CN105508805A - Self-adaptation pipeline crawler - Google Patents
Self-adaptation pipeline crawler Download PDFInfo
- Publication number
- CN105508805A CN105508805A CN201610075034.6A CN201610075034A CN105508805A CN 105508805 A CN105508805 A CN 105508805A CN 201610075034 A CN201610075034 A CN 201610075034A CN 105508805 A CN105508805 A CN 105508805A
- Authority
- CN
- China
- Prior art keywords
- module
- damper
- wheel
- tow
- main driver
- 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.)
- Pending
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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
- 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
- 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
- F16L55/40—Constructional aspects of the body
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-adaptation pipeline crawler which comprises a main drive module and a plurality of towing modules, wherein the main drive module comprises a motor, a master bracket, a worm gear, a worm, a damper, a wheel bracket, a synchronous belt wheel, a synchronous belt and traveling wheels; each towing module comprises a bracket, a damper, a wheel bracket and a traveling wheel; and the towing modules are connected with each other and connected with the main drive module respectively through a spherical hinge composed of a bulb bar and a ball channel bar. The crawler has the drive self-locking function, and can satisfy the crawling requirements of pipeline internal diameter change, turning and pipeline perpendicular condition.
Description
Technical field
The present invention relates to a kind of machine, particularly relate to a kind of self-adapting pipe crawl device.
Background technique
In present pipe crawling device or robot creep in pipeline, just can not creep smoothly as run into the situations such as pipeline is vertical down, pipeline section diameter changes, turn round, existing defects.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, provides a kind of self-adapting pipe crawl device.
A kind of self-adapting pipe crawl device, comprise 1 main driver module and somely tow module, wherein main driver module comprises motor, master bracket, worm gear, worm screw, damper, wheel support, synchronous pulley, Timing Belt, road wheel; Tow module and comprise support, damper, wheel support, road wheel; Main driver module connects with towing module and respectively tow the spherical hinge formed with ball rod and ball channel bar between module, in main driver module, motor is installed on master bracket end, worm screw is placed in master bracket inside, worm screw one end is connected the other end with electric machine main shaft and connects with master bracket, damper is distributed in master bracket external cylindrical surface, worm gear is uniform to be installed on master bracket and and worm meshing, wheel support one end connects with damper, the other end is provided with road wheel, worm gear and road wheel are all provided with synchronous pulley, between synchronous pulley, Timing Belt are installed; Tow damper in module and be distributed in support external cylindrical surface, wheel support one end connects with damper, and the other end is provided with road wheel;
It is characterized in that in main driver module, motor is by driving worm screw, and worm screw drives worm gear, and worm gear drives the synchronous pulley be mounted thereon, and by the synchronous pulley of Timing Belt and wheel support end, thus drives the realization of the road wheel of main driver module to creep; Main driver module connects with damper with the wheel support towed in module, road wheel wheel support in stressed or limited space situation can do certain amplitude beat around damper joining end, main driver module and tow between module and respectively tow the requirement that the spherical hinge be made up of ball rod and ball channel bar between module can realize turning round along pipeline.
The invention has the beneficial effects as follows: use the present invention, the motor of main driver module can drive the road wheel on main driver module simultaneously, wheel support under damper effect by road wheel stretching at inner-walls of duct and can with the amplitude of oscillation of the automatic regulating wheel support of the change of pipe diameter, keep the state of each road wheel stretching inner-walls of duct all the time, due to the auto-lock function of worm and gear, the present invention can be realized to creep not landing along vertical pipe, simultaneously due to the effect of button-head hinge between each module, the present invention can turn round along pipeline and creep.
Accompanying drawing explanation
Fig. 1 is front elevation of the present invention
Fig. 2 is master bracket cutaway view of the present invention
Fig. 3 is that inventive pipeline is creeped schematic diagram
In figure, motor 1, synchronous pulley 2, road wheel 3, Timing Belt 4, worm gear 5, master bracket 6, damper 7, support 8, wheel support 9, ball rod 10, ball channel bar 11, worm screw 12, pipeline 13.
