CN105508806B - Closed pipeline robot - Google Patents
Closed pipeline robot Download PDFInfo
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- CN105508806B CN105508806B CN201511030470.3A CN201511030470A CN105508806B CN 105508806 B CN105508806 B CN 105508806B CN 201511030470 A CN201511030470 A CN 201511030470A CN 105508806 B CN105508806 B CN 105508806B
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- closed
- robot
- pipeline
- flexible cylinder
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- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 5
- 241000238367 Mya arenaria Species 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 239000012465 retentate Substances 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 238000009700 powder processing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
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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
- F16L55/40—Constructional aspects of the body
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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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A closed pipeline robot comprises a closed shell for accommodating a detection device; the driving mechanism is arranged in the closed shell and is provided with a power source and a driving wheel driven by the power source; at least a portion of the closed housing constitutes a closed-type track for walking, and the drive wheel is closely engaged with an inner surface of a portion of the closed housing constituting the track. The closed pipeline robot provided by the invention is not influenced by the retentate in the pipeline, can move smoothly and is not easy to damage the internal elements of the robot.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a closed pipeline robot.
Background
Pipeline material conveying is widely applied to the industrial fields of machinery, energy, chemical industry, grain storage and transportation, powder processing and the like, the conveying pipeline is easy to be damaged by blockage, corrosion, cracks or deformation and the like when being used for a long time, the conveying efficiency of a conveying system is influenced, even safety accidents can be caused, and the abrasion condition of the pipeline needs to be detected regularly in order to ensure that the pipeline system operates safely and efficiently. At present, a pipeline robot can be used to enter the interior of a pipeline for detection and maintenance. But industrial pipeline system operating mode is complicated, and pipeline robot will face adverse conditions such as conveying pipeline is narrow, mire, greasy dirt, obstacle, especially to pneumatic conveying pipeline, and the material of carrying has characteristics such as granule is little, easily adhere to, and the pipeline often can not thoroughly empty when overhauing, causes the hindrance to pipeline robot's removal.
The existing pipeline robots are mainly divided into three types, namely wheel type, peristaltic type and crawler type. The crawler-type pipeline robot has better motion stability, obstacle surmounting performance and applicability compared with the crawler-type pipeline robot and the crawler-type pipeline robot. For example, chinese patent document CN103742755 discloses a soft crawler type pipeline robot, and the description part discloses that the robot includes an inflatable body and a movement executing device, the movement executing device includes a driving motor and a crawler, the crawler is spirally closed and arranged on the surface of the inflatable body, a plurality of driving wheels for driving the crawler to move are arranged at intervals on the lower part of the crawler, and each driving wheel is connected with a driving motor for driving the driving wheel to rotate and fixedly arranged on the inflatable body. This prior art is through directly locating inflation body outside with driving motor and drive wheel for the track has improved transmission efficiency by drive wheel direct drive, simultaneously, sets up the track into the continuous endless loop of spiral, has prevented that the track walking in-process from breaking away from the emergence of drive wheel phenomenon. However, the prior art still has the following problems in the actual use process: 1. the crawler of the robot is still arranged at the outer side of the expansion body and is directly contacted with the inner wall of the pipeline, and impurities and dirt in the pipeline are easily drawn into the crawler to cause the crawler to be blocked, so that the robot is influenced to move; 2. the expansion body of the robot is not completely sealed, the connection part of the crawler penetrating the expansion body is difficult to seal, and the driving motor is exposed in the environment of the pipeline, so that the internal elements and the driving motor of the robot are extremely easy to damage in the pipeline with moisture or more sewage and dust, the operation environment of the robot has higher requirements, and the application range of the robot is limited.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defects that the track of the tracked pipeline robot in the prior art is easily stuck and unable to move due to the retentate in the pipeline, and the internal components of the robot are easily affected by the pipeline environment, so as to provide a closed pipeline robot which is not affected by the retentate in the pipeline, can move smoothly, and is not easy to damage the internal components of the robot.
The technical scheme adopted by the invention is as follows:
a closed pipeline robot comprises
A closed housing for accommodating the detection device;
the driving mechanism is arranged in the closed shell and is provided with a power source and a driving wheel driven by the power source;
at least a portion of the closed housing constitutes a closed-type track for walking, and the drive wheel is closely engaged with an inner surface of a portion of the closed housing constituting the track.
The closed shell comprises two end plates and a flexible cylinder body which is arranged between the two end plates and surrounds the edges of the two end plates, and the flexible cylinder body forms the crawler belt.
