CN106594453A - Automatic turning and creeping device - Google Patents
Automatic turning and creeping device Download PDFInfo
- Publication number
- CN106594453A CN106594453A CN201710058916.6A CN201710058916A CN106594453A CN 106594453 A CN106594453 A CN 106594453A CN 201710058916 A CN201710058916 A CN 201710058916A CN 106594453 A CN106594453 A CN 106594453A
- Authority
- CN
- China
- Prior art keywords
- machine
- rotating disk
- leg
- automatic turning
- base
- 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
Links
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
-
- 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
- F16L2101/10—Treating the inside of pipes
-
- 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
Landscapes
- 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 an automatic turning and creeping device which comprises two machine bodies; the machine bodies are connected through a turning part; unconnected end parts of the machine bodies are equipped with telescopic leg structures; each telescopic leg structure comprises a guide rod and machine legs which are mounted on the end part of each machine body, wherein the machine legs comprise a primary machine leg and two secondary machine legs, the tops of the secondary machine legs are connected, and then are connected onto the end part of the machine body, and the primary machine leg is connected to the end part of the machine body; a front-end spring, a rear-end spring and a secondary slide sleeve are arranged on each machine leg, a wheel part is mounted on the top of each machine leg; a primary spring is mounted on each guide rod; a primary slide sleeve is connected with each secondary slide sleeve through a connecting rod in a supporting mode; the turning part comprises a base mounted between the machine bodies; a rotary plate and a rear-end rotary plate are embedded into the base; and the rotary plate is connected with a motor shaft. In work, a motor drive wheel part drives a creeper to move inside a pipeline, so that pipe diameter adaption is realized by a telescopic mechanism when the pipeline diameter is changed; and during turning or climbing, the motor shaft drives the rotary plate to rotate, so that the creeper completes actions. The automatic turning and creeping device has the characteristics of being simple in structure, convenient and practical.
Description
Technical field
The present invention relates to crawler technology field, more particularly to a kind of automatic turning crawling device.
Background technology
Due to pipeline itself it is efficient, convenient, it is environmentally friendly the features such as, pipeline transportation has become and railway, highway, aviation, water
One of five parallel big transportation means of fortune.But because pipeline can be subject to burn into weight and outside under long service state
The reasons such as power impact, pipeline occurs aging, cracks, small opening occurs the phenomenons such as leakage, while inner-walls of duct can be produced not
With the fouling of degree, cause to manage defeated efficiency reduction, material consumption, energy consumption increase, and technological process is interrupted, and brings potential safety hazard.So pin
Making regular check on and safeguard very necessary to pipeline situation, but using mining method and sampling more than the traditional maintenance mode of pipeline
Detection method etc., the mode efficiency of this hand digging is low and quantities is big.
In pipe crawl device be it is a kind of can be along mechanical, electrical, the instrument integral system of the internal or external automatically walk of pipeline, and can
One or more sensor and operation device, such as sonac, eddy current sensor, pipe cleaning device are carried, in behaviour
Make that under personnel control at a distance a series of pipe detection and maintenance activity can be realized.Artificial inspection is replaced by pipe robot
The technology of survey is greatly improved the precision of detection, accuracy, to improving working conditions, reducing operating cost, improve work effect
Rate has highly important meaning.The stationarity of crawl device speed of service in job engineering, and excessively curved ability, obstacle climbing ability
Deng the effect for being all directly connected to operation.Existing two-part crawl device when fuselage junction is connected using universal joint, if not limiting
Degree of freedom processed can cause fuselage in central region sinking, and running into non-horizontal bent angle when adopting and being articulated and connected can cause crawl device in pipeline
It is interior stuck.
The content of the invention
In order to solve the above problems, the invention provides a kind of automatic turning crawling device, by setting in the middle part of crawl device
Put automatic turning mechanism so that degree of freedom of the crawl device in fuselage junction is adjustable, so as to play a supporting role, and realize turning to
Function, with simple structure, the characteristics of convenient and practical.