Embodiment
Embodiments of the present invention are described in detail below in conjunction with accompanying drawing:
As shown in Figure 1-Figure 3, a kind of self-adapting pipe crawl device, comprise 1 main driver module and somely tow module, wherein main driver module comprises motor 1, master bracket 6, worm gear 5, worm screw 12, damper 7, wheel support 9, synchronous pulley 2, Timing Belt 4, road wheel 3, tow module and comprise support 8, damper 7, wheel support 9, road wheel 3, main driver module connects with towing module and respectively tow the spherical hinge formed with ball rod 10 and ball channel bar 11 between module, in main driver module, motor 1 is installed on master bracket 6 end, it is inner that worm screw 12 is placed in master bracket 6, worm screw 12 one end is connected the other end with motor 1 main shaft and connects with master bracket 6, damper 7 is distributed in master bracket 6 external cylindrical surface, worm gear 5 is uniform to be installed on master bracket 6 and to engage with worm screw 12, wheel support 9 one end connects with damper 7, the other end is provided with road wheel 3, worm gear 5 and road wheel 3 are all provided with synchronous pulley 2, Timing Belt 4 is installed between synchronous pulley 2, tow damper 7 in module and be distributed in support 8 external cylindrical surface, wheel support 9 one end connects with damper 7, and the other end is provided with road wheel 3,
Above-described a kind of self-adapting pipe crawl device, it is characterized in that in main driver module, motor 1 is by driving worm screw 12, worm screw 12 drives worm gear 5, worm gear 5 drives the synchronous pulley 2 be mounted thereon, by the synchronous pulley 2 of Timing Belt 4 and wheel support 9 end, thus ground-engaging wheel 3 realizes creeping; Main driver module connects with damper 7 with the wheel support 9 towed in module, road wheel 3 wheel support 9 in stressed or limited space situation can do certain amplitude beat around damper 7 joining end, main driver module and tow between module and respectively tow the spherical hinge be made up of ball rod 10 and ball channel bar 11 between module and can meet the requirement of turning round along pipeline.
Working procedure of the present invention is: be placed in pipeline 13 by a kind of self-adapting pipe crawl device, motor 1 in main driver module is by worm screw 12, the transmission ground-engaging wheel 3 of worm gear 5 and synchronous pulley 2 and Timing Belt 4, main driver module and tow module wheel support 9 under the effect of damper 7 all the time by road wheel 3 stretching at pipeline 13 inwall, and the amplitude of oscillation of automatic regulating wheel support 9 can be changed along with pipeline 13 internal diameter, keep the stretching state of each road wheel 3 and required frictional force of creeping, worm gear 5 has self-locking performance with the transmission of worm screw 12, crawl device can be realized do not glide along vertical crawling, by ball rod 10 between each module of crawl device, the spherical hinge that ball channel bar 11 forms can ensure to turn round the function of creeping along pipeline 13.
