CN107191740A - A kind of hydraulic-driven sizing pipe robot - Google Patents
A kind of hydraulic-driven sizing pipe robot Download PDFInfo
- Publication number
- CN107191740A CN107191740A CN201710384123.3A CN201710384123A CN107191740A CN 107191740 A CN107191740 A CN 107191740A CN 201710384123 A CN201710384123 A CN 201710384123A CN 107191740 A CN107191740 A CN 107191740A
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- China
- Prior art keywords
- storehouse
- hydraulic
- warehouse
- hydraulic cylinder
- supporting plate
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
- 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 invention belongs to robotic technology field, specifically related to a kind of hydraulic-driven sizing pipe robot, it is main to include storehouse after supporting preceding storehouse, connection storehouse and supporting, preceding storehouse is supported to include Qian Cang cross supports mechanism, preceding storehouse drive end bearing bracket, two-stage hydraulic cylinder, preceding storehouse rear end cap, the first slider disc and preceding storehouse warehouse, storehouse includes Hou Cang cross supports mechanism, rear storehouse drive end bearing bracket, hydraulic cylinder, rear storehouse warehouse, the second slider disc and rear storehouse rear end cap after support, and connection storehouse includes connection storehouse warehouse.This hydraulic-driven sizing pipe robot can be moved in various angles compared with the pipeline cathetus of pipe with small pipe diameter, the observation mission that camera completes pipeline inner case can be carried, while power also can be provided for other operation pipe robots.The characteristics of this robot has miniaturization, lightness, has the advantages that simple in construction, power is sufficient, reliability is high, obstacle climbing ability is strong, space availability ratio is high, wheel efficiency is high, driving power is sufficient, direct of travel is variable.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of hydraulic-driven sizing pipe robot.
Background technology
In the modern times, either waterpower, heat power station, or coal gas, running water, industrial water and heating system etc. are public
Facility, and the industrial production system such as oil, chemical industry, there is crisscross pipeline.Pipeline is transported as a kind of effective material
Defeated means and be widely used, these pipe-line systems convey various liquids and gases materials when, followed due to vibrated, hot
Ring, burn into excess load etc. are acted on, and adding the latent defect that pipeline may hide in itself, (such as crackle, sand holes, joint connection are not
It is good etc.), the life-span is always limited.In order to improve pipeline life, prevent the generation of the accidents such as leakage, it is necessary to pipeline is carried out effective
Detection safeguard, because pipe-line system is either embedded in underground or is erected at high-altitude, or internal diameter of the pipeline very little, internal structure
Intricate, bad environments, employment carries instrument and checks very difficult, can not accomplish sometimes or even at all, in artificial detection side
In the case of there are shortcomings in formula, develop it is a kind of can deep enough pipeline removable pipe detection device be it is very necessary,
Therefore Monitoring Pinpelines robot has obtained increasing application as a kind of effective pipe testing apparatus.
This detection technique improves the accuracy that pipeline examines side, is easy to pipeline engineering management service personnel analysis to understand pipe
Road defect Producing reason, carries out the assessment to defect, works out pipe-line maintenance scheme, eliminates pipe safety hidden danger, in accident hair
Pipeline section is just in a planned way repaired or changed before death, so as to save substantial amounts of maintenance cost, pipe-line maintenance cost is reduced, ensures the people
Life and property safety.
Current existing detecting robot of pipe has a variety of traveling modes, such as wheeled, crawler type, creeping motion type, spiral
Deng now using more predominantly following several structures：Crawler belt bassinet structure, bottom drives the pipe robot to exist using crawler belt
The pipeline internal is walked；The pipe robot, is supported on by supporting bar structure using folding rod structure of the end with wheel
In the middle of the pipeline, walking movement is then realized again；In wheeled construction, the wheel and pipeline using conventional wheel or special construction
Wall is contacted, and the pipe robot is sailed in the pipeline internal.But this existing several pipe robot are tied due to itself
There are many problems in the limitation of structure, such as poor to the poor for applicability of pipeline, the difficult, obstacle climbing ability that turns in pipeline
Deng.
Compared with traditional wheeled and crawler belt type pipeline robot, creeping motion type pipe robot has good airproof performance, transversal
The features such as area is small, obstacle climbing ability is strong, but still suffer from robot ambulation efficiency it is low, discontinuous, change support zone when fuselage not
Stable the problems such as.
