CN104806845A - Double-crank slide block type pipeline backflow walking robot - Google Patents
Double-crank slide block type pipeline backflow walking robot Download PDFInfo
- Publication number
- CN104806845A CN104806845A CN201510214609.3A CN201510214609A CN104806845A CN 104806845 A CN104806845 A CN 104806845A CN 201510214609 A CN201510214609 A CN 201510214609A CN 104806845 A CN104806845 A CN 104806845A
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- double
- slide block
- block type
- guide rod
- robot
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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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- 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
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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 relates to a double-crank slide block type pipeline backflow walking robot and aims to provide a device which has the characteristics of no energy consumption, stable and reliable operation, and long service life. According to a technical scheme, the double-crank slide block type pipeline backflow walking robot is characterized in that the robot comprises three machine bodies connected successively by a double-crank slide block mechanism, a power mechanism for driving the three machine bodies to advance successively, and a directional control structure mounted at the periphery of the robot; the three machine bodies include a front machine body, a middle machine body and a rear machine body arranged successively from front to back; the power mechanism comprises a wind wheel, a worm wheel and worm mechanism and a guide rod mechanism; the directional control structure includes a plurality of steel brushes; the guide rod mechanism comprises a half-division guide rod, a worm shaft and a sleeve.
Description
Technical field
The present invention relates to pipeline machine technical field, especially can realize the device of the pipeline machine walking realizing adverse current straight ahead without additionaling power.
Background technique
Along with national society is deep to natural gas extraction utilization, natural gas pipe, as the convenient reliable transport agent of one, is used more and more extensive.But in utilization process, pipeline is owing to being subject to the impact of unfavorable ambient conditions (as the extruding of long-term external force, geological activity and foreign object corrosion etc.), cause defect of pipeline aging, leakage accident is occurred often, bring massive losses to country and society.Reduce the problems such as pipe leakage, need reliable detection facility to check pipeline.Because pipeline is embedded in the end, ground more, pipe outside detection equipment fails accurately to determine pipe leakage point, and the intermittent inspection mode carried out now, pipe leakage information can not be detected timely and effectively.Therefore, design a kind of equipment that can carry out cycle detection for a long time in pipeline and seem particularly important.
Summary of the invention
Technical problem to be solved by this invention is the deficiency overcoming above-mentioned background technology, there is provided a kind of pipeline machine traveling gear realizing adverse current straight ahead without additionaling power for pipe detection, this device should have the feature of energy free consumption, stable and reliable operation and long service life.
The technical solution used in the present invention is as follows:
Double-crank slide block type pipeline countercurrent walking robot, is characterized in that this robot comprises: three bodies sequentially connected by double crank slider mechanism, drive the power mechanism that three bodies advance successively and the directional control structure being arranged on robot machine people's periphery;
Described three bodies are the front body of front and back sequential, middle body and rear body; In described double crank slider mechanism: each slidercrank mechanism comprises the bent axle and one end that are rotatably positioned on middle body and hinged two connecting rods of bent axle, the other end of two connecting rods also respectively with front body and rear body hinged;
Described power mechanism comprises the wind wheel be arranged on front body, be arranged on middle body and drive described double crank slider mechanism worm-and-wheel gear and by wind wheel transmission of power to the guide-bar mechanism of worm-and-wheel gear;
Described directional control structure be arranged on front body circumference and rear body circumferential and apply pressure to several steel brushes of inner-walls of duct, bristle in each steel brush is the straight steel wire that many arranged in parallel and tail ends are connected as a single entity, also toward the opposite direction deflection several angle that robot advances while the top sensing inner-walls of duct of straight steel wire, to make front body and the progressive motion state of rear body maintenance list that steel brush is housed.
Described guide-bar mechanism comprise one end fix with the train of reduction gears transmitting wind wheel power and in semi-cylindrical half point guide rod and one end also for semi-cylindrical and with half point guide rod match the worm shaft that engages and be set on guide rod and worm shaft engage position with the sleeve making guide rod and worm shaft mutually can carry out engagement in rotation axially slidably.
Also train of reduction gears is configured with between described wind wheel and guide-bar mechanism.
