CN104763857A - Cross structural potential risk detection pipeline robot for reservoir culvert pipe - Google Patents
Cross structural potential risk detection pipeline robot for reservoir culvert pipe Download PDFInfo
- Publication number
- CN104763857A CN104763857A CN201510129914.2A CN201510129914A CN104763857A CN 104763857 A CN104763857 A CN 104763857A CN 201510129914 A CN201510129914 A CN 201510129914A CN 104763857 A CN104763857 A CN 104763857A
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- CN
- China
- Prior art keywords
- pipeline
- robot
- pipeline robot
- driving
- driving leg
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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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Classifications
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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
-
- 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
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention relates to a cross structural potential risk detection pipeline robot for a reservoir culvert pipe. The cross structural potential risk detection pipeline robot comprises a clamping plate and four driving legs, wherein the driving legs are connected to a center point on a clamping plate edge through pins; the circumferential positions of the driving legs can be fixed through eight springs; the mutual included angles of the driving legs at the initial position are 90 degrees; two adjacent springs are connected and pre-tensioned through a pulling cable. The cross structural potential risk detection pipeline robot has the beneficial effects that an ingenious spring mechanism is used for achieving real-time deformation; the robot can flexibly pass in a complex pipeline environment; the pipeline robot can be firmly attached to the pipe wall under the effects of the driving force and the elasticity of the springs; the pipeline environment is complex, most of the water pipes are moist, the robot can move in the middle of the pipeline all the time in order to avoid the water and barriers to the maximum or cross staggering barrier of the culvert pipe due to non-uniform sedimentation of a dam according to the design, and the barrier crossing capacity above cannot be achieved by the common pipeline robot.
Description
Technical field
The present invention relates to a kind of pipeline robot, especially a kind of cross structure formula reservoir culvert perils detecting pipeline robot.
Background technique
The pipeline robot of existing main flow has vehicle type pipeline robot, crawler belt type pipeline robot and walking type pipeline robot.Vehicle type pipeline robot is typical in application number: 201010240870.8,201310118019.1, the Robot Design of this class formation is simple, but bad adaptability, be difficult to cross pipeline dislocation obstacle, and the pipeline robot of similar structure can not be creeped in vertical pipe.Crawler belt type pipeline robot typical case has the patent No.: 200910061704.9, this kind of pipeline robot, and traction is larger than general vehicle formula pipeline robot, and adaptive capacity is good, but in pipeline, curved meeting is very difficult excessively, has the danger of overturning.The typical structure of walking type pipeline robot is as the patent No.: 201310069842.8, and walking type pipeline robot adaptability comparatively above two kinds of adaptability will be got well, but complex structure, poor reliability is very high to operating environment requirements.Also do not have a kind of pipeline robot simple and reliable for structure at present, pipeline dislocation obstacle can be solved again.
Summary of the invention
The present invention will solve the shortcoming of above-mentioned prior art, provides a kind of simple and reliable for structure, can solve again the cross structure formula reservoir culvert perils detecting pipeline robot of pipeline dislocation obstacle.
The present invention solves the technological scheme that its technical problem adopts: this cross structure formula reservoir culvert perils detecting pipeline robot, comprise clamping plate and four driving legs, driving leg is connected to the point midway on clamping plate limit by pin, and pass through the circumferential position of eight spring fixed drive legs, the mutual angle of driving leg initial position is 90 degree, and two adjacent springs connect pretension by a drag-line.
As preferably, described driving leg comprises a motor, and motor is connected with drive bevel gear by output shaft, and drive bevel gear engages with driven wheel of differential, and driven wheel of differential is connected with driving wheel by wheel shaft.
As preferably, described driving leg comprises the driving leg glissile segment of driving leg holding part and the fixed electrical machinery be connected with pin, is connected between driving leg holding part and driving leg glissile segment by fixing pin.
As preferably, described drag-line is connected with a tripper.
Inventing useful effect is: the present invention realizes real-time deformation by spring mechanism cleverly, can pass through inside complicated pipeline environment maneuverability; The pipeline robot of this research is under the effect of driving force and spring force, and robot can firmly be attached on tube wall by note; Because pipeline environment is complicated, most of water pipe is very moist, the design of robot be allow robot all the time in the duct between motion, water and obstacle can be avoided to greatest extent, can cross the culvert pipe dislocation obstacle because dam nonuniform settlement causes, this is the obstacle climbing ability that common pipeline robot does not possess.
