tube wall simultaneously is circumferentially processed, therefore even pipeline change in radius, this milling robot does not need enlarger substantially yet, therefore small volume, weight is lighter.In addition, the present invention utilizes limited wheel limit method, can guarantee not occur in the time that machine is worked that tube wall is excessively damaged and the phenomenon of actuator's output block and tube wall rigid collision; The present invention also utilizes screw mandrel top to stretch the power of actuator's output block radial displacement or stable implementation capacity is provided, and can guarantee that replaceable actuator output block, in the time of work for the treatment of, guarantees stabilizing distance with tube wall, guarantees Disposal quality.
Accompanying drawing explanation
Fig. 1 is the structural representation that the embodiment of the present invention 1 is pipe inner-wall spraying magnetic flaw detection ink device.
Fig. 2 is the embodiment of the present invention 1 load-supporting part figure.
Fig. 3 is the embodiment of the present invention 1 phase diagram of axially advancing.
Fig. 4 is the circumferential working state figure of the embodiment of the present invention 1.
Fig. 5 is the system diagram that the embodiment of the present invention 2 is inner-walls of duct steel wheel derusting device.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated.
embodiment 1
As depicted in figs. 1 and 2, at an all-purpose robot for pipe interior operation, comprise four rubber wheels 1, vehicle frame 2, limited wheel 3, spray gun 4, four electromagnetism iron tyres 5, driver part 6, holding frame 7, holding frame substrate 8, lifting pedestal 9, manual lead screw 10, screw mandrel 11, motor 12, guide rod 13, spring 14, lifting wheel carrier 15 and sleeves 16; Described rubber wheel 1 is arranged on four jiaos of vehicle frame 2, moving axially in process of robot, rubber wheel 1 contacts with tube wall, and described electromagnetism iron tyre 5 is arranged on four jiaos on lifting wheel carrier 15, in the circumferential mobile moving process of robot, electromagnetism iron tyre 5 contacts with tube wall; Described spring 14 is arranged on guide rod 13 ends, spring 14 upper ends withstand on lifting wheel carrier 15 lower surfaces, described guide rod 13 is arranged on vehicle frame 2 through lifting wheel carrier 15 and the sleeve 16 that is connected thereon, sleeve 16 is slidably matched with guide rod 13, and lifting wheel carrier 15 can move up and down along guide rod 13; Described motor 12 is arranged on vehicle frame 2 top boards, the output shaft connection wire rod 11 of motor 12, screw mandrel 11 is connected by silk braid with lifting pedestal 9, and described holding frame 7 and holding frame substrate 8 are fixed together, and described holding frame substrate 8 is fixed together with lifting pedestal 9; Described driver part 6 is installed on holding frame 7, and spray gun 4 is arranged on the output shaft of driver part 6; Described manual lead screw 10 is installed on lifting pedestal 9, and its output terminal is connected by silk braid with holding frame substrate 8, for regulating the distance between holding frame substrate 8 and lifting pedestal 9; Described limited wheel 3 is arranged on the end of holding frame 7.
In the course of the work, concrete steps are as follows:
As shown in Figure 3 and Figure 4, robot, before not entering pipeline, first carries out manual lead screw 10 for the situation of the pipeline that will operate and adjusts, the limit position moving downward for finely tuning electromagnetism iron tyre 5, and determine initial position and the limit position of emery wheel with this.Then, robot entirety enters pipeline, and in the same way, robot relies on rubber wheel 1 to advance for its driver part 6 axis and conduit axis, and four middle electromagnetism iron tyres 5 do not contact with tube wall.And starting to adjust and finally realize accurate axially locating during near working position when robot, this process relies on rubber wheel 1 differential on both sides to regulate, and makes the axis of driver part 6 parallel with conduit axis.