Claims (1)
1. a self-adapting pipe crawl device, comprise 1 main driver module and somely tow module, wherein main driver module comprises motor, master bracket, worm gear, worm screw, damper, wheel support, synchronous pulley, Timing Belt, road wheel; Tow module and comprise support, damper, wheel support, road wheel; Main driver module connects with towing module and respectively tow the spherical hinge formed with ball rod and ball channel bar between module, in main driver module, motor is installed on master bracket end, worm screw is placed in master bracket inside, worm screw one end is connected the other end with electric machine main shaft and connects with master bracket, damper is distributed in master bracket external cylindrical surface, worm gear is uniform to be installed on master bracket and and worm meshing, wheel support one end connects with damper, the other end is provided with road wheel, worm gear and road wheel are all provided with synchronous pulley, between synchronous pulley, Timing Belt are installed; Tow damper in module and be distributed in support external cylindrical surface, wheel support one end connects with damper, and the other end is provided with road wheel; In main driver module, motor is by driving worm screw, worm screw drives worm gear, worm gear drives the synchronous pulley be mounted thereon, by the synchronous pulley of Timing Belt and wheel support end, thus ground-engaging wheel realizes creeping, main driver module with tow wheel support in module and connect with damper, in the stressed or limited space situation of road wheel, wheel support can do certain amplitude beat around damper joining end, main driver module and tow between module and respectively tow the requirement that the spherical hinge be made up of ball rod and ball channel bar between module can realize turning round along pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610075034.6A CN105508805A (en) | 2016-01-27 | 2016-01-27 | Self-adaptation pipeline crawler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610075034.6A CN105508805A (en) | 2016-01-27 | 2016-01-27 | Self-adaptation pipeline crawler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105508805A true CN105508805A (en) | 2016-04-20 |
Family
ID=55716997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610075034.6A Pending CN105508805A (en) | 2016-01-27 | 2016-01-27 | Self-adaptation pipeline crawler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105508805A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106192936A (en) * | 2016-08-17 | 2016-12-07 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembled large-sized concrete pipeline is creeped apparatus for work |
| CN106195522A (en) * | 2016-09-30 | 2016-12-07 | 温江波 | It is exclusively used in the multifunctional equipment of building pipe inter-process |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN112253892A (en) * | 2020-12-01 | 2021-01-22 | 赵越 | Detection draw gear in pipeline |
| CN112555573A (en) * | 2020-12-15 | 2021-03-26 | 广东省科学院智能制造研究所 | Waterproof robot of crawling |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN202992517U (en) * | 2012-09-23 | 2013-06-12 | 熊万启 | Pipeline survey robot |
| KR101281288B1 (en) * | 2011-09-30 | 2013-07-03 | 주식회사 포스코 | Robot for inspecting pipe |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN103697285A (en) * | 2014-01-13 | 2014-04-02 | 浙江理工大学 | Wheel and crawler compounding radial adjustable pipeline robot |
-
2016
- 2016-01-27 CN CN201610075034.6A patent/CN105508805A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101281288B1 (en) * | 2011-09-30 | 2013-07-03 | 주식회사 포스코 | Robot for inspecting pipe |
| CN202992517U (en) * | 2012-09-23 | 2013-06-12 | 熊万启 | Pipeline survey robot |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN103697285A (en) * | 2014-01-13 | 2014-04-02 | 浙江理工大学 | Wheel and crawler compounding radial adjustable pipeline robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106192936A (en) * | 2016-08-17 | 2016-12-07 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembled large-sized concrete pipeline is creeped apparatus for work |
| CN106192936B (en) * | 2016-08-17 | 2018-07-17 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembly type large-sized concrete pipeline is creeped apparatus for work |
| CN106195522A (en) * | 2016-09-30 | 2016-12-07 | 温江波 | It is exclusively used in the multifunctional equipment of building pipe inter-process |
| CN106195522B (en) * | 2016-09-30 | 2019-07-30 | 温江波 | It is exclusively used in the multifunctional equipment of building pipe inter-process |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN106439386B (en) * | 2016-10-09 | 2021-03-02 | 西安石油大学 | Intelligent pipeline inner wall walking robot |
| CN107084296A (en) * | 2017-06-10 | 2017-08-22 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN107084296B (en) * | 2017-06-10 | 2018-11-13 | 浙江工业大学 | Self-acting and self-adaptive pipeline robot |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN112253892A (en) * | 2020-12-01 | 2021-01-22 | 赵越 | Detection draw gear in pipeline |
| CN112555573A (en) * | 2020-12-15 | 2021-03-26 | 广东省科学院智能制造研究所 | Waterproof robot of crawling |
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Application publication date: 20160420 |
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| WD01 | Invention patent application deemed withdrawn after publication |