In addition, in addition to traveling mode, type of drive is also to evaluate the one side of pipe robot performance, is applied at present
Type of drive on pipe robot also has a variety of, and type of drive more common at present drives and hydraulic-driven for motor, hydraulic pressure
Main driving element is hydraulic cylinder in type of drive, and hydraulic cylinder is that hydraulic energy is changed into mechanical energy, linear reciprocation fortune is done
The hydraulic actuator of dynamic (or oscillating motion).Its simple in construction, reliable operation.Realized during reciprocating motion, can removed from it
Deceleration device, and without drive gap, stable movement, therefore be used widely in various mechanical hydraulic systems.Liquid
Cylinder pressure power output and piston effective area and its pressure difference on both sides are directly proportional；Hydraulic cylinder substantially by cylinder barrel and cylinder cap, piston and
Piston rod, sealing device, buffer unit and exhaust apparatus are constituted；Buffer unit and exhaust apparatus depending on concrete application occasion,
Other devices are then essential.
The structure type of hydraulic cylinder is varied, and its sorting technique also has a variety of：It can be divided into linear reciprocation by motion mode
Campaign-styled and gyroscopic pendulum dynamic formula；It can be divided into single-acting formula, double-acting type by by action of hydraulic force situation；It can be divided into by structure type
Piston type, plunger type, multi-stage expansion are telescopic, pinion and-rack etc.；It can be divided into pull bar, earrings, footing, hinge by installation form
Deng；It can be divided into two-stage hydraulic cylinder and one-stage hydraulic cylinder by action direction.One-stage hydraulic cylinder is exactly activity in one direction, identical
The strength of single-stage is big if cylinder diameter, more than oil consumption but is needed if necessary to the activity of other directions by external force, 2-level hydraulic
Cylinder can the strength of two-stage hydraulic cylinder be smaller for both direction activity, identical cylinder diameter, but oil consumption is comparatively few.And motor drives
Kinetoplast product is big, the problems such as and generally existing power source not enough high to requirements of installation space.
The content of the invention
It is an object of the invention to provide a kind of obstacle climbing ability is strong, space availability ratio is high, wheel efficiency is high, driving power fills
The variable hydraulic-driven sizing pipe robot of foot, direct of travel.
The object of the present invention is achieved like this：
Storehouse after a kind of hydraulic-driven sizing pipe robot, including the preceding storehouse of support, connection storehouse and support；Preceding storehouse is supported to include
Qian Cang cross supports mechanism, preceding storehouse drive end bearing bracket 1, two-stage hydraulic cylinder 11, preceding storehouse rear end cap 12, the first slider disc 13 and preceding storehouse warehouse
14, wherein Qian Cang cross supports mechanism includes the first supporting plate 2, first fixation connecting rod base 3, the fixation of the first slide link 4, first
Connecting rod 5, the first slipmat 6, the first slide link seat 7 and the first slide rail 8；After support storehouse include Hou Cang cross supports mechanism, after
Storehouse drive end bearing bracket 10, hydraulic cylinder 15, rear storehouse warehouse 16, the second slider disc 17 and rear storehouse rear end cap 18, wherein rear storehouse cross support machine
Structure includes the second supporting plate 19, second and fixes connecting rod base 20, the second slide link 21, second fixation connecting rod 22, the second slipmat
23rd, the second slide link seat 24 and the second slide rail 25；Connecting storehouse includes connection storehouse warehouse 9；
Support in preceding storehouse, preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12 are fixed on preceding storehouse warehouse by soket head cap screw respectively
14 rear and front end, two-stage hydraulic cylinder 11 is connected respectively by flange with preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12；
After support in storehouse, rear storehouse drive end bearing bracket 10 and rear storehouse rear end cap 18 are fixed on rear storehouse warehouse by soket head cap screw respectively
16 rear and front end, hydraulic cylinder 15 is connected respectively by flange with rear storehouse miscellaneous part；
Connect in storehouse, connection one end of storehouse warehouse 9 is fixed by bolt and nut with rear storehouse warehouse 16, and the other end is enclosed on Qian Cang storehouses
The outside of body 14.
For a kind of hydraulic-driven sizing pipe robot, described two-stage hydraulic cylinder 11 includes first order hydraulic cylinder, the
One-level flange, second level hydraulic cylinder, second level flange and afterbody flange, first order flange are fixed on behind preceding storehouse by bolt and nut
On end cap 12, second level flange is installed together by bolt and nut with the first slider disc 13, and afterbody flange passes through bolt and nut
It is fixed on rear storehouse drive end bearing bracket 10.