For achieving the above object, the technical solution used in the present invention is：
A kind of automatic turning crawling device, including two bodies 17, pass through flip portion between two described bodies 17
It is connected, two not connected ends of body 17 are separately installed with Retractive leg structure；
Described Retractive leg structure is included in guide post 16 and three stand legs 15 that each end of body 17 is installed, described
15 points of stand leg is a main frame lower limb and two slave lower limbs, and after being connected between described two slave lower limbs top rotary way is passed through
The end of body 17 is connected to, main frame lower limb is directly connected in a rotatable manner the end of body 17；Arrange on each stand leg 15
There are front springs 2, rear end spring 14 and two grades of sliding sleeves 3, two grades of sliding sleeves 3 are arranged between front springs 2 and rear end spring 14, machine
The top of lower limb 15 is provided with wheel portion 1, and main spring 6 is provided with described guide post 16, is provided with one-level sliding sleeve 5 on main spring 6, and one
Connection is supported by connecting rod 4 between level sliding sleeve 5 and two grades of sliding sleeves 3；
Described flip portion includes the base 8 being arranged between body 17, and the embedded rotating disk 9 that is cased with of base 8 turns with rear end
Disk 11, rotating disk 9 is fixed with rear end rotating disk 11 by pin 10, and rotating disk 9 can be circumferentially rotated relative to base 8, rotating disk 9 and motor shaft
12 are connected.
Described base 8 is fixed on body 17 by bolt 13.
Three described stand legs 15 are distributed in around guide post 16 in umbrella shape.
Three described stand legs 15 are that 120 ° of circumferences are symmetrical.
Beneficial effects of the present invention：
(1) crawl device middle part adopts articulated structure, spatial degrees of freedom is limited, while carrying out to two-part waist
Effective support.
(2) when climbing, chance hinder, turn crawl device in pipe, being rotated by motor can drive rotating disk generation by motor shaft
Circumferentially rotate, make crawl device in the turning power circumferentially with 360 °, effectively prevent crawl device in pipeline due to understeer
And it is stuck.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is automatic turning part three-dimensional axonometric drawing of the present invention.
Fig. 3 is automatic turning member principle schematic diagram of the present invention.
Specific embodiment
The present invention is elaborated below in conjunction with the accompanying drawings.
With reference to Fig. 1, crawl device is three lower limb brace type beveled structures, and three lower limbs are that 120 ° of circumferences are symmetrical.Wheel portion 1 passes through
Stand leg 15 is connected on body 17, and front springs 2, two grades of sliding sleeves 3, rear end spring 14 are cased with stand leg 15.One-level sliding sleeve 5 passes through
Connecting rod 4 is connected with two grades of sliding sleeves 3.When crawl device runs into obstacle inside pipeline, a certain bar stand leg 15 or several stand legs 15 can
Radially wobbled by the flexible drivening rod 4 of front springs 2 so that stand leg 15 produces the mesh that the effect of radial contraction reaches obstacle detouring
's.When caliber changes, front springs 2 are started to shrink at, and two grades of forward slips of sliding sleeve 3 drive one-level sliding sleeve 5 by connecting rod 4
Motion compresses main spring 6 backward, the motion of one-level sliding sleeve 5 drivening rod 4 again so that the subtended angle of wheel lower limb further reduces, with
Reach the purpose of self adaptation caliber, and can preferably overcome because of the barrier factors of the appearance such as uneven in tube wall.
As shown in Figure 2：Flip portion is mainly made up of base 8, rotating disk 9 and rear end rotating disk 11；Rotating disk 9 is nested in base
In 8, rotating disk 9 can be circumferentially rotated relative to base 8, and base 8 is fixed on fuselage by bolt 13, rotating disk 9 and the phase of motor shaft 12
Even, it is the angle of scalable rotating disk 9 by controlled motor rotation, rotating disk 9 is connected by pin 10 with rear end rotating disk 11.
