CN105805485B - A kind of city gas pipeline robot for adapting to pipe shape change - Google Patents
A kind of city gas pipeline robot for adapting to pipe shape change Download PDFInfo
- Publication number
- CN105805485B CN105805485B CN201610365446.3A CN201610365446A CN105805485B CN 105805485 B CN105805485 B CN 105805485B CN 201610365446 A CN201610365446 A CN 201610365446A CN 105805485 B CN105805485 B CN 105805485B
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- China
- Prior art keywords
- frame
- directive wheel
- motor
- wheel
- expansion link
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of city gas pipeline robot for adapting to pipe shape change, it is mainly made up of power leather cup, spring coupling, frame, tensioning spring, sliding block, support link, driven pulley, support arm, mileage wheel, steering gear system, gear train, telescopic system, expansion link, directive wheel frame, rotary shaft, adjustable spring, guiding wheel seat, directive wheel, control system, battery pack, motor, servos control electroplax, potentiometer, motor gear group.Power leather cup is connected with spring coupling, and spring coupling is connected with frame；Tensioning spring, sliding block are connected with frame, and support link is connected with support arm；Servos control electroplax is installed on inside steering gear system, and motor is connected by motor gear group with potentiometer；Steering gear system is connected by gear train with expansion link, is oriented to wheel seat and is fixed rotary shaft, battery pack is installed on machine frame inside with control system.The present invention it is simple in construction, safe and reliable, can in the city gas pipeline of labyrinth reliability service.
Description
Technical field
The present invention relates to a kind of city gas pipeline robot for adapting to pipe shape change, belong to pipeline detection machine
The field of people.
Background technology
With the development of the social economy, the speed of Chinese Urbanization is also constantly being accelerated, city dweller's gas consumption is also increasing
Plus, 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 is
Lifeline as China urban energy.
In city gas pipeline during one's term of military service, such as burn into crackle, deformation failure can all occur in new old pipeline, can cause
This can not only bring huge economic loss and casualties by such as pipe leakage, blast accident, and also result in serious
Environmental pollution.In order to strengthen gas safety in production and management, the supply of guarantee urban energy is with using safety, it is necessary to city
City's gas ductwork carries out regularly detection with safeguarding.Currently for the safety problem of city gas pipeline, the country is presently mainly
Carry out being accurately positioned fuel gas pipeline leakage point after pipe leakage and carry out dimension repairing, pipeline is not detected and tieed up
Shield.And city gas pipeline is more in public land, it is impossible to carry out arbitrarily excavating detection, so with inner detection technique can only be entered
Row detection.Because pipeline network of fuel gas in city valve, threeway are gathered, so needing a kind of pipe robot for adapting to pipe shape change
Detected.
Research at present both at home and abroad for the robot of city gas pipeline is still seldom, mainly city gas pipeline pair
Robot security's reliability requirement is higher.A problem to pipe robot is Steering both at home and abroad, is presently mainly profit
With the principle of differential.The steering of domestic pipe robot is passively turned to using differential mechanism, it is impossible to adapt to what threeway was gathered
City gas pipeline.External pipe robot realizes differential steering using motor with encoder, and control system is excessively complicated.
So needing a kind of city gas pipeline robot with practicality and high efficiency, the simple steering mode of control.
The content of the invention
The purpose of patent of the present invention is in order to ensure urban energy supply with using safety, for national oil gas network security
Project provides power, by steering wheel there is provided a kind of city gas pipeline robot for adapting to pipe shape change by compressed air
System is combined with telescoping mechanism, realizes a kind of pipe robot regularly detected for pipeline network of fuel gas in city.
The present invention uses following technical scheme：
A kind of city gas pipeline robot for adapting to pipe shape change of the present invention, is mainly joined by power leather cup, spring
Axle device, frame, tensioning spring, sliding block, support link, driven pulley, support arm, mileage wheel, steering gear system, gear train, flexible system
System, expansion link, directive wheel frame, rotary shaft, adjustable spring, guiding wheel seat, directive wheel, control system, battery pack, motor, rudder
Machine control panel, potentiometer, motor gear group composition.The power leather cup is connected with spring coupling, spring coupling and machine
Frame is connected；Tensioning spring, sliding block are connected by bolt with frame, and support link is connected by hinge with support arm；It is driven pulley, inner
Journey wheel, directive wheel are arranged on support arm and respectively at a distance of 60 ° and are arranged radially on inner-walls of duct；Servos control electroplax is installed on
Inside steering gear system, motor is connected by motor gear group with potentiometer；Steering gear system is connected by gear train with expansion link, is stretched
Contracting bar is arranged on directive wheel frame；Adjustable spring is installed on directive wheel machine frame inside, and expansion link coordinates with rotation shaft clearance and is connected,
It is oriented to wheel seat and is bolted rotary shaft, is oriented to wheel seat and is connected by hinge with directive wheel；Battery pack is installed with control system
In machine frame inside.
The beneficial effect of patent of the present invention is：1st, the present invention is with compressed air-driven robot, and speed control is simple, lead
Gravitation is bigger, can the even running in the city gas pipeline of labyrinth；2nd, steering control system of the present invention with coding
The positioning of mileage wheel is combined compared to simpler and realizes robot in complexity by device robot steering control system with steering gear system
Accurate steering inside shape city gas pipeline；3rd, simple in construction, practicality and high efficiency of the invention, solve city gas pipeline
Line detects problem, eliminates the potential safety hazard of military service pipeline, it is ensured that urban energy is supplied with using safety.
Brief description of the drawings
Fig. 1 is a kind of structural representation front view for the city gas pipeline robot for adapting to pipe shape change of the present invention；
Fig. 2 is Fig. 1 right view；
Fig. 3 is steering gear system structural representation of the invention；
Fig. 4 is telescoping mechanism structural representation of the invention.
In figure：1. inner-walls of duct；2. power leather cup；3. spring coupling；4. frame；5. tensioning spring；6. sliding block；7.
Supporting rod；8. driven pulley；9. support arm；10 mileage wheels；11. steering gear system；12. gear train；13. telescopic system；14. it is flexible
Bar；15. directive wheel frame；16. rotary shaft；17. adjustable spring；18. it is oriented to wheel seat；19. directive wheel；20. control system；21.
Battery pack；22. motor；23. servos control electroplax；24. potentiometer；25. steering wheel gear train.
Embodiment
Patent of invention is described further below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of city gas pipeline robot for adapting to pipe shape change of the present invention,
Mainly by power leather cup 2；Spring coupling 3；Frame 4；Tensioning spring 5；Sliding 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；Rotary shaft 16；Flexible bullet
Spring 17；It is oriented to wheel seat 18；Directive wheel 19；Control system 20；Battery pack 21；Motor 22；Servos control electroplax 23；Potentiometer 24；
Motor gear group 25 is constituted.The power leather cup 2 is connected with spring coupling 3, and spring coupling 3 is connected with frame 4；It is tensioned bullet
Spring 5, sliding block 6 are connected by bolt with frame 4, and support link 7 is connected by hinge with support arm 9；Driven pulley 8, mileage wheel 10,
Directive wheel 19 is arranged on support arm 9 and respectively at a distance of 60 ° and is arranged radially on inner-walls of duct 1；Servos control electroplax 23 is installed
Inside steering gear system 11, motor 22 is connected by motor gear group 25 with potentiometer 24；Steering gear system 11 passes through gear train 25
It is connected with expansion link 14, expansion link 14 is installed on directive wheel frame 15；Adjustable spring 17 is installed on inside directive wheel frame 15, is stretched
Contracting bar 14 coordinates with the gap of rotary shaft 16 and is connected, and is oriented to wheel seat 18 and is bolted rotary shaft 16, is oriented to wheel seat 18 and passes through hinge
Chain is connected with directive wheel 19；Battery pack 21 is installed on inside frame 4 with control system 20.
As shown in Fig. 2 mileage wheel 10 is connected by hinge with support arm 9, support arm 9 is secured by bolts in frame 4；Lead
It is connected to wheel 19 by hinge with directive wheel frame 15, directive wheel frame 15 is arranged on frame 4 by bolt.
As shown in figure 3, the steering gear system 11 is by motor 22, servos control electroplax 23, motor gear group 25, potentiometer 24
Constitute.The motor 22 and servos control electroplax 23 are bolted in frame 4；Potentiometer 24 is bolted on electricity
On the output shaft of machine 22；Motor gear group 25 is installed on the output shaft of motor 22 to export power；
As shown in figure 4, the telescopic system 13 by expansion link 14, directive wheel frame 15, rotary shaft 16, adjustable spring 17,
Wheel seat 18, directive wheel 19 is oriented to constitute.The expansion link 14 is bolted in directive wheel frame 15；The bottom of expansion link 14
The outer square shaft end at the square blind hole of processing and the top of rotary shaft 16 forms gap and coordinated, so that the rotation of expansion link 14
Turn to pass to rotary shaft 16 by blind hole inwall, driving rotary shaft 16 is rotated；Adjustable spring 17 is arranged on directive wheel by bolt
Be connected on frame 15 and with being oriented to wheel seat 18, be oriented on wheel seat 18 by hinge installation directive wheel 19, directive wheel 19 is along in pipeline
The rotation of wall 1 simultaneously can change steering with wheel seat 18 is oriented to.
The operation principle of robot：Advanced by compressed air-driven leather cup 2, power is provided for robot, and by adjusting
Compressed air require is saved to adjust robot movement velocity.Robot 1 motion in pipeline passes through two mileage wheels of upper front end
10 are positioned.When robot motion to bend pipe or three-way pipeline position, mileage wheel 10 passes the signal along to control system 20, control
System 20 processed passes the signal along to steering gear system 11.Motor 22 starts and drives expansion link by gear train 25 in steering gear system 11
14 and rotary shaft 16 rotate, rotary shaft 16 be oriented to wheel seat 18 be connected so that directive wheel 19 change respective angles, realize machine
The change of the direction of motion of people.The potentiometer 24 of steering wheel is arranged on the output shaft of motor 22, and the motion to motor 22 is monitored,
Ensure motor 22 accurately rotate corresponding angle so that realize robot in pipeline 1 safety and precise by bend pipe or threeway
Pipeline location.
Claims (3)
1. a kind of city gas pipeline robot for adapting to pipe shape change, mainly by power leather cup (2), spring coupling
(3), frame (4), tensioning spring (5), sliding block (6), support link (7), driven pulley (8), support arm (9), mileage wheel (10), rudder
It is machine system (11), gear train (12), telescopic system (13), expansion link (14), directive wheel frame (15), rotary shaft (16), flexible
Spring (17), guiding wheel seat (18), directive wheel (19), control system (20), battery pack (21), motor (22), servos control electricity
Plate (23), potentiometer (24), motor gear group (25) composition, it is characterised in that：The power leather cup (2) and spring coupling
(3) it is connected, spring coupling (3) is connected with frame (4)；Tensioning spring (5), sliding block (6) are connected by bolt with frame (4)；
Support link (7) is connected by hinge with support arm (9)；Support arm (9) is connected with driven pulley (8)；Driven pulley (8), mileage wheel
(10), directive wheel (19) is arranged on support arm (9) and respectively at a distance of 60 ° and is arranged radially on inner-walls of duct (1)；Servos control
Electroplax (23) is installed on steering gear system (11) inside, and motor (22) is connected by motor gear group (25) with potentiometer (24)；Rudder
Machine system (11) is connected by gear train (25) with expansion link (14), and expansion link (14) is installed on directive wheel frame (15)；It is flexible
Spring (17) is installed on directive wheel frame (15) inside, and expansion link (14) coordinates with rotary shaft (16) gap and is connected；It is oriented to wheel seat
(18) rotary shaft (16) is bolted, wheel seat (18) is oriented to and is connected by hinge with directive wheel (19)；Battery pack (21) with
It is internal that control system (20) is installed on frame (4).
2. a kind of city gas pipeline robot for adapting to pipe shape change according to claim 1, it is characterised in that：
Steering gear system (11) is made up of motor (22), servos control electroplax (23), motor gear group (25), potentiometer (24), the electricity
Machine (22) and servos control electroplax (23) are bolted in frame (4)；Potentiometer (24) is bolted on motor
(22) on output shaft；Motor gear group (25) is installed on motor (22) output shaft to export power.
3. a kind of city gas pipeline robot for adapting to pipe shape change according to claim 1, it is characterised in that：
Telescopic system (13) by expansion link (14), directive wheel frame (15), rotary shaft (16), adjustable spring (17), be oriented to wheel seat (18),
Directive wheel (19) is constituted, and the expansion link (14) is bolted in directive wheel frame (15)；Expansion link (14) bottom adds
The square blind hole of work forms gap with the outer square shaft end at the top of rotary shaft (16) and coordinated, so that expansion link (14)
Rotation passes to rotary shaft (16) by blind hole inwall, and driving rotary shaft (16) is rotated；Adjustable spring (17) is installed by bolt
It is connected in directive wheel frame (15) and with being oriented to wheel seat (18), is oriented on wheel seat (18) and directive wheel (19) is installed by hinge,
Directive wheel (19) is along inner-walls of duct (1) rotation and can change steering with wheel seat (18) is oriented to.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105805485A CN105805485A (en) | 2016-07-27 |
| CN105805485B true CN105805485B (en) | 2017-08-01 |
Family
ID=56453037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105805485B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439388B (en) * | 2016-08-19 | 2019-01-15 | 浙江省特种设备检验研究院 | A kind of underwater circuit plate sealing mobile 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 |
| US10451210B2 (en) * | 2017-05-17 | 2019-10-22 | Massachusetts Institute Of Technology | Soft body robot for in-pipe missions |
| 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 |
| 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 |
| CN114484146B (en) * | 2021-12-29 | 2023-10-31 | 中国特种设备检测研究院 | Two-way running pipeline detector |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9429266B2 (en) * | 2013-11-26 | 2016-08-30 | 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 |
| CN104806845B (en) * | 2015-04-29 | 2017-05-03 | 浙江理工大学 | Double-crank slide block type pipeline backflow walking robot |
| CN105276333B (en) * | 2015-11-13 | 2017-07-07 | 深圳威特尔自动化科技有限公司 | A kind of pipeline internal robot walking |
| 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 |
-
2016
- 2016-05-27 CN CN201610365446.3A patent/CN105805485B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN105805485A (en) | 2016-07-27 |
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Granted publication date: 20170801 Termination date: 20200527 |
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