CN106439386B - 一种智能管道内壁行走机器人 - Google Patents

一种智能管道内壁行走机器人 Download PDF

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Publication number
CN106439386B
CN106439386B CN201610880818.6A CN201610880818A CN106439386B CN 106439386 B CN106439386 B CN 106439386B CN 201610880818 A CN201610880818 A CN 201610880818A CN 106439386 B CN106439386 B CN 106439386B
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China
Prior art keywords
machine
leg
driving wheel
legs
pipeline
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CN106439386A (zh
Inventor
曹银萍
窦益华
郑杰
郭稚薇
刘曼
韩璐
刘琼
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Xian Shiyou University
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Xian Shiyou University
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing

Abstract

一种智能管道内壁行走机器人,包括两个机体,两个机体之间通过万向节进行连接,机体的未连接的两个端部分别安装有行走机构与伸缩腿结构;在工作过程中,通过远程连接WIFI模块,控制主动轮,电机驱动主动轮,主动轮带动机体在管道内部进行移动;在遇到弯道的情况下,通过调节两个主动轮电机转速,使两轮转速不同步即可实现转弯;在遇到管道突然变径时,通过伸缩机构实现管径适应,具体为管壁对主动轮和从动轮施加压力,使三个机腿向内收拢,同时带动滑套压缩弹簧,待管径恢复正常后,由弹簧推动滑套进而带动机腿向外扩张,以适应新的管径;本发明具有结构简单,方便实用的特点。
CN201610880818.6A 2016-10-09 2016-10-09 一种智能管道内壁行走机器人 Active CN106439386B (zh)

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CN201610880818.6A CN106439386B (zh) 2016-10-09 2016-10-09 一种智能管道内壁行走机器人

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CN106439386B true CN106439386B (zh) 2021-03-02

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106594453A (zh) * 2017-01-23 2017-04-26 西安石油大学 一种自动翻转爬行装置
CN109318100A (zh) * 2017-08-01 2019-02-12 朱爱荣 一种管道内壁除锈机器人
CN107940247B (zh) * 2017-11-23 2019-05-14 北京讯腾智慧科技股份有限公司 一种天然气管道泄漏检测装置
CN108043832B (zh) * 2017-12-11 2020-04-28 广州德科投资咨询有限公司 一种应用于智慧城市的管道清理方法及智能机器人
WO2020034974A1 (zh) * 2018-08-13 2020-02-20 诸暨市蓝了电子科技有限公司 多足轮式机器人
CN109973756A (zh) * 2018-12-29 2019-07-05 北京工业大学 一种管道机器人
CN109751477B (zh) * 2019-03-19 2020-01-31 重庆大学 管状结构检测用机器人
CN110043752B (zh) * 2019-04-29 2020-10-27 广东海洋大学 一种柔性管道机器人
CN111410013A (zh) * 2020-04-09 2020-07-14 北京京东乾石科技有限公司 运输机构、运输装置及管道运输系统

Citations (7)

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Publication number Priority date Publication date Assignee Title
CN101839385A (zh) * 2009-03-19 2010-09-22 许星元 复杂管系钻道鼠
CN103672292A (zh) * 2013-12-11 2014-03-26 上海电机学院 管道机器人
CN103867848A (zh) * 2012-12-14 2014-06-18 许雪梅 一种螺旋驱动式管道机器人
CN204062502U (zh) * 2014-08-21 2014-12-31 沙洲职业工学院 一种管道爬行机器人
CN105508805A (zh) * 2016-01-27 2016-04-20 金华职业技术学院 一种自适应管道爬行器
EP3059484A1 (en) * 2015-02-19 2016-08-24 Adrian Tomoiaga Autonomous robot for the inspection and maintenance of large-sized pipes and method of its exploitation
CN206112401U (zh) * 2016-10-09 2017-04-19 西安石油大学 一种智能管道内壁行走装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105627030A (zh) * 2016-03-07 2016-06-01 广东技术师范学院 一种防止轨迹偏离的管道穿越装置的主体机构及装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101839385A (zh) * 2009-03-19 2010-09-22 许星元 复杂管系钻道鼠
CN103867848A (zh) * 2012-12-14 2014-06-18 许雪梅 一种螺旋驱动式管道机器人
CN103672292A (zh) * 2013-12-11 2014-03-26 上海电机学院 管道机器人
CN204062502U (zh) * 2014-08-21 2014-12-31 沙洲职业工学院 一种管道爬行机器人
EP3059484A1 (en) * 2015-02-19 2016-08-24 Adrian Tomoiaga Autonomous robot for the inspection and maintenance of large-sized pipes and method of its exploitation
CN105508805A (zh) * 2016-01-27 2016-04-20 金华职业技术学院 一种自适应管道爬行器
CN206112401U (zh) * 2016-10-09 2017-04-19 西安石油大学 一种智能管道内壁行走装置

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