CN105508804A - Pipeline obstacle avoiding device - Google Patents
Pipeline obstacle avoiding device Download PDFInfo
- Publication number
- CN105508804A CN105508804A CN201610048521.3A CN201610048521A CN105508804A CN 105508804 A CN105508804 A CN 105508804A CN 201610048521 A CN201610048521 A CN 201610048521A CN 105508804 A CN105508804 A CN 105508804A
- Authority
- CN
- China
- Prior art keywords
- strut
- pipeline
- cabinet
- camera
- bevel gear
- 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.)
- Granted
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
- 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
-
- 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 discloses a pipeline obstacle avoiding device. The pipeline obstacle avoiding device comprises a cylindrical case, a camera, first bevel gears, second bevel gears, first rubber wheels, second rubber wheels, driven rods and a drive rod. A motor, a translation mechanism and a battery pack are mounted inside the case. A plurality of first support rods and second support rods are mounted on the surface of the case. A U-shaped rack is arranged at the tail end of each first support rod, and a first rotary shaft is mounted on the U-shaped rack. The camera is mounted on the end face of the case and connected with the battery pack in the case. The drive rod is connected with the translation mechanism. A rotary shaft is mounted in each hollow first support rod. The pipeline obstacle avoiding device has the advantages that multi-wheel drive and multi-wheel-assisted load bearing are used, the camera is used for acquiring images and processing image information, and active obstacle avoiding is achieved; the whole process is controlled by a program, and the device can automatically operate in a pipeline and is good in turning ability, outstanding in obstacle avoiding effect and stable and reliable in work.
Description
[technical field]
The present invention relates to the technical field of pipe testing apparatus, particularly can keep away the technical field of the pipeline machine of barrier.
[background technique]
Usually be subject to the corrosion from inside and outside two environment in long-distance oil & gas pipeline running, internal corrosion is formed primarily of synergy such as hydrops, dirt and pipeline internal stresss in fed sheet of a media, pipe; Outer corrosion is usually because of breakdown of coating, generation of losing efficacy.Internal corrosion generally adopts feelings pipe, adds the means such as corrosion inhibitor to process, reinforcement conduit running managed along with pipeline owner in recent years and the strict demand to fed sheet of a media, in recent years, along with the extensively universal of computer technology and application, domestic and international detection technique is obtained for fast development, and pipeline inspection technology forms the inside and outside detection technique Liang Ge branch of pipeline gradually.
Along with the development of oil, chemical industry, rock gas, the demand of the repair and maintenance of conveyance conduit constantly increases, and pipeline machine obtains more deep research and uses widely.Pipeline robot is that one automatically can be walked, carries one or more sensors and operate machine along small sized pipeline inside or outside, under the remotely-controlled operation or computer controlled automatic of staff, carry out mechanical, electrical, the instrument integral system of a series of pipeline operations.For conveyance conduit water, gas, the wet goods of various manufacturing mechanism, and the safety detection of high pressure pipe line and maintenance, tube equipment has very heavy value and realistic meaning in actual applications.
Existing tube equipment mainly contains creeper truck formula, supporting rod type, wheeled.In fluid pipeline or have the pipeline of obstacle, the capacity of equipment of creeper truck formula is poor, and the resistance be subject to is comparatively large, mobile inconvenient.Supporting rod type is being kept away in barrier effect more outstanding, but needs the orientation determining obstacle.The wheel of wheeled employing conventional wheel or special construction and tube contacts, have better cornering ability, and it is poor to keep away barrier ability.
[summary of the invention]
Object of the present invention solves the problems of the prior art exactly, proposes a kind of pipeline obstacle avoidance apparatus, and adopt many group wheels as driving, coordinate camera, realize automatic obstacle-avoiding, have good cornering ability, keep away barrier remarkably productive, working stability is reliable.
