CN104930298B - One kind can mobile device and its moving method in active steering pipeline - Google Patents
One kind can mobile device and its moving method in active steering pipeline Download PDFInfo
- Publication number
- CN104930298B CN104930298B CN201510241368.1A CN201510241368A CN104930298B CN 104930298 B CN104930298 B CN 104930298B CN 201510241368 A CN201510241368 A CN 201510241368A CN 104930298 B CN104930298 B CN 104930298B
- Authority
- CN
- China
- Prior art keywords
- pipeline
- transmission component
- mobile device
- motor
- steering
- 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.)
- Active
Links
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses one kind can mobile device and its moving method in active steering pipeline, this device includes：Straight trip transmission component, steering transmission component, housing unit and control system, wherein：Straight trip transmission component and steering transmission component are separately mounted on housing unit；Control system is connected with straight trip transmission component and steering transmission component, the working condition controlling straight trip transmission component and turning to transmission component, when pipeline is for straight tube, controls transmission component work of keeping straight on, and when pipeline is for manifold, controls and turns to transmission component work.The method includes：In straight tube, straight trip transmission component drives mobile device in pipeline to advance in the duct；When running into manifold, turn to transmission component and drive mobile device in pipeline to rotate to preset direction；When turning to preset direction, straight trip transmission component drives mobile device in pipeline to advance in the duct.This device and method is applied to the active steering of three-way pipeline containing manifold or manifolds.
Description
Technical field
The present invention relates to mobile device in pipeline, can mobile device and its movement in active steering pipeline particularly to one kind
Method.
Background technology
In pipeline, mobile device is mainly used in pipeline inspection, repairing, desilting and material transferring.For the tee T containing manifold
Active steering operation in road or manifolds, common way is to make both direction swing (left and right changes or swings up and down)
Axis interlaced arrangement, and bias certain distance, artificially represented with wheel type machine.So bias axis line increases turning radius,
It is unfavorable for small radius steering operation.
Content of the invention
The present invention is directed to above-mentioned problems of the prior art, propose one kind can in active steering pipeline mobile device and
Its moving method, radius of turn is little, turns to flexibly, is applicable to the three-way pipeline containing manifold or the minor radius of manifolds turns
To operation.
For solving above-mentioned technical problem, the present invention is achieved through the following technical solutions：
The present invention provide one kind can mobile device in active steering pipeline, it includes：Straight trip transmission component, steering transmission group
Part, housing unit and control system, wherein：Described straight trip transmission component and steering transmission component are separately mounted to described shell
On body assembly；Described control system is connected with described straight trip transmission component and described steering transmission component, controls described straight trip
Transmission component and the working condition of described steering transmission component, when pipeline is for straight tube, control described straight trip transmission component work
Make, when pipeline is for manifold, control described steering transmission component work.
It is preferred that described straight trip transmission component includes：First motor, yaw, bogie, the first compression spring and
Driving wheel；Wherein：Described bogie includes the first bar and the second bar in T font, the axis collinear of described first bar and pipeline,
Described second bar is parallel to the radial direction of pipeline；The front end of described yaw is connected with the first bar of described bogie, rear end with described
First motor is connected, and described driving wheel is connected to the two ends of the second bar of described bogie through described first compression spring；
Described first motor and described yaw are located in the housing of described housing unit.
It is preferred that described driving wheel exists installs the angle of attack so as to revolve round the sun along equidistant helix in pipeline, drive whole dress
Put straight line to advance, transmission is simple.
It is preferred that described steering transmission component includes：Second motor, small Spur gear, large straight gear, bevel gear wheel,
Bevel pinion and leading truck；Wherein：Described steering transmission component is installed in the housing of described housing unit；Described second drive
Galvanic electricity machine is connected with described small Spur gear；Described small Spur gear is meshed with described large straight gear, described large straight gear with described
Bevel gear wheel is meshed, and described bevel gear wheel is meshed with described bevel pinion；Described large straight gear is same with described bevel gear wheel
Axle, with pipeline axially in the same direction；The rear end of described leading truck is fixed on the housing of described housing unit, and with described small bevel gear
Wheel is connected, and front end is provided with targeting port, and described first bar passes through described targeting port；Described bevel pinion is coaxial with described yaw,
Described bogie is turned to the steering of described bevel pinion.Arrange and make small bevel gear by the engagement and angle of each gear
Wheel turns to required angle, thus leading truck drives bogie along the axis oscillating of yaw to required angle.