Further, the driving wheel comprises an external driving gear, and the inner surface of the flexible cylinder body is molded with a meshing toothed belt along a meshing track of the external driving gear; the end plate has a contour shape conforming to the driving external gear.
Furthermore, the driving wheel also comprises a corresponding tug which stretches the flexible cylinder body with the meshing toothed belt, so that the flexible cylinder body has tension.
Furthermore, the driving wheels are respectively arranged on two sides of the support arranged in the flexible cylinder, and the number of the meshing toothed belts is correspondingly two.
Further, the end plate is an elastic soft shell.
Furthermore, a hole is formed in the end plate, and a hard transparent hollow hemisphere is covered on the hole in a sealing manner; the detection device comprises a camera arranged in the hollow hemispheroid.
Furthermore, the detection device also comprises a wireless data receiver and a memory, wherein the wireless data receiver is used for regularly receiving the image data transmitted by the image sensor, storing the image data into the memory and establishing an image database inside the pipeline.
Further, still include controlling means, have main control unit and wireless control module, main control unit is used for controlling the driving motor action, wireless control module is used for the remote control the main control unit action.
Furthermore, the outer surface of the closed shell, which is in contact with the inner wall of the pipeline, is provided with anti-skid corrugations.
The technical scheme of the invention has the following advantages:
1. according to the closed pipeline robot provided by the invention, the driving wheels arranged in the closed shell are tightly meshed with the inner surface of the part of the closed shell forming the crawler belt, so that a completely closed inner meshing crawler belt structure of the robot is realized, and the condition that the crawler belt cannot move due to the blockage of retentate in the pipeline is completely prevented. In addition, the closed pipeline robot provided by the invention is simple in structure and has extremely wide popularization significance.
2. The closed pipeline robot provided by the invention has the advantages that the closed shell is composed of the two end plates and the flexible cylinder body which is arranged between the two end plates and surrounds the edges of the two end plates, and the obstacle crossing can be realized through the deformation of the flexible cylinder body when the robot encounters an obstacle in the advancing process of a pipeline through the flexible design.
3. According to the closed pipeline robot provided by the invention, the flexible cylinder body with the meshing toothed belt is tightened through the tugboat, so that the flexible cylinder body has a certain tension degree.
4. According to the closed pipeline robot provided by the invention, the hard transparent hollow hemispheres are sealed and covered on the holes through the forming holes of the end plates, so that the detection device comprising the camera is arranged in the hollow hemispheres, and the detection device is arranged in the transparent hollow hemispheres on the outer sides of the two end plates, so that the detection device can well detect the situation near the robot and transmit the situation to the control device by using a wireless transmission technology, the current position and the surrounding environment situation of the robot are obtained, and the two hollow hemispheres also play a role in preventing the robot from overturning.
5. According to the closed pipeline robot provided by the invention, the main controller controls the driving motor to operate, so that the robot can move forwards and backwards. The wireless control module receives the image data transmitted by the detection device at regular time, can obtain the data of different positions in the same direction, stores the data in the memory and can establish an image database in the pipeline.
6. According to the closed pipeline robot provided by the invention, the anti-skid wrinkles are arranged on the outer surface of the closed shell, which is in contact with the inner wall of the pipeline, so that the traveling capacity of the robot in the pipeline is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a front view of an enclosed pipeline robot provided in an embodiment of the present invention;
fig. 2 is a schematic view of the internal structure of the closed pipe robot shown in fig. 1.
Description of reference numerals:
1-a flexible cylinder; 2-a hollow hemisphere; 3-an end plate; 4-driving the external gear; 5-a tug; 6-a camera; 7-a scaffold; and 8, supporting the holder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a front view of an enclosed pipeline robot provided in an embodiment of the present invention; fig. 2 is a schematic view of the internal structure of the closed pipe robot shown in fig. 1. As shown in fig. 1 and 2, the closed pipeline robot comprises a closed shell, a detection device and a driving mechanism. Wherein the detection device is accommodated inside the closed shell; the driving mechanism is arranged in the closed shell and comprises a power source and a driving wheel driven by the power source.
As shown in fig. 1, at least a part of the closed casing constitutes a closed type track for walking, and the driving wheel is closely engaged with an inner surface of the part of the closed casing constituting the track. The driving wheel is tightly meshed with the inner surface of the crawler belt part formed by the closed shell, so that the automatic driving of the pipeline robot is realized.
Above-mentioned technical scheme is the core technical scheme of this embodiment, and the internal surface through the part that sets up the drive wheel in the enclosure and enclosure constitute the track closely meshes, has realized that pipeline robot outside is sealed completely, makes it reach dustproof and waterproof effect. And the driving wheel is tightly meshed with the inner surface of the crawler belt part of the closed shell from the inside of the closed shell, so that the situation that the crawler belt cannot move due to the blockage of the retentate in the pipeline is prevented. In addition, the closed pipeline robot that this embodiment provided simple structure has very wide popularization meaning.
The closed shell comprises two end plates 3 and a flexible cylinder body 1 which is arranged between the two end plates 3 and surrounds the edges of the two end plates 3, and the flexible cylinder body 1 forms the crawler belt. The flexible track is arranged, and the obstacle crossing can be realized through the deformation of the flexible cylinder body 1 when the obstacle exists in the front.
In this embodiment, the upper and lower surfaces of the flexible cylinder 1 are parallel planes, the front and rear ends are arc surfaces connecting the two planes, and the two planes and the two arc surfaces are connected into a whole to form the oval-like outer surface of the flexible cylinder 1. The shape of the flexible cylinder body 1 is set, and the flexible cylinder body rotates integrally during movement, so that the problems of overturning and the like are fundamentally prevented. The outside of the flexible cylinder body 1 is wrapped by corrugated anti-skid grains, so that the pipeline robot can move smoothly in the pipeline without emptying materials.
Further, as shown in fig. 2, the driving wheel includes an external driving gear 4, and the inner surface of the flexible cylinder 1 is formed with a meshing toothed belt along a meshing track of the external driving gear 4; the end plate 3 has a contour shape conforming to the external drive gear 4. When the flexible cylinder works, the external driving gear 4 drives the flexible cylinder 1 to integrally rotate through meshing connection.
The driving wheel also comprises a corresponding tug 5, and the tug 5 stretches the flexible cylinder body 1 with the meshing toothed belt to enable the flexible cylinder body 1 to have tension.
Specifically, in the present embodiment, the driving wheel includes two rows of external driving gears 4 with the same parameters and corresponding tugs 5, the two rows of external driving gears 4 with the same parameters are respectively disposed on two sides of a support 7 disposed inside the flexible cylinder 1, and two meshing toothed belts are disposed corresponding to the two rows of external driving gears 4. The flexible cylinder 1 is preferably made of transparent material, so that when viewed from the outside, the inside of the flexible cylinder 1 is provided with a wide crawler belt, and in essence, the inside of the flexible cylinder 1 is provided with two narrow crawler belts arranged at intervals. The two rows of external driving gears 4 are connected in a meshing manner to drive the two meshing toothed belts to rotate, so that the flexible cylinder 1 integrally runs forwards or backwards. The tug 5 drags the caterpillar band upwards to ensure that the flexible cylinder body 1 has certain tension.
In the present invention, the number of the rows of the driving wheels is not limited to two, and three, four, five, and the like may be provided as required. In addition, the arrangement position of the tug 5 can also be specifically adjusted, and the change of the position of the tug 5 simultaneously influences the outer contour of the closed housing.
Holes are also formed on the two end plates 3 of the flexible cylinder 1, and hard transparent hollow hemispheres 2 are sealed and covered on the holes; the diameter of the hard transparent hollow hemispheroid 2 is smaller than that of the end faces of the two ends of the flexible cylinder 1, and the end plate 3 is an elastic soft shell. The hard transparent hollow hemispheroid 2 can further play a role in preventing the robot from overturning. In addition, a camera 6 is arranged in the air hemisphere.
The pipeline robot of this embodiment still includes controlling means, and controlling means is located the support 7 in the middle of two rows of drive external gears 4, has main control unit and wireless control module, main control unit is used for controlling the driving motor action to realize that the robot gos forward, retreat.
Further, the detection device comprises the camera 6, a wireless data receiver and a memory, wherein the wireless data receiver is used for receiving image data transmitted by the image sensor at regular time, storing the image data into the memory and establishing an image database in the pipeline. Wherein, two at least cameras 6 locate respectively connect in support cloud platform 8 of support 7 both sides, support cloud platform 8 and be suitable for to extend to in the hollow hemisphere 2, can detect near the condition of robot and use wireless transmission to transmit to controlling means to reacing robot current position and surrounding environment condition. Meanwhile, the wireless data receiver receives the image data transmitted by the detection device at regular time, can obtain the data of different positions in the same direction, stores the data in the memory and can establish an image database in the pipeline.
The flexible cylinder body 1 and the elastic soft shell are integrated, the bottom edge of the highly transparent hollow hemisphere 2 is connected through threads, the two hemispheroids can be detached, and the internal equipment can be conveniently installed and maintained. When the shell is installed, the purposes of dust prevention and water prevention can be achieved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A closed pipeline robot comprises
A closed housing for accommodating the detection device;
the driving mechanism is arranged in the closed shell and is provided with a power source and a driving wheel driven by the power source; the method is characterized in that:
at least one part of the closed shell forms a closed type crawler for walking, and the driving wheel is tightly meshed with the inner surface of the part of the closed shell forming the crawler; the closed shell comprises two end plates (3) and a flexible cylinder (1) which is arranged between the two end plates (3) and surrounds the edges of the two end plates (3), and the flexible cylinder (1) forms the crawler;
the driving wheel comprises an external driving gear (4), and the inner surface of the flexible cylinder body (1) is formed with a meshing toothed belt along the meshing track of the external driving gear (4); the driving wheel also comprises a corresponding tug (5), and the tug (5) stretches the flexible cylinder body (1) with the meshing toothed belt to ensure that the flexible cylinder body (1) has tension.
2. The closed pipe robot according to claim 1, wherein the driving wheel comprises an external driving gear (4), and the inner surface of the flexible cylinder (1) is formed with an engaging toothed belt along an engaging track of the external driving gear (4); the end plate (3) has a contour shape adapted to the external drive gear (4).
3. The closed pipe robot as claimed in claim 1 or 2, wherein the driving wheels are respectively provided on both sides of a support (7) provided inside the flexible cylinder (1), and the engaging toothed belts are correspondingly provided in two.
4. The closed conduit robot of claim 1, wherein the end plate (3) is an elastic soft shell.
5. The closed pipeline robot as claimed in claim 3, wherein the end plate (3) is formed with a hole, and the hole is covered with a hard transparent hollow hemisphere (2); the detection device comprises a camera (6) arranged in the hollow hemispheroid (2).
6. The closed pipeline robot of claim 5, wherein the detection device further comprises a wireless data receiver and a memory, the wireless data receiver is used for receiving the image data transmitted by the image sensor at regular time and storing the image data into the memory to establish an image database inside the pipeline.
7. The closed pipeline robot of claim 1, further comprising a control device having a main controller for controlling the action of the driving motor and a wireless control module for remotely controlling the action of the main controller.
8. The closed pipeline robot of claim 1, wherein the outer surface of the closed housing contacting the inner wall of the pipeline is provided with anti-slip corrugations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511030470.3A CN105508806B (en) | 2015-12-31 | 2015-12-31 | Closed pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511030470.3A CN105508806B (en) | 2015-12-31 | 2015-12-31 | Closed pipeline robot |
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| Publication Number | Publication Date |
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| CN105508806A CN105508806A (en) | 2016-04-20 |
| CN105508806B true CN105508806B (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511030470.3A Expired - Fee Related CN105508806B (en) | 2015-12-31 | 2015-12-31 | Closed pipeline robot |
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| CN (1) | CN105508806B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078672B (en) * | 2016-08-04 | 2018-10-12 | 西安科技大学 | Mono-track intelligent inspection robot |
| CN108627525A (en) * | 2018-04-12 | 2018-10-09 | 上海建工集团股份有限公司 | Inner wall of the pipe crack detection device and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202537469U (en) * | 2012-03-31 | 2012-11-21 | 武汉大学 | Capsule mirror capable of moving freely |
| CN204077835U (en) * | 2014-07-03 | 2015-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline irrigation canals and ditches measuring robots and system thereof |
| CN204704542U (en) * | 2015-04-30 | 2015-10-14 | 合肥学院 | A kind of pipeline robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979988B (en) * | 2012-11-24 | 2014-07-16 | 西南石油大学 | Initiative-driving spiral pipeline robot |
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2015
- 2015-12-31 CN CN201511030470.3A patent/CN105508806B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202537469U (en) * | 2012-03-31 | 2012-11-21 | 武汉大学 | Capsule mirror capable of moving freely |
| CN204077835U (en) * | 2014-07-03 | 2015-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline irrigation canals and ditches measuring robots and system thereof |
| CN204704542U (en) * | 2015-04-30 | 2015-10-14 | 合肥学院 | A kind of pipeline robot |
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| CN105508806A (en) | 2016-04-20 |
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Granted publication date: 20200825 |