CN105805485A - Urban gas pipe robot adapting to pipe shape change - Google Patents
Urban gas pipe robot adapting to pipe shape change Download PDFInfo
- Publication number
- CN105805485A CN105805485A CN201610365446.3A CN201610365446A CN105805485A CN 105805485 A CN105805485 A CN 105805485A CN 201610365446 A CN201610365446 A CN 201610365446A CN 105805485 A CN105805485 A CN 105805485A
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- China
- Prior art keywords
- frame
- motor
- directive wheel
- rotating shaft
- expansion link
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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
-
- 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 relates to an urban gas pipe robot adapting to pipe shape change. The urban gas pipe robot mainly consists of a power leather bowl, a spring coupling, a frame, tension springs, slide blocks, support connecting rods, driven wheels, support arms, a mileage wheel, a steering engine system, a gear set, an extension system, an extension rod, a guide wheel frame, a rotating shaft, an extension spring, a guide wheel base, a guide wheel, a control system, a battery set, a motor, a steering engine control panel, a potentiometer and a motor gear set. The power leather bowl is connected with the spring coupling; the spring coupling is connected with the frame; the tension springs and the slide blocks are connected with the frame; the support connecting rods are connected with the support arms; the steering engine control panel is mounted in the steering engine system; the motor is connected with the potentiometer through the motor gear set; the steering engine system is connected with the extension rod through the gear set; the guide wheel base is fixed with the rotating shaft; and the battery set and the control system are mounted in the frame. The urban gas pipe robot is simple in structure, safe and reliable, and can be reliably operated in an urban gas pipe with a complex structure.
Description
Technical field
The present invention relates to a kind of city gas pipeline robot adapting to pipe shape change, belong to the field of pipeline detection robot.
Background technology
Along with socioeconomic development, the speed of Chinese Urbanization is also in continuous quickening, and urbanite's gas consumption is also increasing, and China's gas scale constantly increases, and the total kilometrage of city gas transmission and distribution pipeline is continuously increased.Pipeline network of fuel gas in city has become as the life line of China urban energy.
At city gas pipeline during one's term of military service, new and old pipeline all can occur that such as burn into crackle, deformation etc. were lost efficacy, and can cause such as the accident such as pipe leakage, blast. this not only can bring huge economic loss and casualties, and also results in serious environmental pollution.In order to strengthen gas safety in production and management, ensure urban energy supply and use safety, it is necessary to pipeline network of fuel gas in city is carried out regular detection and maintenance.Currently for the safety problem of city gas pipeline, domestic be presently mainly after pipe leakage to carry out be accurately positioned fuel gas pipeline leakage point and carry out dimension repairing, pipeline do not detected and safeguard.And city gas pipeline is many in public land, it is impossible to arbitrarily excavate detection, so can only detect with inner detection technique.Owing to pipeline network of fuel gas in city valve, threeway are gathered, so needing a kind of pipe robot adapting to pipe shape change to detect.
Still little for the research of the robot of city gas pipeline both at home and abroad at present, mainly city gas pipeline is higher to robot security's reliability requirement.A difficult problem to pipe robot is Steering both at home and abroad, is presently mainly the principle utilizing differential.Turning to of domestic pipe robot utilizes differential mechanism passively to turn to, it is impossible to adapt to the city gas pipeline that threeway is gathered.External pipe robot utilizes motor with encoder to realize differential steering, controls system excessively complicated.So needing a kind of to there is practicality and high efficiency, control the city gas pipeline robot of simple steering mode.
Summary of the invention
Patent of the present invention in order that ensure urban energy supply with use safety, for country's oil gas pipe network item security, a kind of city gas pipeline robot adapting to pipe shape change is provided, power is provided by compressing air, steering gear system is combined with telescoping mechanism, it is achieved a kind of pipe robot carrying out regular detection for pipeline network of fuel gas in city.
The present invention is by the following technical solutions:
A kind of city gas pipeline robot adapting to pipe shape change of the present invention, is mainly made up of power leather cup, spring coupling, frame, tensioning spring, slide block, support link, driven pulley, support arm, mileage wheel, steering gear system, gear train, telescopic system, expansion link, directive wheel frame, rotating shaft, coil tension spring, guiding wheel seat, directive wheel, control system, set of cells, motor, servos control electroplax, potentiometer, motor gear group.Described power leather cup is connected with spring coupling, and spring coupling is connected with frame；Tensioning spring, slide block are connected with frame by bolt, and support link is connected with support arm by hinge；Driven pulley, mileage wheel, directive wheel are arranged on support arm and are arranged radially on inner-walls of duct at a distance of 60 ° respectively；Servos control electroplax is installed on inside steering gear system, and motor is connected with potentiometer by motor gear group；Steering gear system is connected with expansion link by gear train, and expansion link is arranged on directive wheel frame；Coil tension spring is installed on directive wheel machine frame inside, and expansion link is connected with rotating shaft matched in clearance, and guiding wheel seat is bolted rotating shaft, and guiding wheel seat is connected with directive wheel by hinge；Set of cells and control system are installed on machine frame inside.
Patent of the present invention provides the benefit that: 1, the present invention uses compressed air-driven robot, and speed controlling is simple, pull strength is bigger, it is possible to even running in the city gas pipeline of labyrinth；2, steering control system of the present invention is simpler compared with band encoder robot steering control system, is combined with steering gear system mileage wheel location and realizes robot accurately turning within complicated shape city gas pipeline；3, present configuration is simple, practicality and high efficiency, solves an on-line checking difficult problem for city gas pipeline, eliminates the potential safety hazard of military service pipeline, it is ensured that urban energy supply with use safety.
Accompanying drawing explanation
Fig. 1 is the structural representation front view of a kind of city gas pipeline robot adapting to pipe shape change of the present invention；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the steering gear system structural representation of the present invention；
Fig. 4 is the telescoping mechanism structural representation of the present invention.
In figure: 1. inner-walls of duct；2. power leather cup；3. spring coupling；4. frame；5. tensioning spring；6. slide block；7. support link；8. driven pulley；9. support arm；10 mileage wheels；11. steering gear system；12. gear train；13. telescopic system；14. expansion link；15. directive wheel frame；16. rotating shaft；17. coil tension spring；18. guiding wheel seat；19. directive wheel；20. control system；21. set of cells；22. motor；23. servos control electroplax；24. potentiometer；25. steering wheel gear train.
Detailed description of the invention
Below in conjunction with accompanying drawing, patent of invention is described further.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of city gas pipeline robot adapting to pipe shape change of the present invention, mainly by power leather cup 2；Spring coupling 3；Frame 4；Tensioning spring 5；Slide block 6；Support link 7；Driven pulley 8；Support arm 9；Mileage wheel 10；Steering gear system 11；Gear train 12；Telescopic system 13；Expansion link 14；Directive wheel frame 15；Rotating shaft 16；Coil tension spring 17；Guiding wheel seat 18；Directive wheel 19；Control system 20；Set of cells 21；Motor 22；Servos control electroplax 23；Potentiometer 24；Motor gear group 25 forms.Described power leather cup 2 is connected with spring coupling 3, and spring coupling 3 is connected with frame 4；Tensioning spring 5, slide block 6 are connected with frame 4 by bolt, and support link 7 is connected with support arm 9 by hinge；Driven pulley 8, mileage wheel 10, directive wheel 19 are arranged on support arm 9 and respectively at a distance of 600It is arranged radially on inner-walls of duct 1；It is internal that servos control electroplax 23 is installed on steering gear system 11, and motor 22 is connected with current potential 24 device by motor gear group 25；Steering gear system 11 is connected with expansion link 14 by gear train 25, and expansion link 14 is installed on directive wheel frame 15；It is internal that coil tension spring 17 is installed on directive wheel frame 15, and expansion link 14 is connected with rotating shaft 16 matched in clearance, and guiding wheel seat 18 is bolted rotating shaft 16, and guiding wheel seat 18 is connected with directive wheel 19 by hinge；It is internal that set of cells 21 and control system 20 are installed on frame 4.
As in figure 2 it is shown, mileage wheel 10 is connected with support arm 9 by hinge, support arm 9 is secured by bolts in frame 4；Directive wheel 19 is connected with directive wheel frame 15 by hinge, and directive wheel frame 15 is arranged on frame 4 by bolt.
As it is shown on figure 3, described steering gear system 11 is made up of motor 22, servos control electroplax 23, motor gear group 25, potentiometer 24.Described motor 22 and servos control electroplax 23 are bolted in frame 4；Potentiometer 24 is bolted on motor 22 output shaft；Motor 22 output shaft is installed motor gear group 25 thus exporting power；
As shown in Figure 4, described telescopic system 13 is made up of expansion link 14, directive wheel frame 15, rotating shaft 16, coil tension spring 17, guiding wheel seat 18, directive wheel 19.Described expansion link 14 is bolted in directive wheel frame 15；The foursquare blind hole of expansion link 14 bottom processing forms matched in clearance with the outer foursquare axle head at rotating shaft 15 top, thus the blind hole inwall that is rotated through of expansion link 14 passes to rotating shaft 16, drives rotating shaft 16 to rotate；Coil tension spring 17 is arranged on guiding wheel carrier 15 by bolt and is connected with guiding wheel seat 18, and guiding wheel seat 18 installs directive wheel 19 by hinge, and directive wheel 19 is along inner-walls of duct 1 rotation and can turn to along with guiding wheel seat 18 changes.
The operation principle of robot: advanced by compressed air-driven leather cup 2, is provided power for robot, and regulates robot movement velocity by regulating compressed air require.Robot 1 moves through two mileages of upper front end wheel 10 and positions in pipeline.When robot motion to bend pipe or three-way pipeline position, mileage wheel 10 passes the signal along to control system 20, and control system 20 passes the signal along to steering gear system 11.In steering gear system 11, motor 22 starts and passes through gear train 25 and drives expansion link 14 and rotating shaft 16 to rotate, and rotating shaft 16 is connected with guiding wheel seat 18, so that directive wheel 19 changes respective angles, it is achieved the change of the direction of motion of robot.The potentiometer 24 of steering wheel is arranged on motor 22 output shaft, and the motion of motor 22 is monitored, it is ensured that motor 22 accurately rotates corresponding angle, thus realizing robot to pass through bend pipe or three-way pipeline position in pipeline 1 safety and precise.
Claims (3)
- null1. the city gas pipeline robot adapting to pipe shape change，Main by power leather cup (2)、Spring coupling (3)、Frame (4)、Tensioning spring (5)、Slide block (6)、Support link (7)、Driven pulley (8)、Support arm (9)、Mileage wheel (10)、Steering gear system (11)、Gear train (12)、Telescopic system (13)、Expansion link (14)、Directive wheel frame (15)、Rotating shaft (16)、Coil tension spring (17)、Guiding wheel seat (18)、Directive wheel (19)、Control system (20)、Set of cells (21)、Motor (22)、Servos control electroplax (23)、Potentiometer (24)、Motor gear group (25) forms，It is characterized in that: described power leather cup (2) is connected with spring coupling (3)，Spring coupling (3) is connected with frame (4)；Tensioning spring (5), slide block (6) are connected with frame (4) by bolt；Support link (7) is connected with support arm (9) by hinge；Support arm (9) is connected with driven pulley (8)；Driven pulley (8), mileage wheel (10), directive wheel (19) are arranged on support arm (9) and above and respectively at a distance of 60 ° are arranged radially on inner-walls of duct (1)；It is internal that servos control electroplax (23) is installed on steering gear system (11), and motor (22) is connected with current potential (24) device by motor gear group (25)；Steering gear system (11) is connected with expansion link (14) by gear train (25), and expansion link (14) is installed on directive wheel frame (15)；It is internal that coil tension spring (17) is installed on directive wheel frame (15), and expansion link (14) is connected with rotating shaft (16) matched in clearance；Guiding wheel seat (18) is bolted rotating shaft (16), and guiding wheel seat (18) is connected with directive wheel (19) by hinge；Set of cells (21) is installed on frame (4) inside with controlling system (20).
- 2. a kind of city gas pipeline robot adapting to pipe shape change according to claim 1, it is characterized in that: steering gear system (11) is made up of motor (22), servos control electroplax (23), motor gear group (25), potentiometer (24), described motor (22) and servos control electroplax (23) are bolted in frame (4)；Potentiometer (24) is bolted on motor (22) output shaft；Motor (22) output shaft is installed motor gear group (25) thus exporting power.