It is preferred that described housing unit includes：Housing, driven wheel carrier, the second compression spring, driven pulley；Wherein：Described shell
Opening is provided with body, symmetrically, described opening is towards the traveling side of mobile device in described pipeline for the both sides of described opening
To described first bar passes through described opening；Described driven wheel carrier at least includes two, is arranged on the symmetrical of described housing
Both sides；Described driven pulley is arranged on described driven wheel carrier through described second compression spring.
It is preferred that described driven pulley can swing certain angle, the presence of this pivot angle around described driven wheel carrier, make in bogie
During clamping stagnation, driven wheel drive whole device is possibly realized；Housing into rotation can drive leading truck to rotate, therefore, also for turning to transmission
The steering angle adjustment of assembly is provided convenience.,
It is preferred that described control device includes sensor and controller, described sensor is installed in described pipeline and moves
The front end of dynamic device, described sensor is electrically connected with described controller, described controller and described first motor and the
Two motors are connected；When in the described pipeline that described sensor detects between the front end of mobile device and pipeline axially away from
From not in preset range when, send the first signal to described controller, described controller controls described first motor work
Make；When in the described pipeline that described sensor detects the axial distance between the front end of mobile device and pipeline in preset range
When interior, send secondary signal to described controller, described controller controls described second motor work.
It is preferred that described first motor and/or the second motor are reducing motor.
The present invention also provide one kind can moving method in active steering pipeline, it comprises the following steps：
S91：In straight tube, straight trip transmission component drives mobile device in pipeline to advance in the duct；
S92：When running into manifold, turn to transmission component and drive mobile device in pipeline to rotate to preset direction；
S93：When turning to preset direction, straight trip transmission component drives mobile device in pipeline to advance in the duct.
Compared to prior art, the present invention has advantages below：
What the present invention provided mobile device and its moving method can be applied to the tee T containing manifold in active steering pipeline
The active steering operation of road or manifolds, implements active steering using straight trip transmission component with turning to transmission component cooperation,
Effectively reduce radius of turn, turn to flexibly.
Brief description
Below in conjunction with the accompanying drawings embodiments of the present invention are described further：
Fig. 1 be the present invention can in active steering pipeline mobile device transmission sketch；
Fig. 2 be the present invention can in active steering pipeline moving method flow chart.
Label declaration：11- first motor, 12- yaw, 13- bogie, 14- first compression spring, 15- driving wheel；
131- first bar, 132- second bar；
21- second motor, 22- small Spur gear, 23- large straight gear, 24- bevel gear wheel, 25- bevel pinion, 26- leads
To frame；
31- housing, the driven wheel carrier of 32-, 33- second compression spring, 34- driven pulley；
41- sensor, 42- controller.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
Be illustrated in figure 1 the present invention can in active steering pipeline mobile device transmission sketch, it includes：Straight trip transmission
Assembly, steering transmission component, housing unit and control system.
Straight trip transmission component includes：First motor 11, yaw 12, bogie 13, the first compression spring 14 and drive
Driving wheel 15, bogie 13 includes the first bar 131 of arrangement and the second bar 132 in T font, the axis of the first bar 131 and pipeline
Collinearly, its one end is connected with the second bar 132, and the other end is connected with yaw 12, and bogie 13 includes two, is separately positioned on second
The two ends of bar 132, driving wheel 15 is arranged on bogie 13 through the first compression spring 14.