For achieving the above object, the present invention proposes a kind of pipeline obstacle avoidance apparatus, comprise cabinet, camera, the first bevel gear, the second bevel gear, the first rubber wheel, the second rubber wheel, follower lever and driving lever, described cabinet is cylindrical shape, and cabinet inside is provided with motor, parallel moving mechanism and battery pack; Described cabinet surface is provided with several first struts and the second strut, and the first strut end is provided with U-shaped frame, U-shaped frame is provided with the first rotating shaft; Described cabinet end face is provided with camera, and camera is connected with the battery pack in cabinet; Described driving lever is connected with parallel moving mechanism; Described first strut inner hollow, is provided with running shaft in the first strut.
As preferably, the quantity of described first strut is four, and the quantity of the second strut is four; Described first strut is all positioned in same level.
As preferably, one end of described running shaft connects the motor in cabinet, and the other end of running shaft is connected with the first bevel gear.
As preferably, described first bevel gear engages with the second bevel gear, and the second bevel gear is arranged in the first rotating shaft, and the first rotating shaft two ends are provided with the first rubber wheel.
As preferably, described parallel moving mechanism connects driving lever, driving lever and two follower levers hinged, follower lever connects the second strut.
As preferably, the hinged cabinet in one end of described second strut, the other end of the second strut connects the second rotating shaft, and the second rotating shaft two ends are provided with the second rubber wheel.
Beneficial effect of the present invention: the present invention adopts all-wheel drive, the auxiliary load-bearing of many wheels, uses camera shooting and processing image information, realizes automatic obstacle avoidance; Whole process is by program control, and manual intervention is low, can automatically run in the duct, has good cornering ability, and keep away barrier remarkably productive, working stability is reliable.
Feature of the present invention and advantage will be described in detail by reference to the accompanying drawings by embodiment.
[accompanying drawing explanation]
Fig. 1 is the schematic perspective view of a kind of pipeline obstacle avoidance apparatus of the present invention;
Fig. 2 is the drive part schematic diagram of mechanism of a kind of pipeline obstacle avoidance apparatus of the present invention;
Fig. 3 is that keeping away of a kind of pipeline obstacle avoidance apparatus of the present invention hinders part body sketch.
In figure: 1-cabinet, 2-camera, 3-first strut, 4-U shape frame, 5-first bevel gear, 6-second bevel gear, 7-first rotating shaft, 8-first rubber wheel, 9-second strut, 10-second rubber wheel, 11-second rotating shaft, 12-follower lever, 13-driving lever, 14-motor, 15-running shaft.
[embodiment]
Consult Fig. 1, Fig. 2 and Fig. 3, a kind of pipeline obstacle avoidance apparatus of the present invention, comprise cabinet 1, camera 2, first bevel gear 5, second bevel gear 6, first rubber wheel 8, second rubber wheel 10, follower lever 12 and driving lever 13, described cabinet 1 is cylindrical shape, and cabinet 1 inside is provided with motor 14, parallel moving mechanism and battery pack; Described cabinet 1 surface is provided with several first struts 3 and the second strut 9, first strut 3 end is provided with U-shaped frame 4, U-shaped frame 4 is provided with the first rotating shaft 7; Described cabinet 1 end face is provided with camera 2, and camera 2 is connected with the battery pack in cabinet 1; Described driving lever 13 is connected with parallel moving mechanism; Described first strut 3 inner hollow, is provided with running shaft 15 in the first strut 3.The quantity of described first strut 3 is four, and the quantity of the second strut 9 is four; Described first strut 3 is all positioned in same level.One end of described running shaft 15 connects the motor 14 in cabinet 1, and the other end of running shaft 15 is connected with the first bevel gear 5.Described first bevel gear 5 engages with the second bevel gear 6, and the second bevel gear 6 is arranged in the first rotating shaft 7, and the first rotating shaft 7 two ends are provided with the first rubber wheel 8.Described parallel moving mechanism connects driving lever 13, driving lever 13 and two follower levers 12 hinged, follower lever 12 connects the second strut 9.The other end of one end hinged cabinet 1, second strut 9 of described second strut 9 connects the second rotating shaft 11, second rotating shaft 11 two ends and is provided with the second rubber wheel 10.