For a kind of hydraulic-driven sizing pipe robot, described hydraulic cylinder 15 include hydraulic cylinder, first order flange,
Second level flange and afterbody flange, first order flange are fixed by bolt and nut with rear storehouse warehouse intermediate end cover, second level flange
It is installed together by bolt and nut with the second slider disc 17, afterbody flange is fixed by bolt and nut with rear storehouse drive end bearing bracket 10.
For a kind of hydraulic-driven sizing pipe robot, in described Qian Cang cross supports mechanism before the first slide rail 8
Two ends are separately mounted on preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12 afterwards, and first is provided with by setting-in mode on the first slide rail 8
Slider disc 13；First one end for fixing connecting rod base 3 is arranged on preceding storehouse drive end bearing bracket 1 by bolt and nut, and the other end is by being hinged
Mode and first fixation connecting rod 5 one end be installed together, first fixation connecting rod 5 the other end installed by way of being hinged
In the first supporting plate 2；First slide link, 7 one end of seat are arranged in the first slider disc 13 by bolt and nut, and the other end leads to
Cross the mode being hinged and one end of the first slide link 4 is installed together, the other end of the first slide link 4 is arranged on first
On fagging 2；First slide link 4 is installed together with the first fixation connecting rod 5 in isometric position by way of being hinged.
For a kind of hydraulic-driven sizing pipe robot, the first described supporting plate 2 is flat-shaped in day, and there is raised support at two ends
Plate, supporting plate is in hollow inverted trapezoidal, and middle vacancy shape is mutually agreed with slipmat 6, and slipmat 6 is arranged on the two ends of the first supporting plate 2
Raised supporting plate on；There is one section of slideway on the bracing structure of first supporting plate 2, the first slide link 4 is close to the first support
One end of plate 2 is arranged in the slideway of the first supporting plate 2.
For a kind of hydraulic-driven sizing pipe robot, the preceding storehouse of described support and storehouse drive end bearing bracket 10 after storehouse after support
It is in symmetrical structure, the building block type and connected mode of Qian Cang cross supports mechanism and Hou Cang cross supports mechanism for symmetry axis
It is identical, but both after the installation that corresponding end is covered at an angle.
For a kind of hydraulic-driven sizing pipe robot, described preceding storehouse cross-brace construction has three groups, three groups of preceding storehouses
Cross-brace construction is uniformly distributed in circumferentially-spaced 120 °, and rear storehouse cross-brace construction quantity and mounting means intersect branch with preceding storehouse
Support structure is identical, but 60 ° of the angle interval of front and rear storehouse cross-brace construction correspondence installation site.
For a kind of hydraulic-driven sizing pipe robot, behind described preceding storehouse drive end bearing bracket 1, rear storehouse drive end bearing bracket 10, preceding storehouse
End cap 12, rear storehouse rear end cap 18 are hexagonal structure.
For a kind of hydraulic-driven sizing pipe robot, described preceding storehouse warehouse 14 and rear storehouse warehouse 16 are insertion
The position of correspondence installation cross-brace construction is provided with rectangular aperture on hexahedron, front and rear warehouse surface, and Opening length is with intersecting branch
The length of support structure is identical.
For a kind of hydraulic-driven sizing pipe robot, described connection storehouse warehouse 9 is cylindrical structural, and inside is provided with
Run through through hole in hexahedron shape.
The beneficial effects of the present invention are：The present invention not only inherits creeping motion type machine using the progression of creeping motion type
The features such as people's good airproof performance, cross-sectional area are small, obstacle climbing ability is strong, while it is low, no to also overcome squirmy robot wheel efficiency
The problems such as fuselage is unstable when continuously, changing support zone；Furthermore, for type of drive, the present invention uses hydraulic-driven side
Formula, it is more sufficient using hydraulic cylinder as power driving source compared with motor drives, more loads can be carried；When pipeline inclination angle
Spend it is big or during in plumbness, motor driving force be likely to can not balance motor self gravitation and cause to turn on one's side, hit damage
Bad the problems such as, and hydraulic-driven can be such that robot is moved in the pipeline of various angles；In addition, the friendship proposed in the present invention
Fork supporting mechanism does not have dead point, will not be stuck, can be by shrinking piston rod when supporting mechanism meets obstacle in pipeline to be stopped
Mode remove barriers；Finally, the present invention realizes mobile and two motions of support using two-stage hydraulic cylinder, shortens structure
Entire length, saves space.