Accompanying drawing explanation
Fig. 1 is cross structure formula reservoir culvert perils detecting pipeline robot structure diagram;
Fig. 2 is cross structure formula reservoir culvert perils detecting pipeline robot External view;
Fig. 3 is the creep attitude figure of cross structure formula reservoir culvert perils detecting pipeline robot in culvert pipe dislocation place;
Fig. 4 is that T-shaped pipeline is creeped attitude figure;
Fig. 5 is that L-type pipeline is creeped attitude figure;
Description of reference numerals: 1, motor; 2-1, driving leg glissile segment; 2-2, driving leg holding part; 3, output shaft; 4, drive bevel gear; 5, driven wheel of differential; 6, wheel shaft; 7, driving wheel; 7-1, driving wheel one; 7-2, driving wheel two; 7-3, driving wheel three; 7-4, driving wheel four; 8, sell; 9, clamping plate; 10, spring; 11, drag-line; 12, tripper; 13, fixing pin; 14, pipeline center's plane; 15, pipeline robot; 16, pipeline leading portion; 17, pipeline back segment.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
The structure of pipeline robot as shown in Figure 1.Motor 1 is fixed on inside driving leg glissile segment 2-1, motor 1 driver output axle 3 drives drive bevel gear 4 to rotate, the driven wheel of differential 5 engaged with 4 is driven to rotate, driving wheel 7 is driven to rotate by wheel shaft 6, form robot driving leg, other three driving legs also connect by same way, and driving leg glissile segment 2-1 is connected by fixing pin 13 with driving leg holding part 2-2, and fixing pin 13 effect is can according to pipe diameter size adjustment driving leg length.Driving leg holding part 2-2 is connected to the point midway on clamping plate 9 limit by pin 8.The circumferential position of four driving legs is fixed, the mutual angle of initial position 90 degree by eight springs 10.Spring 10 is by four drag-line 11 pretensions, and drag-line 11 connects tripper 12.
The behavior of pipeline robot mainly contains following several:
(1) forward-reverse
As shown in Figure 3, according to pipe diameter size adjustment fixing pin 13, pipeline robot 15 is made to be supported on pipeline center's plane, driving wheel one 7-1, driving wheel two 7-2, driving wheel three 7-3, driving wheel four 7-4 turn clockwise, pipeline robot is walked forward (the right is for above), driving wheel one 7-1, driving wheel two 7-2, driving wheel three 7-3, driving wheel four 7-4 are rotated counterclockwise, and pipeline robot is walked backward (left side is for below).
(2) attitude is adjusted
Driving wheel one 7-1, driving wheel two 7-2 counterrotating, one, two take turns limit can move down, and robot is that axle turns clockwise with pipeline; Driving wheel three 7-3, driving wheel four 7-4 counterrotating, three, four-wheel limit can move down, robot is that axle turns counterclockwise with pipeline; Robot can be adjusted and run plan-position.
(3) dam uneven settlement culvert pipe dislocation obstacle detouring
As shown in Figure 3, dam uneven settlement can cause culvert pipe dislocation to fragment into pipeline leading portion 16 and pipeline back segment 17, in dislocation place, the obstacle closing on central plane is average lower, easily pass through, and pipeline robot 15 plane of travel of cross structure is near pipeline center's plane 14, therefore dislocation obstacle can be crossed.
(4) T-shaped pipeline is creeped
As shown in Figure 4, the adjustment that cross structure formula reservoir culvert perils detecting pipeline robot turns to according to driving wheel, can enter the by-pass line of T joint.
(5) L-type pipeline is creeped
As shown in Figure 5, cross structure formula reservoir culvert perils detecting pipeline robot is different from the contact of tube wall according to driving wheel, easily can pass through L-type pipeline.
(6) there is stuck phenomenon in cross structure formula reservoir culvert perils detecting pipeline robot in pipeline, can unclamp drag-line, trip spring 10 by tripper 12, and four driving legs circumference is spacing to be removed, and can pull out pipeline by safety rope.
Particularly as shown in the figure:
If Fig. 3 reservoir dam is due to reasons such as geology and dam material gravity, uneven settlement can be produced, causing culvert pipe to misplace, is all generally misplace up and down, and pipeline robot will by dislocation position, the shortest place of obstacle must be searched out, as can be seen from Figure 3, closing on, central plane place obstacle is the shortest, and pipeline robot of the present invention is owing to being cross structure, plane of travel is in pipeline center's plane, therefore can pass through obstacle smoothly.
(1)-(3) of Fig. 4 show that T-shaped pipeline is excessively curved, figure (1) robot is in the attitude that moves ahead, figure (2) below two wheel sense of rotation is contrary, under frictional force effect, lower driving leg separately, upper driving leg enters by-pass line, and the upper driving wheel of figure (3) contacts with tube wall and obtains driving force, and robot climbs into by-pass line.
(1)-(3) of Fig. 5 show that L-type pipeline is excessively curved, figure (1) robot is in the attitude that moves ahead, figure (2) entered curved leading portion, 3 driving wheels contact with tube wall below, acquisition driving force realizes leading portion and turns round, figure (3) entered curved back segment, above to contact tube wall acquisition driving force with left side driving wheel, excessively curved by 3 process implementation L-types.
In addition to the implementation, the present invention can also have other mode of executions.All employings are equal to the technological scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (4)
1. a cross structure formula reservoir culvert perils detecting pipeline robot, it is characterized in that: comprise a clamping plate (9) and four driving legs, driving leg is connected with the point midway on clamping plate (9) limit by pin (8), and pass through the circumferential position of eight spring (10) fixed drive legs, the mutual angle of driving leg initial position is 90 degree, and two adjacent springs (10) connect pretension by a drag-line (11).
2. cross structure formula reservoir culvert perils detecting pipeline robot according to claim 1, it is characterized in that: described driving leg comprises a motor (1), motor (1) is connected with drive bevel gear (4) by output shaft (3), drive bevel gear (4) engages with driven wheel of differential (5), and driven wheel of differential (5) is connected with driving wheel (7) by wheel shaft (6).
3. cross structure formula reservoir culvert perils detecting pipeline robot according to claim 2, it is characterized in that: described driving leg comprises the driving leg glissile segment (2-1) of driving leg holding part (2-2) and the fixed electrical machinery (1) be connected with pin (8), connected by fixing pin (13) between driving leg holding part (2-2) and driving leg glissile segment (2-1).
4. the cross structure formula reservoir culvert perils detecting pipeline robot according to claim 1,2 or 3, is characterized in that: described drag-line (11) is connected with a tripper (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129914.2A CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129914.2A CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
Publications (2)
| Publication Number | Publication Date |
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| CN104763857A true CN104763857A (en) | 2015-07-08 |
| CN104763857B CN104763857B (en) | 2016-11-30 |
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| CN201510129914.2A Expired - Fee Related CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247084A (en) * | 2016-06-18 | 2016-12-21 | 上海建工集团股份有限公司 | A kind of pipe inner position wheel construction and application thereof |
| CN107035935A (en) * | 2017-06-15 | 2017-08-11 | 湖州丘天电子科技有限公司 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN109085388A (en) * | 2018-08-01 | 2018-12-25 | 王海萍 | A kind of smooth tube detection equipment of inner wall carrier |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth welding robot |
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| WO2010012087A1 (en) * | 2008-07-31 | 2010-02-04 | On Stream Technologies Inc. | Pipe pig and method of cleaning a pipe |
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| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN203252593U (en) * | 2013-04-02 | 2013-10-30 | 陈烁 | Whisk broom with adjustable broom handle angle |
| CN204197100U (en) * | 2014-11-17 | 2015-03-11 | 河北工业大学 | A kind of quadruped robot with flexible joint |
| CN204573460U (en) * | 2015-03-24 | 2015-08-19 | 浙江水利水电学院 | Cross structure formula reservoir culvert perils detecting pipeline robot |
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2015
- 2015-03-24 CN CN201510129914.2A patent/CN104763857B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2010012087A1 (en) * | 2008-07-31 | 2010-02-04 | On Stream Technologies Inc. | Pipe pig and method of cleaning a pipe |
| CN201902765U (en) * | 2010-12-24 | 2011-07-20 | 张龙 | Driving mechanism of pipeline robot |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN203252593U (en) * | 2013-04-02 | 2013-10-30 | 陈烁 | Whisk broom with adjustable broom handle angle |
| CN204197100U (en) * | 2014-11-17 | 2015-03-11 | 河北工业大学 | A kind of quadruped robot with flexible joint |
| CN204573460U (en) * | 2015-03-24 | 2015-08-19 | 浙江水利水电学院 | Cross structure formula reservoir culvert perils detecting pipeline robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247084A (en) * | 2016-06-18 | 2016-12-21 | 上海建工集团股份有限公司 | A kind of pipe inner position wheel construction and application thereof |
| CN106247084B (en) * | 2016-06-18 | 2019-01-29 | 上海建工集团股份有限公司 | A kind of pipe is interior to position wheel construction and its application |
| CN107035935A (en) * | 2017-06-15 | 2017-08-11 | 湖州丘天电子科技有限公司 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN107035935B (en) * | 2017-06-15 | 2019-04-05 | 陈红 | A kind of pipe robot conveniently adapting to different pipelines |
| CN109085388A (en) * | 2018-08-01 | 2018-12-25 | 王海萍 | A kind of smooth tube detection equipment of inner wall carrier |
| CN109085388B (en) * | 2018-08-01 | 2020-09-04 | 新昌县宏满机械科技有限公司 | Smooth pipeline inner wall check out test set carrier |
| CN111571080A (en) * | 2020-06-01 | 2020-08-25 | 刘俊 | Circular pipeline inner wall girth welding robot |
| CN111571080B (en) * | 2020-06-01 | 2022-03-22 | 安徽盈创石化检修安装有限责任公司 | Circular pipeline inner wall girth welding robot |
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| Publication number | Publication date |
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| CN104763857B (en) | 2016-11-30 |
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