Working procedure of the present invention:
A kind of pipeline obstacle avoidance apparatus of the present invention in the course of the work, first has operator that device is placed on pipeline opening, adjusts the first strut 3 and the second strut 9 length, make device can adapt to the diameter of pipeline.After device sends into pipeline, setting in motion.Four the first rubber wheels 8 are as driving wheel, and power is passed to the first rubber wheel 8 by running shaft 15 and bevel gear pair by motor 14, and rubber wheel contacts with inner-walls of duct, and drive unit moves.Four the second rubber wheels 10, as BOGEY WHEEL, contact with inner-walls of duct.Camera 2 constantly video recording sectional drawing, image by the process of cabinet inner treater, disturbance of analysis position.General obstacle at inner-walls of duct bottom surface, i.e. on the path of the second rubber wheel 10.When measuring and calculating has obstacle to path, parallel moving mechanism moves, and driving lever 13 drives follower lever 12 to move, and the second strut 9 of the second rubber wheel 10 turns an angle around cabinet 1 articulating point, have modified path, realizes keeping away barrier.All kinds of detection collecting device can be installed, for testing pipes inner case in cabinet 1.
The present invention, adopts all-wheel drive, and the auxiliary load-bearing of many wheels, uses camera 2 to make a video recording and processing image information, realize automatic obstacle avoidance; Whole process is by program control, and manual intervention is low, can automatically run in the duct, has good cornering ability, and keep away barrier remarkably productive, working stability is reliable.
Above-described embodiment is to explanation of the present invention, is not limitation of the invention, anyly all belongs to protection scope of the present invention to the scheme after simple transformation of the present invention.
Claims (6)
1. a pipeline obstacle avoidance apparatus, it is characterized in that: comprise cabinet (1), camera (2), the first bevel gear (5), the second bevel gear (6), the first rubber wheel (8), the second rubber wheel (10), follower lever (12) and driving lever (13), described cabinet (1) is cylindrical shape, and cabinet (1) inside is provided with motor (14), parallel moving mechanism and battery pack; Described cabinet (1) surface is provided with several first struts (3) and the second strut (9), first strut (3) end is provided with U-shaped frame (4), U-shaped frame (4) is provided with the first rotating shaft (7); Described cabinet (1) end face is provided with camera (2), and camera (2) is connected with the battery pack in cabinet (1); Described driving lever (13) is connected with parallel moving mechanism; Described first strut (3) inner hollow, is provided with running shaft (15) in the first strut (3).
2. a kind of pipeline obstacle avoidance apparatus as claimed in claim 1, is characterized in that: the quantity of described first strut (3) is four, and the quantity of the second strut (9) is four; Described first strut (3) is all positioned in same level.
3. a kind of pipeline obstacle avoidance apparatus as claimed in claim 1, it is characterized in that: one end of described running shaft (15) connects the motor (14) in cabinet (1), and the other end of running shaft (15) is connected with the first bevel gear (5).
4. a kind of pipeline obstacle avoidance apparatus as claimed in claim 3, it is characterized in that: described first bevel gear (5) is engaged with the second bevel gear (6), second bevel gear (6) is arranged in the first rotating shaft (7), and the first rotating shaft (7) two ends are provided with the first rubber wheel (8).
5. a kind of pipeline obstacle avoidance apparatus as claimed in claim 1, it is characterized in that: described parallel moving mechanism connects driving lever (13), driving lever (13) is hinged with two follower levers (12), and follower lever (12) connects the second strut (9).