Brief description of the drawings
Fig. 1 is main view direction structure schematic diagram of the present invention；
Fig. 2 is side-looking direction structural representation of the present invention；
Fig. 3 is the Section A-A diagrammatic cross-section of main view direction of the present invention part B；
Fig. 4 is the Section A-A diagrammatic cross-section of main view direction of the present invention C portion；
Fig. 5 is main view direction part B internal structure schematic diagram of the present invention；
Fig. 6 is the preceding storehouse warehouse structural representation of support；
Fig. 7 is main view direction C portion internal structure schematic diagram of the present invention；
Fig. 8 is storehouse warehouse structural representation after support；
Fig. 9 is connection storehouse warehouse structural representation；
Figure 10 is slide link holder structure schematic diagram.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Embodiment 1
With reference to Fig. 1, Fig. 3 and Fig. 4, a kind of hydraulic-driven sizing pipe robot proposed by the invention is included before support
Storehouse after storehouse, connection storehouse and support；Support preceding storehouse and include Qian Cang cross supports mechanism, it is preceding storehouse drive end bearing bracket 1, two-stage hydraulic cylinder 11, preceding
Storehouse rear end cap 12, the first slider disc 13 and preceding storehouse warehouse 14, wherein Qian Cang cross supports mechanism include the first supporting plate 2, first
Fixed connecting rod base 3, the first slide link 4, first fix connecting rod 5, the first slipmat 6, the first slide link seat 7 and the first slide rail
8；Storehouse includes Hou Cang cross supports mechanism, rear storehouse drive end bearing bracket 10, hydraulic cylinder 15, rear storehouse warehouse 16, the second slider disc 17 after support
With rear storehouse rear end cap 18, wherein Hou Cang cross supports mechanism includes the fixation slip of connecting rod base 20, second of the second supporting plate 19, second
Connecting rod 21, second fixes connecting rod 22, the second slipmat 23, the second slide link seat 24 and the second slide rail 25；Connecting storehouse includes connecting
Storehouse warehouse 9 is connect, one end of connection storehouse warehouse 9 is fixed by bolt and nut with rear storehouse warehouse 16, and the other end is enclosed on preceding storehouse warehouse 14
Outside.
With reference to Fig. 3, Fig. 5 and Fig. 6, support in preceding storehouse, preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12 pass through interior hexagonal spiral shell respectively
Nail is fixed on the rear and front end of preceding storehouse warehouse 14；Two-stage hydraulic cylinder 11 includes first order hydraulic cylinder, first order flange, second level liquid
Cylinder pressure, second level flange and afterbody flange, first order flange are fixed on preceding storehouse rear end cap 12 by bolt and nut, second level method
Orchid is installed together by bolt and nut with the first slider disc 13, and afterbody flange is fixed on rear storehouse drive end bearing bracket 10 by bolt and nut
On；The first order hydraulic cylinder of two-stage hydraulic cylinder 11 drives the preceding storehouse of support to be moved back and forth on the inside of connection storehouse, to realize pipeline machine
People's moves forward and backward, and second level hydraulic cylinder drives the first slider disc 13 to be moved back and forth on the first slide rail 8, so as to control preceding storehouse
Cross-brace construction being propped up and reclaims.
The rear and front end of the first slide rail 8 is separately mounted to preceding storehouse drive end bearing bracket 1 and Qian Cang rear ends in Qian Cang cross supports mechanism
On lid 12, first slider disc 13 is provided with by setting-in mode on the first slide rail 8, the first slider disc 13 can be on the first slide rail 8
Slidably reciprocate；First one end for fixing connecting rod base 3 is arranged on preceding storehouse drive end bearing bracket 1 by bolt and nut, and the other end is by being hinged
Mode and first fixation connecting rod 5 one end be installed together, first fixation connecting rod 5 the other end installed by way of being hinged
In the first supporting plate 2；First slide link, 7 one end of seat are arranged in the first slider disc 13 by bolt and nut, and the other end leads to
Cross the mode being hinged and one end of the first slide link 4 is installed together, the other end of the first slide link 4 is arranged on first
On fagging 2；First slide link 4 is installed together with the first fixation connecting rod 5 in isometric position by way of being hinged.