The surrounded surface of described middle body is also provided with reducing adaptive structure; This structure comprise be fixed on body circumferential surface pedestal, be hinged on its one end on pedestal rotationally and be hinged with the swing arm of roller and be positioned on pedestal and force in swing arm and make it have torsion spring toward body external diameter direction motion potential energy; Also toward the opposite direction deflection several angle that robot advances while the center line sensing inner-walls of duct of described swing arm.
Working principle of the present invention is: along with bent axle rotates counterclockwise when 0 ° ~ 180 ° of scopes (crank angle), front body 1 maintains static (the steel brush top of front body press against inner-walls of duct), middle body 2 and rear body 3 creep forward movement; To crank angle when 180 ° ~ 360 ° of scopes, front body 1 and middle body 2 to be creeped forward movement along inner-walls of duct, and then body 3 maintains static (the steel brush top of rear body press against inner-walls of duct); When being 360 ° to crank angle, original state got back to by bent axle, connecting rod, and this mechanism completes the crawling exercise in one-period; Repeat above-mentioned steps, then this mechanism can continue to creep.
The invention has the beneficial effects as follows: the present invention directly utilizes flowing medium energy to drive, and achieves smoothly without additionaling power countercurrent movement, thus establishes technical foundation for piping loop detection facility theory.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view of front body in the present invention.
Fig. 3 is the main TV structure schematic diagram of front body in the present invention.
Fig. 4 is the perspective view of middle body of the present invention.
Fig. 5 is the main TV structure schematic diagram of middle body of the present invention.
Fig. 6 is the plan structure schematic diagram of double crank slider mechanism in the present invention.
Fig. 7 is the perspective view of guide-bar mechanism in the present invention.
Fig. 8 is the perspective view of reducing adaptive mechanism in the present invention.
Fig. 9 is the plan structure schematic diagram of reducing adaptive mechanism in the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
In double-crank slide block type pipeline countercurrent walking robot shown in the drawings, double crank slider mechanism sequentially connects three bodies; Power mechanism sequentially moves for driving three bodies, and the periphery of described robot is also provided with directional control structure;
Described three bodies are the front body 1 of front and back sequential, middle body 2 and rear body 3; Described double crank slider mechanism is arranged symmetrically in three bodies, each slidercrank mechanism includes the bent axle 5-5 and one end that are rotatably positioned on middle body and hinged two the connecting rod 5-1 of bent axle, the other end of two connecting rods also respectively with front body and rear body hinged.Thus this double crank slider mechanism includes two bent axles and four connecting rods; Bent axle is hinged on middle body main shaft 5-2, one end of hinged two connecting rods of every root bent axle difference, before and after body then respectively by the other end hinged (show in Fig. 6: front body axis 5-4 is hinged with the other end of two connecting rod 5-1 respectively, rear body axis 5-3 is also hinged with the other end of two connecting rod 5-1 respectively) of axis and connecting rod.
Described power mechanism comprises the wind wheel 1-1 be arranged on front body, be arranged on middle body and drive described double crank slider mechanism worm-and-wheel gear (worm screw 3-5, worm gear 3-6) and by wind wheel transmission of power to the guide-bar mechanism of worm-and-wheel gear;
Described wind wheel is arranged on the central authorities of cylindrical front body; To utilize ducted air-flow to drive wind wheel to rotate, produce advance required drive.Visible in figure: wind wheel power is passed to guide-bar mechanism again by train of reduction gears (small gear 3-1 and gearwheel 3-2).
In described guide-bar mechanism (Fig. 7 shown in): one end of half point guide rod 3-3 is fixed with the gearwheel 3-2 in train of reduction gears, the other end makes semi-cylindrical and toward the stretching, extension of middle body direction; The left end 3-4 being positioned at the worm shaft on body also makes semi-cylindrical and engages with half point guide rod after the stretching, extension of half point guide rod direction; Separately there is a sleeve to be set on two parts engaged section (being coated with engaged section), guarantee that half point guide rod can produce with worm shaft again worm shaft transmitting torque and slide axially, to meet the needs of robot motion.
Described directional control structure is be arranged on front body and rear body circumference and several steel brushes 2-3 of inner-walls of duct of applying pressure to; Each steel brush is fixed on L-type pedestal 2-2 (showing in figure: steel brush 2-3 is fixed on the side, long limit of L-type pedestal and parallel with minor face), and L-type pedestal be arranged on body (front body and rear body) circumferential surface increase on pedestal 2-1, the virtual hypotenuse of L-type pedestal 2-2 with increase pedestal 2-1 and overlap (in figure, each body circumferentially every 90 degree of installations steel brush).The bristle of described steel brush is the straight steel wire that many arranged in parallel and tail ends are connected as a single entity, also toward the opposite direction deflection several angle that robot advances while inner-walls of duct is pointed on the top of straight steel wire; After such structure makes front body and rear body insert inner cavity of pipe, the steel brush of body surrounding press against inner-walls of duct in oblique top simultaneously, and body is remain can only single progressive motion state.
In described reducing adaptive structure (shown in Fig. 8, Fig. 9): several pedestals 4-2 is fixed on middle body circumferencial direction, locate a swing arm 4-5 with bearing pin 4-1 in each pedestal, torsion spring 4-3 to be also set on bearing pin 4-1 and to force in swing arm and makes it have the potential energy swung toward body external diameter direction; The outer end hinged one of swing arm 4-5 is for the roller 4-6 against inner-walls of duct; In addition, pedestal has three positioning holes, and can manually insert positioning shaft 4-4, for the angle regulating swing arm 4-5 to open.This structure is conducive to the unidirectional restriction of steel brush device, and centering property is good, is conducive to the smooth running of pipeline machine.
Pipeline machine is in the pipe interior being full of rock gas, when current body has a movement tendency equidirectional with air-flow, cannot retreat because front body is equipped with steel brush assembly, and now, body and rear body are in free state; The power transmitted by train of reduction gears after wind wheel rotates makes half point guide rod together with worm shaft, thus the worm shaft in driving on body rotates, and double crank slider mechanism moves immediately, and in promotion, body and rear body move against airflow direction; In the middle of body and rear body movement to the critical localisation of double crank slider mechanism time, rear body produces the movement tendency identical with air motion direction, thus be in stationary state, and now middle body and front body are in free state, are subject to the thrust adverse current walking of connecting rod.Like this, a cycle of motion of the crank rotation process of week pipeline machine for this reason, by this periodic motion, pipeline machine achieves without additionaling power countercurrent movement.
Claims (4)
1. double-crank slide block type pipeline countercurrent walking robot, it is characterized in that this robot comprise sequentially connected by double crank slider mechanism three bodies, drive the power mechanism that three bodies advance successively and the directional control structure being arranged on robot machine people's periphery;
Described three bodies are the front body (1) of front and back sequential, middle body (2) and rear body (3); In described double crank slider mechanism: each slidercrank mechanism comprises the bent axle (5-5) and one end that are rotatably positioned on middle body and hinged two connecting rods (5-1) of bent axle, the other end of two connecting rods also respectively with front body and rear body hinged;
Described power mechanism comprises the wind wheel 1-1 be arranged on front body, be arranged on middle body and drive described double crank slider mechanism worm-and-wheel gear and by wind wheel transmission of power to the guide-bar mechanism of worm-and-wheel gear;
Described directional control structure be arranged on front body circumference and rear body circumferential and apply pressure to several steel brushes (2-3) of inner-walls of duct, bristle in each steel brush is the straight steel wire that many arranged in parallel and tail ends are connected as a single entity, also toward the opposite direction deflection several angle that robot advances while the top sensing inner-walls of duct of straight steel wire, to make front body and the progressive motion state of rear body maintenance list that steel brush is housed.
2. double-crank slide block type pipeline countercurrent walking robot according to claim 1, is characterized in that: described guide-bar mechanism comprise one end fix with the train of reduction gears transmitting wind wheel power and in semi-cylindrical half point guide rod (3-3) and one end also for semi-cylindrical and with half point guide rod match the worm shaft (3-5) that engages and be set on guide rod and worm shaft engage position with the sleeve making guide rod and worm shaft mutually can carry out engagement in rotation axially slidably.