6. a kind of pipeline obstacle avoidance apparatus as claimed in claim 5, it is characterized in that: the hinged cabinet in one end (1) of described second strut (9), the other end of the second strut (9) connects the second rotating shaft (11), and the second rotating shaft (11) two ends are provided with the second rubber wheel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048521.3A CN105508804B (en) | 2016-01-25 | 2016-01-25 | A kind of pipeline obstacle avoidance apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048521.3A CN105508804B (en) | 2016-01-25 | 2016-01-25 | A kind of pipeline obstacle avoidance apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105508804A true CN105508804A (en) | 2016-04-20 |
| CN105508804B CN105508804B (en) | 2017-11-24 |
Family
ID=55716996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610048521.3A Active CN105508804B (en) | 2016-01-25 | 2016-01-25 | A kind of pipeline obstacle avoidance apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105508804B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681719A (en) * | 2018-12-24 | 2019-04-26 | 中国矿业大学 | A kind of electromagnetic drive type pipe robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| US20140345367A1 (en) * | 2013-05-21 | 2014-11-27 | King Fahd University Of Petroleum And Minerals | Pipeline leak detector |
| CN204083660U (en) * | 2014-09-15 | 2015-01-07 | 道雨耐节能科技(上海)有限公司 | A kind of pipeline robot of multi-orientation detection |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN205298952U (en) * | 2016-01-25 | 2016-06-08 | 王晶怡 | Barrier device is kept away to pipeline |
-
2016
- 2016-01-25 CN CN201610048521.3A patent/CN105508804B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140345367A1 (en) * | 2013-05-21 | 2014-11-27 | King Fahd University Of Petroleum And Minerals | Pipeline leak detector |
| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| CN204083660U (en) * | 2014-09-15 | 2015-01-07 | 道雨耐节能科技(上海)有限公司 | A kind of pipeline robot of multi-orientation detection |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN205298952U (en) * | 2016-01-25 | 2016-06-08 | 王晶怡 | Barrier device is kept away to pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105508804B (en) | 2017-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Dertien et al. | Development of an inspection robot for small diameter gas distribution mains | |
| CN108980511A (en) | A kind of new pipeline robot | |
| CN105465551A (en) | Supporting type pipeline inside detection robot with flexibility self-adapting function | |
| CN104259158A (en) | Multifunctional pipeline robot | |
| EP3074188A1 (en) | Modular mobile inspection vehicle | |
| CN112728293A (en) | Intelligent pipeline detection robot and control method thereof | |
| CN105465550B (en) | A kind of pipeline gas detection means | |
| CN207814757U (en) | Multi-pose pipe with variable diameter pipeline robot | |
| CN103115245B (en) | Pipeline detection device based on piezomagnetic effect | |
| CN105508803A (en) | Water pipe detecting device | |
| CN208793905U (en) | A kind of new pipeline robot | |
| CN109555933B (en) | Spiral inner wall cleaning robot | |
| CN205298952U (en) | Barrier device is kept away to pipeline | |
| CN105508804A (en) | Pipeline obstacle avoiding device | |
| CN105114757A (en) | Screw type geometry detecting robot device | |
| CN101870103B (en) | Flaw detection robot for automatic collimation and automatic steering in circular pipeline | |
| CN115076512B (en) | Self-adaptive pipeline detection cleaning device with high driving force | |
| CN210219051U (en) | Pipeline inspection robot | |
| CN105090679A (en) | Variable-diameter pipeline inspection robot | |
| CN205350713U (en) | Gaseous detection device of pipeline | |
| CN209925867U (en) | All-terrain traveling mechanism of pipeline repairing device | |
| Chen et al. | Design method of modular units for articulated in-pipe robot inspecting system | |
| CN205048073U (en) | Pipeline robot | |
| CN114184238A (en) | Old pipeline inspection robot based on telescopic wheel train | |
| CN219367143U (en) | Wheel type reducing underwater pipeline interior inspection 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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Zhanyuan Inventor before: Wang Jingyi |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171101 Address after: 318000 No. 287 West Road, Xinqiao Town, Luqiao District, Zhejiang, Taizhou Applicant after: Li Zhanyuan Address before: 317599 Taizhou City, Wenling Province, East Street, the head of the Department of the village B8, No. 20, No. Applicant before: Wang Jingyi |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181016 Address after: 221000 Yan village, Jiawang Town, Jiawang District, Xuzhou, Jiangsu (intersection of Shanshui road and Zhuyu Road) Patentee after: Xuzhou Zhuyu health Valley Agricultural Technology Development Co., Ltd. Address before: 318000 No. 287 West Road, Xinqiao Town, Luqiao District, Taizhou, Zhejiang Patentee before: Li Zhanyuan |
|
| TR01 | Transfer of patent right |