With reference to Fig. 4, Fig. 7 and Fig. 8, after support in storehouse, rear storehouse drive end bearing bracket 10 and rear storehouse rear end cap 18 pass through interior hexagonal respectively
Screw is fixed on the rear and front end of rear storehouse warehouse 16, and hydraulic cylinder 15 includes hydraulic cylinder, first order flange, second level flange and tail
Portion's flange, first order flange is fixed by bolt and nut with rear storehouse warehouse intermediate end cover, second level flange by bolt and nut with
Second slider disc 17 is installed together, and afterbody flange is fixed by bolt and nut with rear storehouse drive end bearing bracket 10；The hydraulic pressure of hydraulic cylinder 15
Piston rod in cylinder body drives the second slider disc 17 to be moved back and forth on slide rail 8, so as to control the support of preceding storehouse cross-brace construction
Rise with reclaiming.
For a kind of hydraulic-driven sizing pipe robot, the preceding storehouse of described support and storehouse drive end bearing bracket 10 after storehouse after support
It is in symmetrical structure, the building block type and connected mode of Hou Cang cross supports mechanism and Qian Cang cross supports mechanism for symmetry axis
It is identical, but both after the installation that corresponding end is covered at an angle.
With reference to Fig. 2, Fig. 5 and Fig. 7, preceding storehouse cross-brace construction has three groups, three groups of preceding storehouse cross-brace constructions in the present invention
It is uniformly distributed in circumferentially-spaced 120 °, rear storehouse cross-brace construction quantity and mounting means are identical with preceding storehouse cross-brace construction,
But 60 ° of the angle interval of front and rear storehouse cross-brace construction correspondence installation site.
With reference to Fig. 1 and Fig. 5, the first heretofore described supporting plate 2 is flat-shaped in day, and there is raised supporting plate at two ends, and supporting plate is in
Hollow inverted trapezoidal, middle vacancy shape is mutually agreed with slipmat 6, and slipmat 6 is arranged on the raised supporting plate at the two ends of the first supporting plate 2
On；There is one section of slideway on the bracing structure of first supporting plate 2, the first slide link 4 is pacified close to one end of the first supporting plate 2
In the slideway of the first supporting plate 2, the first slide link 4 can slidably reciprocate in the slideway of the first supporting plate 2.Second support
The structural form and connecting mode of plate 19 are identical with the first supporting plate 2.
With reference to Fig. 5 and Fig. 7, heretofore described preceding storehouse drive end bearing bracket 1, rear storehouse drive end bearing bracket 10, preceding storehouse rear end cap 12, rear storehouse
Rear end cap 18 is hexagonal structure.
With reference to Fig. 6 and Fig. 8, heretofore described preceding storehouse warehouse 14 and the hexahedron that rear storehouse warehouse 16 is insertion are preceding
The position of correspondence installation cross-brace construction is provided with the length of rectangular aperture, Opening length and cross-brace construction on back cabin body surface
Degree is identical.
With reference to Fig. 9, heretofore described connection storehouse warehouse 9 is cylindrical structural, and inside is provided with passing through in hexahedron shape
Reach through hole.
For a kind of hydraulic-driven sizing pipe robot, its whole work process is as follows：
(1) piston rod in the hydraulic cylinder of hydraulic cylinder 15 is stretched out, and the cross support mechanism in storehouse is propped up after support, supporting plate with
Inner-walls of duct is fully contacted, and whole device is fixed on into pipeline center, now supports the cross support mechanism in preceding storehouse to reclaim shape
State；
(2) piston rod in the first order hydraulic cylinder of two-stage hydraulic cylinder 11 stretches out, and promotes the preceding storehouse of support, makes the preceding storehouse of support whole
Body forward or moves up a segment distance in connection storehouse warehouse 9 inner side；
(3) piston rod in the second level hydraulic cylinder of two-stage hydraulic cylinder 11 stretches out, and supports the cross support mechanism support in preceding storehouse
Rise, supporting plate is fully contacted with inner-walls of duct；
(4) piston rod in the hydraulic cylinder of hydraulic cylinder 15 is retracted, and the supporting mechanism in storehouse is reclaimed after support, supporting plate and pipeline
Inwall departs from；
(5) piston rod in the first order hydraulic cylinder of two-stage hydraulic cylinder 11 is retracted, and pulls storehouse after support, make after support storehouse with
And connection storehouse warehouse 9 forward or moves up a segment distance in the outside of preceding storehouse warehouse 14；
(6) piston rod in the hydraulic cylinder of hydraulic cylinder 15 is stretched out, and the cross support mechanism in storehouse is propped up after support, supporting plate with
Inner-walls of duct is fully contacted, and is and so on circulated, you can realize the movement of the pipe robot in the duct.
Embodiment 2
With reference to Fig. 1 to Figure 10, hydraulic-driven sizing wriggle pipeline robot structure is mainly constituted including supporting preceding storehouse, support
Afterwards storehouse and connection storehouse.Preceding storehouse is supported mainly to include preceding storehouse drive end bearing bracket 1, supporting plate 2, fixed connecting rod base 3, slide link 4, fixed company
Bar 5, slipmat 6, slide link seat 7, slide rail 8, two-stage hydraulic cylinder 11, preceding storehouse rear end cap 12, slider disc 13 and preceding storehouse warehouse 14；
Connecting storehouse mainly includes connection storehouse warehouse 9 and hydraulic cylinder 11；After support storehouse mainly include rear storehouse drive end bearing bracket 10, hydraulic cylinder 15, after
It is storehouse warehouse 16, slider disc 17, rear storehouse rear end cap 18, supporting plate 19, fixed connecting rod base 20, slide link 21, fixed connecting rod 22, anti-
Skidding 23, slide link seat 24 and slide rail 25.
As shown in Fig. 3, Fig. 5, Fig. 6, in the preceding storehouse of support, preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12 pass through interior hexagonal spiral shell
Nail is fixed on the two ends of preceding storehouse warehouse 14, and the two ends of slide rail 8 are individually fixed in preceding storehouse drive end bearing bracket 1 and preceding storehouse rear end cap 12, slides
Disk 13 can reciprocatingly slide on slide rail 8, and fixed connecting rod base 3 is fixed on preceding storehouse drive end bearing bracket 1, and slide link seat 7 is fixed on slip
Disk 13, fixed one end of connecting rod 5 is hinged with fixed connecting rod base 3, and the other end is hinged with supporting plate 2, the one end of slide link 4 and the company of slip
Pole socket 7 is hinged, and the other end is slided in the slideway of supporting plate 2, and fixed connecting rod 5 is hinged with slide link 4 in isometric position, two grades
The second level collar of hydraulic cylinder 11 is fixed with slider disc 13, and the second level of two-stage hydraulic cylinder 11 drives slider disc 13 on slide rail 8
Reciprocatingly slide, so that propping up and reclaiming for preceding storehouse supporting mechanism is driven, circumferentially-spaced 120 ° uniform three groups of supporting mechanism.After support
Storehouse is identical with support front chamber structure.
Connect in storehouse, connection one end of storehouse warehouse 9 is fixed by bolt and nut with rear storehouse warehouse 16, and the other end is enclosed on Qian Cang storehouses
The outside of body 14, the afterbody flange of two-stage hydraulic cylinder 11 is fixed by bolt and nut with storehouse drive end bearing bracket 10, and first order flange passes through
Bolt and nut is fixed with preceding storehouse rear end cap 12.The first order of two-stage hydraulic cylinder 11 can ensure to support preceding storehouse past on the inside of connection storehouse
It is multiple mobile, to realize moving forward and backward for pipe robot.
The whole process of hydraulic-driven sizing wriggle pipeline robot work：The piston rod of hydraulic cylinder 15 stretches out, storehouse after support
Supporting mechanism prop up, supporting plate is fully contacted with inner-walls of duct, and whole device is fixed on into pipeline center, now supports preceding storehouse
Supporting mechanism be recovery state, the first order piston rod of two-stage hydraulic cylinder 11 stretches out, and promotes the preceding storehouse of support, makes the preceding storehouse of support whole
Body forward or moves up a segment distance on the inside of connection storehouse warehouse 9, and the second level piston rod of two-stage hydraulic cylinder 11 stretches out, support
The supporting mechanism in preceding storehouse is propped up, and supporting plate is fully contacted with inner-walls of duct, and the piston rod of hydraulic cylinder 15 is retracted, the support in storehouse after support
Mechanism is reclaimed, and supporting plate departs from inner-walls of duct, and the first order piston rod of two-stage hydraulic cylinder 11 is retracted, and is pulled storehouse after support, is made
Storehouse and connection storehouse warehouse 9 forward or move up a segment distance, the piston rod of hydraulic cylinder 15 in the outside of preceding storehouse warehouse 14 after support
Stretch out, the supporting mechanism in storehouse is propped up after support, and supporting plate is fully contacted with inner-walls of duct, is and so on circulated, you can realizing should
The movement of pipe robot in the duct.