After robot completes axially locating and adjusts, screw mandrel 11 is worked, in the time that lifting pedestal 9 drops to certain position, promotion lifting wheel carrier 15 overcomes spring 14 and declines, electromagnetism iron tyre 5 contacts tube wall afterwards, now screw mandrel 11 by reverse lifting vehicle frame 2 make rubber wheel 1 leave tube wall to limit position stop.In the circumferential mobile moving process of robot, electromagnetism iron tyre 5 contacts with tube wall, utilizes its magnetic force to metal pipe-wall to overcome gravity and circumferentially works.Limited wheel 3, for limiting the maximum displacement of spray gun 4, prevents that it from clashing into tube wall or excessive wear phenomenon occurs.In order to guarantee the uniformity of whole circle work, just working on tube wall with certain speed, robot completes all radial feeds after a few, the amount of feed of operation and circumferential speed can be adjusted according to pipe condition.
embodiment 2
As shown in Figure 5, the present embodiment is substantially the same manner as Example 1, and difference is, described actuator output block 4 is rust cleaning steel wheel.
Claims (1)
1. the all-purpose robot in pipe interior operation, it is characterized in that, comprise four rubber wheels (1), vehicle frame (2), limited wheel (3), actuator's output block (4), four electromagnetism iron tyres (5), driver part (6), holding frame (7), holding frame substrate (8), lifting pedestal (9), manual lead screw (10), screw mandrel (11), motor (12), guide rod (13), spring (14), lifting wheel carrier (15) and sleeve (16); Described rubber wheel (1) is arranged on four jiaos of vehicle frame (2), moving axially in process of robot, rubber wheel (1) contacts with tube wall, described electromagnetism iron tyre (5) is arranged on four jiaos on lifting wheel carrier (15), in the circumferential mobile moving process of robot, electromagnetism iron tyre (5) contacts with tube wall; Described spring (14) is arranged on guide rod (13) end, spring (14) upper end withstands on lifting wheel carrier (15) lower surface, described guide rod (13) is arranged on vehicle frame (2) through lifting wheel carrier (15) and the sleeve (16) that is connected thereon, sleeve (16) is slidably matched with guide rod (13), and lifting wheel carrier (15) can move up and down along guide rod (13); Described motor (12) is arranged on vehicle frame (2) top board, the output shaft connection wire rod (11) of motor (12), screw mandrel (11) is connected by silk braid with lifting pedestal (9), described holding frame (7) and holding frame substrate (8) are fixed together, and described holding frame substrate (8) is fixed together with lifting pedestal (9); It is upper that described driver part (6) is installed on holding frame (7), and actuator's output block (4) is arranged on the output shaft of driver part (6); It is upper that described manual lead screw (10) is installed on lifting pedestal (9), and its output terminal is connected by silk braid with holding frame substrate (8), for regulating the distance between holding frame substrate (8) and lifting pedestal (9); Described limited wheel (3) is arranged on the end of holding frame (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084806.3A CN103912759B (en) | 2014-03-10 | 2014-03-10 | A kind of all-purpose robot in pipe interior operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084806.3A CN103912759B (en) | 2014-03-10 | 2014-03-10 | A kind of all-purpose robot in pipe interior operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103912759A true CN103912759A (en) | 2014-07-09 |
| CN103912759B CN103912759B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410084806.3A Expired - Fee Related CN103912759B (en) | 2014-03-10 | 2014-03-10 | A kind of all-purpose robot in pipe interior operation |
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| CN (1) | CN103912759B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290058A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Robot platform used for cutting obstacles in pipeline |
| CN105437240A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Robot for detecting inner wall of large steel container |