- 3. a kind of city gas pipeline robot adapting to pipe shape change according to claim 1, it is characterized in that: telescopic system (13) is made up of expansion link (14), directive wheel frame (15), rotating shaft (16), coil tension spring (17), guiding wheel seat (18), directive wheel (19), and described expansion link (14) is bolted in directive wheel frame (15)；The foursquare blind hole of expansion link (14) bottom processing forms matched in clearance with the outer foursquare axle head at rotating shaft (15) top, thus the blind hole inwall that is rotated through of expansion link (14) passes to rotating shaft (16), rotating shaft (16) is driven to rotate；Coil tension spring (17) is arranged on guiding wheel carrier (15) by bolt and above and is connected with guiding wheel seat (18), installing directive wheel (19) by hinge in guiding wheel seat (18), directive wheel (19) is along inner-walls of duct (1) rotation and can turn to along with guiding wheel seat (18) changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610365446.3A CN105805485B (en) | 2016-05-27 | 2016-05-27 | A kind of city gas pipeline robot for adapting to pipe shape change |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610365446.3A CN105805485B (en) | 2016-05-27 | 2016-05-27 | A kind of city gas pipeline robot for adapting to pipe shape change |
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| Publication Number | Publication Date |
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| CN105805485A true CN105805485A (en) | 2016-07-27 |
| CN105805485B CN105805485B (en) | 2017-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610365446.3A Expired - Fee Related CN105805485B (en) | 2016-05-27 | 2016-05-27 | A kind of city gas pipeline robot for adapting to pipe shape change |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439388A (en) * | 2016-08-19 | 2017-02-22 | 浙江省特种设备检验研究院 | Underwater circuit board sealing and moving device |
| CN107191739A (en) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | A kind of reducing type pipeline detection robot that generates electricity of optimization |
| CN107314191A (en) * | 2017-08-09 | 2017-11-03 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite flooding |
| CN107859810A (en) * | 2017-12-01 | 2018-03-30 | 北京恒研精创科技有限公司 | Adjustable support device and its system |
| CN110220070A (en) * | 2019-07-03 | 2019-09-10 | 苏州力佳达电子科技有限公司 | A kind of submarine pipeline connection sealing crusing robot |
| CN110621455A (en) * | 2017-05-17 | 2019-12-27 | 麻省理工学院 | Soft body robot for pipeline tasks |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112047111A (en) * | 2020-09-03 | 2020-12-08 | 安徽海螺集团有限责任公司 | Detection sample transportation equipment of intelligence cement mill |
| CN114484146A (en) * | 2021-12-29 | 2022-05-13 | 中国特种设备检测研究院 | Bidirectional running pipeline detector |
| CN116519788A (en) * | 2023-04-19 | 2023-08-01 | 北京市燃气集团有限责任公司 | Far-field vortex internal detection system for urban gas pipeline |
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| CN105465549A (en) * | 2016-01-25 | 2016-04-06 | 李超 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150152992A1 (en) * | 2013-11-26 | 2015-06-04 | Research & Business Foundation Sungkyunkwan University | Brake mechanism of robot using multi-output differential gear |
| CN204805843U (en) * | 2015-03-18 | 2015-11-25 | 中国计量学院 | Inner wall that is suitable for different diameter pipelines is from running gear |
| CN104806845A (en) * | 2015-04-29 | 2015-07-29 | 浙江理工大学 | Double-crank slide block type pipeline backflow walking robot |
| CN105276333A (en) * | 2015-11-13 | 2016-01-27 | 深圳威特尔自动化科技有限公司 | In-pipe walking robot |
| CN105465549A (en) * | 2016-01-25 | 2016-04-06 | 李超 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439388A (en) * | 2016-08-19 | 2017-02-22 | 浙江省特种设备检验研究院 | Underwater circuit board sealing and moving device |
| CN107191739A (en) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | A kind of reducing type pipeline detection robot that generates electricity of optimization |
| CN110621455A (en) * | 2017-05-17 | 2019-12-27 | 麻省理工学院 | Soft body robot for pipeline tasks |
| CN107314191A (en) * | 2017-08-09 | 2017-11-03 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite flooding |
| CN107314191B (en) * | 2017-08-09 | 2019-03-12 | 哈尔滨工业大学（威海） | A kind of pipe robot based on fluid and motor composite drive |
| CN107859810A (en) * | 2017-12-01 | 2018-03-30 | 北京恒研精创科技有限公司 | Adjustable support device and its system |
| CN110220070A (en) * | 2019-07-03 | 2019-09-10 | 苏州力佳达电子科技有限公司 | A kind of submarine pipeline connection sealing crusing robot |
| CN110220070B (en) * | 2019-07-03 | 2020-12-08 | 福州力佳达智能科技有限公司 | Robot is patrolled and examined to pipeline connection leakproofness under water |
| CN112047111A (en) * | 2020-09-03 | 2020-12-08 | 安徽海螺集团有限责任公司 | Detection sample transportation equipment of intelligence cement mill |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN114484146A (en) * | 2021-12-29 | 2022-05-13 | 中国特种设备检测研究院 | Bidirectional running pipeline detector |
| CN114484146B (en) * | 2021-12-29 | 2023-10-31 | 中国特种设备检测研究院 | Two-way running pipeline detector |
| CN116519788A (en) * | 2023-04-19 | 2023-08-01 | 北京市燃气集团有限责任公司 | Far-field vortex internal detection system for urban gas pipeline |
| CN116519788B (en) * | 2023-04-19 | 2023-11-21 | 北京市燃气集团有限责任公司 | Far-field vortex internal detection system for urban gas pipeline |
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| CN105805485B (en) | 2017-08-01 |
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