The present invention includes：The moving device of robot, that is, support the reasonable connection in storehouse after preceding storehouse, connection storehouse, support；Utilize
One two-stage hydraulic cylinder completes support and two actions of advancing；By Driven by Hydraulic Cylinder without cross support mechanism in storehouse before and after dead point.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of hydraulic-driven sizing pipe robot, it is characterised in that：Storehouse after including supporting preceding storehouse, connection storehouse and supporting；Branch
Preceding storehouse is supportted to slide including Qian Cang cross supports mechanism, preceding storehouse drive end bearing bracket (1), two-stage hydraulic cylinder (11), preceding storehouse rear end cap (12), first
Moving plate (13) and preceding storehouse warehouse (14), wherein Qian Cang cross supports mechanism include the first supporting plate (2), the first fixation connecting rod base
(3), the first slide link (4), first fix connecting rod (5), the first slipmat (6), the first slide link seat (7) and the first slide rail
(8)；Storehouse includes Hou Cang cross supports mechanism, rear storehouse drive end bearing bracket (10), hydraulic cylinder (15), rear storehouse warehouse (16), second after support
Slider disc (17) and rear storehouse rear end cap (18), wherein Hou Cang cross supports mechanism include the second supporting plate (19), second company of fixation
Pole socket (20), the second slide link (21), second fix connecting rod (22), the second slipmat (23), the second slide link seat (24)
With the second slide rail (25)；Connecting storehouse includes connection storehouse warehouse (9)；
Support in preceding storehouse, preceding storehouse drive end bearing bracket (1) and preceding storehouse rear end cap (12) are fixed on preceding storehouse warehouse by soket head cap screw respectively
(14) rear and front end, two-stage hydraulic cylinder (11) is connected respectively by flange with preceding storehouse drive end bearing bracket (1) and preceding storehouse rear end cap (12)；
After support in storehouse, rear storehouse drive end bearing bracket (10) and rear storehouse rear end cap (18) are fixed on rear storehouse warehouse by soket head cap screw respectively
(16) rear and front end, hydraulic cylinder (15) is connected respectively by flange with rear storehouse miscellaneous part；
Connect in storehouse, connection storehouse warehouse (9) one end is fixed by bolt and nut and rear storehouse warehouse (16), and the other end is enclosed on Qian Cang storehouses
The outside of body (14).
2. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described 2-level hydraulic
Cylinder (11) includes first order hydraulic cylinder, first order flange, second level hydraulic cylinder, second level flange and afterbody flange, first order method
Orchid is fixed on preceding storehouse rear end cap (12) by bolt and nut, and second level flange is pacified by bolt and nut and the first slider disc (13)
It is fitted together, afterbody flange is fixed on rear storehouse drive end bearing bracket (10) by bolt and nut.
3. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described hydraulic cylinder
(15) hydraulic cylinder, first order flange, second level flange and afterbody flange are included, first order flange passes through bolt and nut and rear storehouse
Warehouse intermediate end cover is fixed, and second level flange is installed together by bolt and nut with the second slider disc (17), and afterbody flange leads to
Cross bolt and nut fixed with rear storehouse drive end bearing bracket (10).
4. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described preceding storehouse intersects
The rear and front end of the first slide rail (8) is separately mounted on preceding storehouse drive end bearing bracket (1) and preceding storehouse rear end cap (12) in supporting mechanism, and first
The first slider disc (13) is provided with by setting-in mode on slide rail (8)；One end of first fixation connecting rod base (3) passes through bolt and nut
On preceding storehouse drive end bearing bracket (1), the one end of the other end with the first fixation connecting rod (5) by way of being hinged is installed together,
First other end for fixing connecting rod (5) is arranged in the first supporting plate (2) by way of being hinged；First slide link seat (7)
One end by bolt and nut be arranged on the first slider disc (13) on, the other end by way of being hinged with the first slide link (4)
One end be installed together, the other end of the first slide link (4) is arranged in the first supporting plate (2)；First slide link (4)
It is installed together with the first fixation connecting rod (5) in isometric position by way of being hinged.