| CN105964636A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Gasoline pipeline inner wall cleaning and drying intelligent integrated machine |
| CN105965364A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Automatic rust-removing polisher for inner wall of petroleum pipeline |
| CN105965365A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Automatic dust removal device for inner wall of petroleum pipeline |
| CN106078442A (en) * | 2016-08-09 | 2016-11-09 | 北京石油化工学院 | Grinding cutter sweep in a kind of pipe |
| CN109737265A (en) * | 2019-01-14 | 2019-05-10 | 上海潜业市政工程有限公司 | A kind of CIPP pipe-repairing resin detection device |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN109909971A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | Obstacle crossing type water-cooling wall detects robot |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN110091102A (en) * | 2019-05-24 | 2019-08-06 | 薛溪健 | A kind of auxiliary docking facilities for chemical pipeline welding |
| CN111774204A (en) * | 2019-04-03 | 2020-10-16 | 常熟银田智能科技有限公司 | Industrial spraying robot capable of performing non-planar spraying |
| CN114110304A (en) * | 2021-11-24 | 2022-03-01 | 河海大学设计研究院有限公司 | Urban underground drainage pipe network detection system |
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| JPH0911892A (en) * | 1995-06-30 | 1997-01-14 | Osaka Gas Co Ltd | Pipe inside traveling robot |
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2014
- 2014-03-10 CN CN201410084806.3A patent/CN103912759B/en not_active Expired - Fee Related
Patent Citations (6)
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| JPH0911892A (en) * | 1995-06-30 | 1997-01-14 | Osaka Gas Co Ltd | Pipe inside traveling robot |
| US20090044352A1 (en) * | 2007-08-16 | 2009-02-19 | Sangyoung Seo | Machine for pipe maintenance |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290058A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Robot platform used for cutting obstacles in pipeline |
| CN105437240B (en) * | 2015-11-28 | 2017-06-16 | 湖南城市学院 | A kind of large-sized steel container inner wall detects robot |
| CN105437240A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Robot for detecting inner wall of large steel container |
| CN105965364B (en) * | 2016-07-16 | 2018-01-16 | 王雁 | A kind of petroleum pipeline inwall automatic rust-removing sander |
| CN105965365A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Automatic dust removal device for inner wall of petroleum pipeline |
| CN105965364A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Automatic rust-removing polisher for inner wall of petroleum pipeline |
| CN105965365B (en) * | 2016-07-16 | 2017-12-05 | 建湖县鸿达阀门管件有限公司 | A kind of automatic rust removing device for petroleum pipeline inwall |
| CN105964636A (en) * | 2016-07-16 | 2016-09-28 | 张�浩 | Gasoline pipeline inner wall cleaning and drying intelligent integrated machine |
| CN105964636B (en) * | 2016-07-16 | 2018-07-27 | 嵊州亿源投资管理有限公司 | A kind of gasoline pipeline inner wall washing drying intelligent integrated machine |
| CN106078442A (en) * | 2016-08-09 | 2016-11-09 | 北京石油化工学院 | Grinding cutter sweep in a kind of pipe |
| CN109737265A (en) * | 2019-01-14 | 2019-05-10 | 上海潜业市政工程有限公司 | A kind of CIPP pipe-repairing resin detection device |
| CN109737265B (en) * | 2019-01-14 | 2021-08-06 | 上海潜业市政工程有限公司 | Detection method of resin detection device for CIPP (cleaning in place) repaired pipeline |
| CN111774204A (en) * | 2019-04-03 | 2020-10-16 | 常熟银田智能科技有限公司 | Industrial spraying robot capable of performing non-planar spraying |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN109909971A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | Obstacle crossing type water-cooling wall detects robot |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN109909972B (en) * | 2019-04-17 | 2024-04-12 | 华电电力科学研究院有限公司 | Wheel tread adjustable water-cooled wall detection robot |
| CN110091102A (en) * | 2019-05-24 | 2019-08-06 | 薛溪健 | A kind of auxiliary docking facilities for chemical pipeline welding |
| CN114110304A (en) * | 2021-11-24 | 2022-03-01 | 河海大学设计研究院有限公司 | Urban underground drainage pipe network detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103912759B (en) | 2016-03-30 |
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Granted publication date: 20160330 Termination date: 20200310 |