Turn to transmission component to include：Second motor 21, small Spur gear 22, large straight gear 23, bevel gear wheel 24, conelet
Gear 25 and leading truck 26, the second motor 21 is connected with small Spur gear 22, and small Spur gear 22 is mutually nibbled with large straight gear 23
Close, large straight gear 23 is meshed with bevel gear wheel 24, bevel gear wheel 24 is meshed with bevel pinion 25, bevel pinion 25 and yaw
12 is coaxial, and leading truck 26 is connected with bevel pinion 25, and the front end of leading truck 26 is provided with targeting port, and the first bar 131 passes through guiding
Mouthful.
Housing transmission component includes：Housing 31, driven wheel carrier 32, the second compression spring 33 and driven pulley 34, housing 31
Front end be provided with opening, symmetrically, driven wheel carrier 32 includes four, is uniformly arranged on the two of housing 31 for the both sides of opening
Side, driven pulley 34 is arranged on driven wheel carrier 32 through the second compression spring 33, and can swing certain angle around driven wheel carrier 32.Directly
The yaw 12 of row transmission component and the first motor 11 are located in housing 31, and the first bar 131 passes through the opening of housing 31；Turn
It is located in housing 31 to transmission component, leading truck 26 is fastened on the both sides of housing 31, and the targeting port of leading truck 26 front end and shell
The opening of body 31 is corresponding, and the presence of pivot angle makes housing 31 rotate, and housing 31 rotation can drive leading truck 26 to rotate, thus
Steering angle adjustment for turning to transmission component is provided convenience.
Control system includes sensor 41 and controller 42, and sensor 41 is installed on the front end of mobile device, with control
Device 42 electrically connects, and controller 42 is connected with the first motor 11 and the second motor 21, and sensor 41 is used for detecting shifting
Axial distance between the front end of dynamic device and pipeline, when axial distance is not in preset range, judges pipeline for straight tube, sends out
Go out the first control signal to controller 42, control the first motor 11 to work；When axial distance is in preset range, judge
Pipeline is manifold, sends the second control signal to controller 42, controls the second motor 21 to work.
In linear type pipeline, the first motor 11 in straight trip transmission component drives driving wheel 15 along uniform pitch spiral
Line advances, and drives mobile device straight ahead；When running into manifold, the second motor 21 drives small Spur gear 22 to rotate, little
Spur gear 22 drives large straight gear 23 to rotate, and large straight gear 23 drives bevel gear wheel 24 to rotate, and bevel gear wheel 24 drives small bevel gear
Wheel 25 rotation, so that bevel pinion 25 turns to, bevel pinion 25 drives leading truck 26 to rotate, due to bevel pinion 25 and yaw
12 is coaxial, and leading truck 26 drives the bogie 13 in straight trip transmission component to be rocked to required angle, then starts straight trip transmission group
The first motor 11 in part, now bogie 13 be tiltedly stuck in manifold inlet, due to the pivot angle of the driven pulley 34 of housing unit
Position-limiting action is so that housing unit obtains thrust forward, and then bogie 13 is pushed completely into manifold, and now bogie 13 carries
Dynamic driving wheel 15 rotates, and whole device is drawn in manifold by the pulling force of generation, and simultaneously, just, mobile device exists for leading truck 26 times
Continue straight ahead under the driving of the first motor 11.
In different embodiments, sensor 41 is not necessarily positioned to the position of Fig. 1, also differs and is set to range sensor, as long as
Can detect and whether run into manifold.
Be illustrated in figure 2 the present invention can in active steering pipeline moving method flow chart, it comprises the following steps：
S91：In straight tube, straight trip transmission component drives mobile device in pipeline to advance in the duct；
S92：When running into manifold, turn to transmission component and drive mobile device in pipeline to rotate to preset direction；
S93：When turning to preset direction, straight trip transmission component drives mobile device in pipeline to advance in the duct.
Disclosed herein is only the preferred embodiments of the present invention, and this specification is chosen and specifically described these embodiments, is
In order to preferably explain principle and the practical application of the present invention, it is not limitation of the invention.Any those skilled in the art
The modifications and variations done in the range of description, all should fall in the range of the present invention is protected.