5. a kind of hydraulic-driven sizing pipe robot according to claim 1 or 4, it is characterised in that：Described first
Supporting plate (2) is flat-shaped in day, and there is raised supporting plate at two ends, and supporting plate is in hollow inverted trapezoidal, middle vacancy shape and slipmat (6) phase contract
Close, slipmat (6) is arranged on the raised supporting plate at the first supporting plate (2) two ends；On the bracing structure of first supporting plate (2)
There is one section of slideway, the first slide link (4) is arranged in the slideway of the first supporting plate (2) close to one end of the first supporting plate (2).
6. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：The preceding storehouse of described support
It is that symmetry axis is in symmetrical structure, Qian Cang cross supports mechanism and rear storehouse cross support machine with storehouse drive end bearing bracket (10) after storehouse after support
The building block type of structure is identical with connected mode, but both after the installation that corresponding end is covered at an angle.
7. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described preceding storehouse intersects
Supporting construction has three groups, and three groups of preceding storehouse cross-brace constructions are uniformly distributed in circumferentially-spaced 120 °, rear storehouse cross-brace construction number
Amount and mounting means are identical with preceding storehouse cross-brace construction, but the angle interval of front and rear storehouse cross-brace construction correspondence installation site
60°。
8. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described Qian Cang front ends
Lid (1), rear storehouse drive end bearing bracket (10), preceding storehouse rear end cap (12), rear storehouse rear end cap (18) are hexagonal structure.
9. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described preceding storehouse warehouse
(14) be with rear storehouse warehouse (16) insertion hexahedron, correspondence is installed the position of cross-brace construction and opened on front and rear warehouse surface
There is rectangular aperture, Opening length is identical with the length of cross-brace construction.
10. a kind of hydraulic-driven sizing pipe robot according to claim 1, it is characterised in that：Described connection storehouse
Warehouse (9) is cylindrical structural, and inside is provided with runs through through hole in hexahedron shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384123.3A CN107191740A (en) | 2017-05-26 | 2017-05-26 | A kind of hydraulic-driven sizing pipe robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384123.3A CN107191740A (en) | 2017-05-26 | 2017-05-26 | A kind of hydraulic-driven sizing pipe robot |
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| Publication Number | Publication Date |
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| CN107191740A true CN107191740A (en) | 2017-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710384123.3A Pending CN107191740A (en) | 2017-05-26 | 2017-05-26 | A kind of hydraulic-driven sizing pipe robot |
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| CN (1) | CN107191740A (en) |
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| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
| CN108019586A (en) * | 2018-01-19 | 2018-05-11 | 浙江省天然气开发有限公司 | A kind of stable type pipe robot walking mechanism |
| CN108895244A (en) * | 2018-05-25 | 2018-11-27 | 哈尔滨工程大学 | A kind of variable diameter seabed tunnel robot for cleaning |
| CN111692361A (en) * | 2020-06-12 | 2020-09-22 | 盐城欧润石化设备制造有限公司 | Valve with limiting assembly |
| CN112283492A (en) * | 2020-11-18 | 2021-01-29 | 苏州市和诚市政交通养护有限公司 | Multifunctional pipeline maintenance machine |
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| CN113833935A (en) * | 2021-09-02 | 2021-12-24 | 神华国华寿光发电有限责任公司 | Pipeline robot |
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
| US12078280B2 (en) | 2019-09-16 | 2024-09-03 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit exploration robot comprising a positioning system |
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| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
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| FR3100857A1 (en) | 2019-09-16 | 2021-03-19 | Autonomous Clean Water Appliance (Acwa) Robotics | Duct exploration robot including a support socket module |
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| US12078280B2 (en) | 2019-09-16 | 2024-09-03 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit exploration robot comprising a positioning system |
| CN111692361B (en) * | 2020-06-12 | 2021-11-16 | 盐城欧润石化设备制造有限公司 | Valve with limiting assembly |
| CN111692361A (en) * | 2020-06-12 | 2020-09-22 | 盐城欧润石化设备制造有限公司 | Valve with limiting assembly |
| CN112283492A (en) * | 2020-11-18 | 2021-01-29 | 苏州市和诚市政交通养护有限公司 | Multifunctional pipeline maintenance machine |
| CN113833935A (en) * | 2021-09-02 | 2021-12-24 | 神华国华寿光发电有限责任公司 | Pipeline robot |
| CN113833935B (en) * | 2021-09-02 | 2023-08-11 | 国能寿光发电有限责任公司 | Pipeline robot |
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
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Application publication date: 20170922 |
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