With reference to Fig. 3, flip portion rotating disk 9 is nested in base 8, and rotating disk 9 can be circumferentially rotated relative to base 8, and base 8 leads to
Cross bolt 13 to be fixed on fuselage, rotating disk 9 is connected with motor shaft 12, be the angle of scalable rotating disk 9 by controlled motor rotation,
Rotating disk 9 is connected by pin 10 with rear end rotating disk 11, and when rotating disk 9 is rotated, rear end rotating disk 11 is circumferentially rotated together therewith,
Crawl device is in turning, climbing, obstacle detouring, you can rotating disk angle execution is adjusted by motor, simultaneously because the pact of degree of freedom
Beam, waist has obtained powerful support, will not be stuck in pipeline.
The operation principle of the present invention：
During work, Motor drive wheel portion 1, wheel portion 1 drives crawl device to move inside pipeline.Running into
During pipeline reducing diameter, realize that caliber is adapted to by telescoping mechanism, specially：Tube wall presses to wheel portion 1, and front springs 2 are started to shrink at,
Two grades of forward slips of sliding sleeve 3 drive the motion compresses main spring 6 backward of one-level sliding sleeve 5 by connecting rod 4, and the motion of one-level sliding sleeve 5 is again
Secondary drivening rod 4 so that the subtended angle of wheel lower limb further reduces, to reach the purpose of self adaptation caliber.When turning or climbing, by electricity
Arbor 12 drives rotating disk 9 to rotate, and rotating disk 9 drives rear end rotating disk 11 to rotate by pin 10, thus adjusts rotating disk 9 and rear end rotating disk
11 are hinged orientation, and the rotation direction for crawl device fuselage provides degree of freedom, make crawl device execution.
Claims (4)
1. a kind of automatic turning crawling device, including two bodies (17), it is characterised in that between two described bodies (17)
It is connected by flip portion, two not connected ends of body (17) are separately installed with Retractive leg structure；
Described Retractive leg structure is included in guide post (16) and three stand legs (15) that each body (17) end is installed, described
Stand leg (15) be divided into a main frame lower limb and two slave lower limbs, by rotatable after being connected between described two slave lower limbs top
Mode is connected to the end of body (17), and main frame lower limb is directly connected in a rotatable manner the end of body (17)；Each stand leg
(15) front springs (2), rear end spring (14) and two grades of sliding sleeves (3) are provided with, two grades of sliding sleeves (3) are arranged on front springs
(2) and rear end spring (14) between, stand leg (15) top is provided with wheel portion (1), and on described guide post (16) main bullet is provided with
Spring (6), is provided with one-level sliding sleeve (5) on main spring (6), by connecting rod (4) between one-level sliding sleeve (5) and two grades of sliding sleeves (3)
Support connection；
Described flip portion includes the base (8) being arranged between body (17), base (8) is embedded be cased with rotating disk (9) with it is rear
End rotating disk (11), rotating disk (9) is fixed by pin (10) with rear end rotating disk (11), and rotating disk (9) can circumferentially turn relative to base (8)
Dynamic, rotating disk (9) is connected with motor shaft (12).
2. a kind of automatic turning crawling device according to claim 1, it is characterised in that described base (8) is by spiral shell
Bolt (13) is fixed on body (17).
3. a kind of automatic turning crawling device according to claim 1, it is characterised in that three described stand legs (15) are in
Umbrella shape is distributed in around guide post (16).
4. a kind of automatic turning crawling device according to claim 1, it is characterised in that three described stand legs (15) are
120 ° of circumferences are symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058916.6A CN106594453A (en) | 2017-01-23 | 2017-01-23 | Automatic turning and creeping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058916.6A CN106594453A (en) | 2017-01-23 | 2017-01-23 | Automatic turning and creeping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106594453A true CN106594453A (en) | 2017-04-26 |
Family
ID=58585341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710058916.6A Pending CN106594453A (en) | 2017-01-23 | 2017-01-23 | Automatic turning and creeping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106594453A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109489920A (en) * | 2018-11-15 | 2019-03-19 | 南通理工学院 | Pipeline inner wall electric spark coating leak hunting device |
| CN110425428A (en) * | 2019-06-24 | 2019-11-08 | 泉州市燃气有限公司 | A kind of portable leak detecting device of natural gas line maintenance based on ultrasound |
| CN112413283A (en) * | 2020-10-21 | 2021-02-26 | 河南科技学院 | Umbrella-shaped robot for pipeline detection |
| CN113932089A (en) * | 2020-07-14 | 2022-01-14 | 核动力运行研究所 | A serial-type robot of crawling for tiny pipeline overhauls |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2334318A (en) * | 1995-05-22 | 1999-08-18 | British Gas Plc | Pipeline vehicle |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline 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 |
| CN105627030A (en) * | 2016-03-07 | 2016-06-01 | 广东技术师范学院 | Main mechanism of pipeline crossing device for preventing track deviation and device |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN206522572U (en) * | 2017-01-23 | 2017-09-26 | 西安石油大学 | A kind of automatic turning crawl device |
-
2017
- 2017-01-23 CN CN201710058916.6A patent/CN106594453A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2334318A (en) * | 1995-05-22 | 1999-08-18 | British Gas Plc | Pipeline vehicle |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline 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 |
| CN105627030A (en) * | 2016-03-07 | 2016-06-01 | 广东技术师范学院 | Main mechanism of pipeline crossing device for preventing track deviation and device |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN206522572U (en) * | 2017-01-23 | 2017-09-26 | 西安石油大学 | A kind of automatic turning crawl device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109489920A (en) * | 2018-11-15 | 2019-03-19 | 南通理工学院 | Pipeline inner wall electric spark coating leak hunting device |
| CN110425428A (en) * | 2019-06-24 | 2019-11-08 | 泉州市燃气有限公司 | A kind of portable leak detecting device of natural gas line maintenance based on ultrasound |
| CN113932089A (en) * | 2020-07-14 | 2022-01-14 | 核动力运行研究所 | A serial-type robot of crawling for tiny pipeline overhauls |
| CN112413283A (en) * | 2020-10-21 | 2021-02-26 | 河南科技学院 | Umbrella-shaped robot for pipeline detection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106594453A (en) | Automatic turning and creeping device | |
| CN105178982B (en) | A kind of Single Mechanical arm duct piece assembling machine for rectangular shield | |
| CN106704766A (en) | In-pipe crawling device capable of conducting automatic righting | |
| CN206632074U (en) | A kind of Novel stretchable pipeline cleaning machine people | |
| CN106193269A (en) | A kind of drainage dredging equipment | |
| CN104563917A (en) | Multifunctional robot for drilling site | |
| CN206377404U (en) | The motion platform of pipe detection scanner | |
| CN107514519A (en) | Pipe robot | |
| CN102146686A (en) | Bucket wheel excavator | |
| CN109108005A (en) | A kind of power pipe cleaning device | |
| CN105173794B (en) | Rocker arm type coal bunker cleaning machine for accumulated coal in coal bunker and cleaning method thereof | |
| CN104179508A (en) | Roadway cleaning machine | |
| CN107829492A (en) | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot | |
| CN104088249A (en) | Scenic spot remote-control flying device for picking up rubbish automatically | |
| CN104815822B (en) | The automatic remover of portable pipe external anti-corrosion layer | |
| CN105332700B (en) | A kind of coal mine roadway groover | |
| CN206522572U (en) | A kind of automatic turning crawl device | |
| CN110080380A (en) | Silting desilting equipment and technique in managing | |
| CN108827237A (en) | A kind of dual probe Tunnel testing instrument | |
| CN107653977A (en) | A kind of small intelligent robot for being used to dredge sewer pipe | |
| CN206522573U (en) | One kind can crawl device in auto-strengthening pipe | |
| CN111173557A (en) | Search and rescue robot is listened to mine | |
| CN108252720A (en) | A kind of multifunctional tunnel repair machine | |
| CN209179780U (en) | A kind of double vehicle tunnel trolleys of subway | |
| CN203317349U (en) | Device capable of detaching handheld type temperature-sensing and smoke-sensing fire detector conveniently |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |