CN106764244A - A kind of magnetic suspension pipe robot - Google Patents
A kind of magnetic suspension pipe robot Download PDFInfo
- Publication number
- CN106764244A CN106764244A CN201710018524.7A CN201710018524A CN106764244A CN 106764244 A CN106764244 A CN 106764244A CN 201710018524 A CN201710018524 A CN 201710018524A CN 106764244 A CN106764244 A CN 106764244A
- Authority
- CN
- China
- Prior art keywords
- electromagnet
- push
- climbing pawl
- pawl
- pipe robot
- 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.)
- Granted
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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
-
- 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
The present invention relates to a kind of magnetic suspension pipe robot, including outer barrel, it is arranged on the upper end cover on outer barrel top, it is slidably arranged in the upper electromagnet of outer barrel, middle electromagnet and lower electromagnet, it is separately positioned on the upper push-pull device at fixed and lower push-pull device at fixed of electromagnet upper end and lower electromagnet bottom, it is separately positioned on the upper climbing pawl and lower climbing pawl of push-pull device at fixed end and lower push-pull device at fixed end, it is connected with spring respectively between upper electromagnet and middle electromagnet and between middle electromagnet and lower electromagnet, upper climbing pawl is connected on upper end cover by upper spring, lower climbing pawl is connected to outer barrel bottom by lower spring.Magnetic suspension pipe robot of the present invention, can solve the problem that the problem that existing pipe robot cannot creep vertically in the duct, while the requirement that level is creeped and creeped vertically can be met, and go for the pipeline of different-diameter.
Description
Technical field
The present invention relates to pipeline robot technique field, and in particular to a kind of magnetic suspension pipe robot.
Background technology
In today's society, pipeline has been widely used as a kind of instrument for conveying material, and they are much all embedded in
In the middle of underground, even deep-sea.In order to avoid pipeline is the problems such as there is blocking, leakage after long-term use, we must be right
Pipeline carries out regularly inspection and maintenance, but the environment imbedded due to it and too small etc. reason of pipe diameter, and people cannot be introduced into
Wherein overhauled, this is accomplished by us and is replaced people to complete service work using pipe robot, it is ensured that pipeline can be normal
Use.
At present, pipe robot of the prior art can be detected and repaired to the pipeline of level embedment, and its
Technology is very ripe, disclosure satisfy that the maintenance needs of horizontal pipe.But it is common for the detection and maintenance of vertical pipeline
Pipe robot cannot also be completed, and its problem is mainly pipe robot and is difficult to overcome gravity to be climbed in vertical pipeline.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies in the prior art, there is provided a kind of magnetic suspension pipeline machine
People, can solve the problem that the problem that existing pipe robot cannot creep vertically in the duct, while can meet level and creeping and erecting
The straight requirement creeped, and go for the pipeline of different-diameter.
To solve above technical problem, a kind of technical scheme that the present invention takes is：
A kind of magnetic suspension pipe robot, including outer barrel, are arranged on the upper end cover on outer barrel top, are slidably arranged in outer barrel
Upper electromagnet, middle electromagnet and lower electromagnet, are separately positioned on the upper push-and-pull of electromagnet upper end and lower electromagnet bottom
Device and lower push-pull device at fixed, are separately positioned on upper climbing pawl and the lower climbing of push-pull device at fixed end and lower push-pull device at fixed end
Pawl, is connected with spring respectively between upper electromagnet and middle electromagnet and between middle electromagnet and lower electromagnet, and upper climbing pawl leads to
Cross spring to be connected on upper end cover, lower climbing pawl is connected to outer barrel bottom by lower spring.
Preferably, upper climbing pawl includes an axle sleeve, six support bars being uniformly arranged on around axle sleeve, each support bar
End be provided with support block.
It is further preferred that the surface of each support block sets friction rubber.
Preferably, axle sleeve includes two half-axile sleeves connected by axle sleeve spring.
Preferably, support bar is welded on axle sleeve, and support block is welded on support bar, and friction rubber sticks to support block
On.
Preferably, upper push-pull device at fixed includes upper pull bar, and upper pull bar is relative with the axle sleeve of upper climbing pawl.
Preferably, lower climbing pawl is identical with upper climbing pawl structure.
Preferably, lower push-pull device at fixed includes lower push-pull bar, and lower push-pull bar is relative with the axle sleeve of lower climbing pawl.
Due to the use of above technical scheme, the present invention has the following advantages that compared with prior art：
1st, the present invention drives pipe robot to creep by electromagnetic force, while this driving force can make the climbing pawl of robot
It is vertical to be close to inner-walls of duct, and the plastic material for increasing friction is set in climbing pawl end, to increase it with inner-walls of duct
Frictional force, allows the robot to overcome Action of Gravity Field to be climbed vertically along pipeline, completes the work of service conduits, makes up conventional tube
Pipeline robot cannot overhaul the defect of vertical pipeline；
2nd, the present invention climbing pawl extensions diameter being adjusted according to service conduits self adaptation, therefore go for necessarily
The tubular service of diameter range.
Brief description of the drawings
Fig. 1 is general assembly structural representation of the present invention；
Fig. 2 is climbing pawl structural representation in the present invention；
Fig. 3 is climbing pawl structural representation under the present invention；
Wherein, 1, upper climbing pawl；1-1, upper climbing pawl axle sleeve spring；1-2, upper climbing pawl half-axile sleeve；1-3, the support of upper climbing pawl
Bar；1-4, upper climbing pawl support block；1-5, upper climbing pawl friction rubber；1-6, upper climbing pawl suspension ring；2nd, upper spring；3rd, upper end
Lid；3-1, upper end cover suspension ring；4th, the first connecting bolt and nut；5th, upper push-pull device at fixed；5-1, upper pull bar；6th, the second connection spiral shell
Bolt and nut；7th, upper electromagnet；7-1, upper electromagnet suspension ring；8th, spring；9th, middle electromagnet；9-1, middle electromagnet upper lift ring；9-
2nd, middle electromagnet lower lift ring；10th, lower electromagnet；10-1, lower electromagnet suspension ring；11st, lower push-pull device at fixed；11-1, lower push-pull bar；
12nd, outer barrel；12-1, outer barrel suspension ring；13rd, lower spring；14th, lower climbing pawl；14-1, lower climbing pawl axle sleeve spring；14-2, lower climbing
Pawl half-axile sleeve；14-3, lower climbing pawl support bar；14-4, lower climbing pawl support block；14-5, lower climbing pawl friction rubber；14-6、
Lower climbing pawl suspension ring.
Specific embodiment
The present invention is described in further details below in conjunction with drawings and the specific embodiments.
As shown in accompanying drawing 1 to accompanying drawing 3, a kind of magnetic suspension pipe robot of the invention, including outer barrel 12, it is arranged on outer barrel 12
The upper end cover 3 on top, is slidably arranged in upper electromagnet 7 inside outer barrel 12, middle electromagnet 9 and lower electromagnet 10, is respectively provided with
In the upper end of upper electromagnet 7 and the upper push-pull device at fixed 5 and lower push-pull device at fixed 11 of the bottom of lower electromagnet 10, it is separately positioned on and pushes away
The end of drawing device 5 and the upper climbing pawl 1 and lower climbing pawl 14 of the lower end of push-pull device at fixed 11, upper electromagnet 7 and middle electromagnet 9 pass through
Four springs 8 are together in series, and the two ends of spring 8 are separately fixed on electromagnet suspension ring 7-1 and middle electromagnet upper lift ring 9-1,
Middle electromagnet 9 and lower electromagnet 10 are together in series by four springs 8, and the two ends of spring 8 are hung under being separately fixed at middle electromagnet
On ring 9-2 and lower electromagnet suspension ring 10-1.
Upper climbing pawl 1 is connected on upper end cover 3 by six upper springs 2, and the two ends of upper spring 2 are separately fixed at upper end cover
On suspension ring 3-1 and upper climbing pawl suspension ring 1-6, lower climbing pawl 14 is connected to the bottom of outer barrel 12, lower spring by six lower springs 13
13 two ends are separately fixed on outer barrel suspension ring 12-1 and lower climbing pawl suspension ring 14-6.
Upper end cover 3 is fastened on outer barrel 12 by six the first connecting bolts and nut 4, and upper push-pull device at fixed 5 passes through six
Second connecting bolt is arranged on the upper end of upper electromagnet 7 with nut 6, and lower push-pull device at fixed 11 passes through six the second connecting bolts and spiral shell
Female 6 lower ends for being arranged on lower electromagnet 10.
Upper climbing pawl 1 include upper climbing pawl axle sleeve spring 1-1, upper climbing pawl half-axile sleeve 1-2, upper climbing pawl support bar 1-3,
Upper climbing pawl support block 1-4, upper climbing pawl friction rubber 1-5, upper climbing pawl suspension ring 1-6, two upper climbing pawl half-axile sleeve 1-2 lead to
The 1-1 connections of climbing pawl axle sleeve spring are crossed, six upper climbing pawl support bar 1-3 are uniformly welded on two upper climbing pawl half-axile sleeves
Around 1-2, climbed on each and pawl support block 1-4 is climbed in the end welding of pawl support bar 1-3, and in upper climbing pawl support block 1-
Climbing pawl friction rubber 1-5, upper climbing pawl suspension ring 1-6 are adhered on 4 and is welded on the middle part of climbing pawl support bar 1-3.Under climb
Climbing the structure of pawl 14, ibid to climb pawl 1 with size identical, including lower climbing pawl axle sleeve spring 14-1, lower climbing pawl half-axile sleeve 14-
2nd, lower climbing pawl support bar 14-3, lower climbing pawl support block 14-4, lower climbing pawl friction rubber 14-5, lower climbing pawl suspension ring 14-
6。
Upper push-pull device at fixed 5 includes upper pull bar 5-1, and upper pull bar 5-1 is relative with the axle sleeve of upper climbing pawl 1, lower push-and-pull dress
Putting 11 includes lower push-pull bar 11-1, and lower push-pull bar 11-1 is relative with the axle sleeve of lower climbing pawl 14.
The operation principle of magnetic suspension pipe robot of the present invention is as follows：Magnetic suspension pipe robot is put into vertical pipeline
Afterwards, the first step, rightabout electric current is passed through to middle electromagnet 9 and lower electromagnet 10, it is produced mutually exclusive electromagnetic force,
So that lower electromagnet 10 drives lower push-pull device at fixed 11 to move downward, lower push-pull bar 11-1 is set to insert the axle sleeve of lower climbing pawl 14
In, sleeve diameter is swollen, so that lower climbing pawl 14 is vertically close to inner-walls of duct, supports whole robot and do not fall；The
Two steps, the electric current in opposite direction with middle electromagnet 9 is passed through to upper electromagnet 7, it is produced mutually exclusive electromagnetic force, so that
Electromagnet 7 must be gone up drives upper push-pull device at fixed 5 to move upwards, makes in the axle sleeve for climbed in pull bar 5-1 insertions pawl 1, makes axle sleeve
Diameter swells, so that upper climbing pawl 1 is vertically close to inner-walls of duct, now goes up spring 2 and is in extended state；3rd step, gives down
Electromagnet 10 is passed through the electric current with the equidirectional of middle electromagnet 9, the electromagnetic force for making its generation attract each other, so that lower electromagnetism
Iron 10 drives lower push-pull device at fixed 11 to move upwards, in lower push-pull bar 11-1 is extracted from the axle sleeve of lower climbing pawl 14, makes axle sleeve straight
Footpath is reduced, so that lower climbing pawl 14 leaves inner-walls of duct, now the support force of whole robot is provided by upper climbing pawl 1；The
Four steps, the power supply of electromagnet 7 in cut-out, because upper spring is in extended state, can drive other dresses in addition to upper climbing pawl 1
Put and move upwardly together, realize climbing upwards for whole robot；5th step, phase is passed through to middle electromagnet 9 and lower electromagnet 10
The electric current of opposite direction, makes it produce mutually exclusive electromagnetic force, so that lower electromagnet 10 drives lower push-pull device at fixed 11 downward
Motion, under inserting lower push-pull bar 11-1 in the axle sleeve of climbing pawl 14, makes sleeve diameter swell, so that lower climbing pawl 14 is vertical
It is close to inner-walls of duct；6th step, to upper electromagnet 7 be passed through with the direction identical electric current of middle electromagnet 9 so that upper electromagnet
7 drive upper push-pull device at fixed 5 to move downward, and pull bar 5-1 is extracted from the axle sleeve of upper climbing pawl 1, reduce sleeve diameter,
So that upper climbing pawl 1 leaves inner-walls of duct, spring 2 is now gone up in the raw, the second to the 6th step is repeated afterwards, realize
The wriggling of pipe robot climbs.Magnetic suspension pipe robot of the present invention principle of being creeped downwards along pipeline is identical.
The present invention is described in detail above, the explanation of embodiment be only intended to help understand the method for the present invention and
Its core concept, its object is to allowing the personage for being familiar with this art to will appreciate that present disclosure and implementing according to this, and
Can not be limited the scope of the invention with this.Any equivalent change or modification in accordance with the spirit of the invention, should all contain
Cover within protection scope of the present invention.
Claims (8)
1. a kind of magnetic suspension pipe robot, it is characterised in that：Including outer barrel, the upper end cover on outer barrel top is arranged on, slip sets
Put in the upper electromagnet of outer barrel, middle electromagnet and lower electromagnet, be separately positioned on electromagnet upper end and lower electromagnet
The upper push-pull device at fixed of bottom and lower push-pull device at fixed, be separately positioned on push-pull device at fixed end and lower push-pull device at fixed end on climb
Pawl and lower climbing pawl are climbed, spring phase is used respectively between the upper electromagnet and middle electromagnet and between middle electromagnet and lower electromagnet
Connection, the upper climbing pawl is connected on the upper end cover by upper spring, and the lower climbing pawl is connected to institute by lower spring
State outer barrel bottom.
2. magnetic suspension pipe robot according to claim 1, it is characterised in that：The upper climbing pawl includes an axle
Six support bars cover, being uniformly arranged on around axle sleeve, the end of each support bar is provided with support block.
3. magnetic suspension pipe robot according to claim 2, it is characterised in that：The surface of each support block is set
Friction rubber.
4. magnetic suspension pipe robot according to claim 2, it is characterised in that：The axle sleeve includes passing through axle sleeve spring
Two half-axile sleeves of connection.
5. magnetic suspension pipe robot according to claim 2, it is characterised in that：The support bar is welded on the axle sleeve
On, the support block is welded on the support bar, and the friction rubber is sticked in the support block.
6. magnetic suspension pipe robot according to claim 2, it is characterised in that：The upper push-pull device at fixed includes upper push-and-pull
Bar, the upper pull bar is relative with the axle sleeve of the upper climbing pawl.
7. magnetic suspension pipe robot according to claim 2, it is characterised in that：Lower climbing pawl and the upper climbing
Pawl structure is identical.
8. magnetic suspension pipe robot according to claim 7, it is characterised in that：The lower push-pull device at fixed includes lower push-and-pull
Bar, the lower push-pull bar is relative with the axle sleeve of the lower climbing pawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018524.7A CN106764244B (en) | 2017-01-11 | 2017-01-11 | A kind of magnetic suspension pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018524.7A CN106764244B (en) | 2017-01-11 | 2017-01-11 | A kind of magnetic suspension pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106764244A true CN106764244A (en) | 2017-05-31 |
| CN106764244B CN106764244B (en) | 2018-10-30 |
Family
ID=58949258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710018524.7A Active CN106764244B (en) | 2017-01-11 | 2017-01-11 | A kind of magnetic suspension pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106764244B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108672123A (en) * | 2018-07-06 | 2018-10-19 | 西安交通大学 | A kind of adjustable injector of mixing chamber throat opening area |
| CN109357106A (en) * | 2018-10-30 | 2019-02-19 | 江苏科岭能源科技有限公司 | A kind of pipeline permanent magnetism magnetic suspension absorption crusing robot |
| CN109650235A (en) * | 2019-01-19 | 2019-04-19 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | A kind of mine cage climbs wall method with saving oneself to climb wall device and save oneself |
| CN110331661A (en) * | 2018-11-19 | 2019-10-15 | 长安大学 | A kind of bridge pier detection device based on electromagnetic spring type |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
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| CN201696807U (en) * | 2010-04-02 | 2011-01-05 | 浙江师范大学 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN103594978A (en) * | 2012-08-13 | 2014-02-19 | 顾严煌 | A magnetic suspension pipe cable work car |
| CN104251365A (en) * | 2013-06-25 | 2014-12-31 | 高文 | Magnetic-force-driven pipeline robot |
-
2017
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| US20040099175A1 (en) * | 2000-07-18 | 2004-05-27 | Yann Perrot | Robot vehicle adapted to operate in pipelines and other narrow passages |
| CN201696807U (en) * | 2010-04-02 | 2011-01-05 | 浙江师范大学 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108672123A (en) * | 2018-07-06 | 2018-10-19 | 西安交通大学 | A kind of adjustable injector of mixing chamber throat opening area |
| CN109357106A (en) * | 2018-10-30 | 2019-02-19 | 江苏科岭能源科技有限公司 | A kind of pipeline permanent magnetism magnetic suspension absorption crusing robot |
| CN110331661A (en) * | 2018-11-19 | 2019-10-15 | 长安大学 | A kind of bridge pier detection device based on electromagnetic spring type |
| CN109650235A (en) * | 2019-01-19 | 2019-04-19 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | A kind of mine cage climbs wall method with saving oneself to climb wall device and save oneself |
| CN109650235B (en) * | 2019-01-19 | 2020-10-09 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Self-rescue wall climbing device and self-rescue wall climbing method for mine cage |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106764244B (en) | 2018-10-30 |
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