3. double-crank slide block type pipeline countercurrent walking robot according to claim 2, is characterized in that: the surrounded surface of described middle body is also provided with reducing adaptive structure; This reducing adaptive structure comprise be fixed on body circumferential surface pedestal (4-2), be hinged on its one end on pedestal rotationally and be hinged with the swing arm (4-5) of roller and be positioned on pedestal and force in swing arm and make it have torsion spring (4-3) toward body external diameter direction motion potential energy; Also toward the opposite direction deflection several angle that robot advances while the center line sensing inner-walls of duct of described swing arm.
4. double-crank slide block type pipeline countercurrent walking robot according to claim 3, is characterized in that: be also configured with train of reduction gears between described wind wheel and guide-bar mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510214609.3A CN104806845B (en) | 2015-04-29 | 2015-04-29 | Double-crank slide block type pipeline backflow walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510214609.3A CN104806845B (en) | 2015-04-29 | 2015-04-29 | Double-crank slide block type pipeline backflow walking robot |
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| CN104806845A true CN104806845A (en) | 2015-07-29 |
| CN104806845B CN104806845B (en) | 2017-05-03 |
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| CN201510214609.3A Active CN104806845B (en) | 2015-04-29 | 2015-04-29 | Double-crank slide block type pipeline backflow walking robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805485A (en) * | 2016-05-27 | 2016-07-27 | 西南石油大学 | Urban gas pipe robot adapting to pipe shape change |
| CN111983720A (en) * | 2020-08-26 | 2020-11-24 | 中建八局第一建设有限公司 | Building electrical casing pipe plugging point positioning device |
| CN112587988A (en) * | 2021-01-14 | 2021-04-02 | 江苏纳盛科技有限公司 | Energy-consumption-free sewage treatment device and method for gate station flowing water body |
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| US4055315A (en) * | 1976-04-14 | 1977-10-25 | Gvelesiani Konstantin Shalvovi | Device for pipeline transportation of loads by fluid flow |
| GB2351304B (en) * | 1999-05-27 | 2003-10-15 | Weatherford Lamb | Subsurface apparatus |
| CN101307855A (en) * | 2008-05-12 | 2008-11-19 | 北京邮电大学 | Flexible wiggle pipeline robot |
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| CN203273187U (en) * | 2013-03-06 | 2013-11-06 | 浙江理工大学 | Pipeline robot walking device driven by fluid |
| CN204628965U (en) * | 2015-04-29 | 2015-09-09 | 浙江理工大学 | Double-crank slide block type pipeline countercurrent walking robot |
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2015
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Patent Citations (9)
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| US4055315A (en) * | 1976-04-14 | 1977-10-25 | Gvelesiani Konstantin Shalvovi | Device for pipeline transportation of loads by fluid flow |
| GB2351304B (en) * | 1999-05-27 | 2003-10-15 | Weatherford Lamb | Subsurface apparatus |
| CN101307855A (en) * | 2008-05-12 | 2008-11-19 | 北京邮电大学 | Flexible wiggle pipeline robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805485A (en) * | 2016-05-27 | 2016-07-27 | 西南石油大学 | Urban gas pipe robot adapting to pipe shape change |
| CN111983720A (en) * | 2020-08-26 | 2020-11-24 | 中建八局第一建设有限公司 | Building electrical casing pipe plugging point positioning device |
| CN111983720B (en) * | 2020-08-26 | 2023-10-20 | 中建八局第一建设有限公司 | Building electrical bushing blocking point positioning device |
| CN112587988A (en) * | 2021-01-14 | 2021-04-02 | 江苏纳盛科技有限公司 | Energy-consumption-free sewage treatment device and method for gate station flowing water body |
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| Publication number | Publication date |
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| CN104806845B (en) | 2017-05-03 |
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Effective date of registration: 20200731 Address after: 221327 No.56, paoche street, Pizhou City, Xuzhou City, Jiangsu Province Patentee after: Pizhou Jingpeng Venture Capital Co., Ltd Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park Poplar Street No. 2 Street No. 5 Patentee before: Zhejiang University of Technology |
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