Claims (7)
1. one kind can in active steering pipeline mobile device it is characterised in that including：Straight trip transmission component, turn to transmission component,
Housing unit and control system, wherein：
Described straight trip transmission component and described steering transmission component are separately mounted on described housing unit；
Described control system is connected with described straight trip transmission component and described steering transmission component, controls described straight trip transmission group
Part and the working condition of described steering transmission component, when pipeline is for straight tube, controls described straight trip transmission component work, work as pipe
When road is manifold, control described steering transmission component work；
Described straight trip transmission component includes：First motor, yaw, bogie, the first compression spring and driving wheel；Its
In：
Described bogie includes the first bar and the second bar in T font, the axis collinear of described first bar and pipeline, and described second
Bar is parallel to the radial direction of pipeline；
The front end of described yaw is connected with the first bar of described bogie, and rear end is connected with described first motor, described drive
Driving wheel is connected to the two ends of the second bar of described bogie through described first compression spring；
Described first motor and described yaw are located in the housing of described housing unit；
Described steering transmission component includes：Second motor, small Spur gear, large straight gear, bevel gear wheel, bevel pinion and
Leading truck；Wherein：
Described steering transmission component is installed in the housing of described housing unit；
Described second motor is connected with described small Spur gear；
Described small Spur gear is meshed with described large straight gear, and described large straight gear is meshed with described bevel gear wheel, described big
Bevel gear is meshed with described bevel pinion；
Described large straight gear is coaxial with described bevel gear wheel, with pipeline axially in the same direction；
The rear end of described leading truck is fixed on the housing of described housing unit, and is connected with described bevel pinion, and front end is arranged
There is targeting port, described first bar passes through described targeting port；
Described bevel pinion is coaxial with described yaw so that described bogie turns to the steering of described bevel pinion.
2. according to claim 1 can in active steering pipeline mobile device it is characterised in that there is peace in described driving wheel
The dress angle of attack is so as to revolve round the sun along equidistant helix in pipeline.
3. according to claim 1 can in active steering pipeline mobile device it is characterised in that described housing unit bag
Include：Housing, driven wheel carrier, the second compression spring, driven pulley；Wherein：
Opening is provided with described housing, symmetrically, described opening is mobile towards in described pipeline to be filled for the both sides of described opening
The direct of travel put, described first bar passes through described opening；
Described driven wheel carrier at least includes two, is arranged on the symmetrical both sides of described housing；
Described driven pulley is arranged on described driven wheel carrier through described second compression spring.
4. according to claim 3 can in active steering pipeline mobile device it is characterised in that described driven pulley can be around institute
State driven wheel carrier and swing certain angle.
5. according to claim 1 can in active steering pipeline mobile device it is characterised in that described control device includes
Sensor and controller, described sensor is installed on the front end of mobile device in described pipeline, described sensor and described control
Device electrical connection processed, described controller is connected with described first motor and the second motor；
When in the described pipeline that described sensor detects, the axial distance between the front end of mobile device and pipeline is not being preset
In the range of when, send the first signal to described controller, described controller controls described first motor work；
When in the described pipeline that described sensor detects the axial distance between the front end of mobile device and pipeline in default model
When enclosing interior, send secondary signal to described controller, described controller controls described second motor work.
6. according to claim 1 can in active steering pipeline mobile device it is characterised in that described first motor
And/or second motor be reducing motor.
7. a kind of can in active steering pipeline moving method it is characterised in that its be described in any one of claim 1 to 6 can
The moving method of mobile device in active steering pipeline, it comprises the following steps：
S91：In straight tube, straight trip transmission component drives mobile device in pipeline to advance in the duct；
S92：When running into manifold, turn to transmission component and drive mobile device in pipeline to rotate to preset direction；
S93：When turning to preset direction, straight trip transmission component drives mobile device in pipeline to advance in the duct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241368.1A CN104930298B (en) | 2015-05-13 | 2015-05-13 | One kind can mobile device and its moving method in active steering pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241368.1A CN104930298B (en) | 2015-05-13 | 2015-05-13 | One kind can mobile device and its moving method in active steering pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104930298A CN104930298A (en) | 2015-09-23 |
| CN104930298B true CN104930298B (en) | 2017-03-01 |
Family
ID=54117597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510241368.1A Active CN104930298B (en) | 2015-05-13 | 2015-05-13 | One kind can mobile device and its moving method in active steering pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104930298B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10690281B2 (en) * | 2016-07-07 | 2020-06-23 | Chengdu Uneversity Of Technology | Pipeline robot capable of steering actively |
| CN106247083B (en) * | 2016-09-13 | 2018-10-12 | 广州特种承压设备检测研究院 | Wheeled detection robot |
| CN108194762B (en) * | 2017-12-28 | 2019-11-08 | 武汉中仪物联技术股份有限公司 | A kind of pipe testing apparatus |
| CN108194763B (en) * | 2018-01-24 | 2019-09-27 | 天津大学 | The wheeled T-type pipe robot of big variable diameter |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008027477B4 (en) * | 2007-09-21 | 2013-12-24 | GIB - Gesellschaft für Innovation im Bauwesen mbH | Device for inspecting a duct for pipelines and / or cables |
| CN101870103B (en) * | 2010-06-07 | 2014-11-05 | 华东理工大学 | Flaw detection robot for automatic collimation and automatic steering in circular pipeline |
| CN203099212U (en) * | 2013-03-06 | 2013-07-31 | 北京隆科兴非开挖工程有限公司 | Steering mechanism of pipeline walking robot |
| CN203316442U (en) * | 2013-05-31 | 2013-12-04 | 湖南工业大学 | Steering device of tube dust-removing robot |
| CN104108475A (en) * | 2014-06-30 | 2014-10-22 | 上海宇航系统工程研究所 | Multifunctional manned lunar vehicle |
| CN104500914B (en) * | 2014-12-11 | 2016-09-14 | 浙江理工大学 | Reservoir culvert inspection robot |
-
2015
- 2015-05-13 CN CN201510241368.1A patent/CN104930298B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104930298A (en) | 2015-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104930298B (en) | One kind can mobile device and its moving method in active steering pipeline | |
| CN207345916U (en) | The steering and mechanical walking device of mechanical walking device | |
| CN203332260U (en) | Mobile mechanism of robot | |
| CN112969629A (en) | Recirculating ball steering device | |
| CN204736917U (en) | Electron power assisted steering machine | |
| CN102765297B (en) | Adjustable drive axle for upland field sprayer | |
| CN106647748A (en) | Maize harvesting machine mechanical contact navigation control system and navigation method thereof | |
| CN104816928B (en) | Tipper for conveying material | |
| CN104960573A (en) | Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes | |
| KR101382050B1 (en) | Power steering system | |
| CN206679727U (en) | A kind of air power steering mechanism | |
| KR20130081497A (en) | Electric drive type agriculture vehicles | |
| CN213167692U (en) | Drive assembly of bi-motor | |
| CN208774868U (en) | Vehicle and its diverter | |
| CN207462667U (en) | Ultrasonic wave vehicle pointing to the south | |
| KR101470252B1 (en) | Roof spoiler system for vehicle and control method thereof | |
| CN105966454A (en) | Tubular column type steering device of electric power automobile | |
| CN204296851U (en) | A kind of fork truck electricity steering operation Force control system | |
| CN208149426U (en) | A kind of electric power steering machine structure | |
| CN109955891B (en) | Switching control method of electric auxiliary steering module and electric hydraulic steering module | |
| CN109445430A (en) | A kind of automated guided vehicle | |
| CN101893898A (en) | Gravity sensing control device for smart car | |
| CN211752474U (en) | Four-wheel drive driving toy model car | |
| CN207889808U (en) | Steering and Straddle riding type garden instrument | |
| CN209943816U (en) | Asynchronous origin displacement turning mechanism of wheeled pipeline detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |