CN107270026A - A kind of mobile device for gas pipeline crusing robot - Google Patents
A kind of mobile device for gas pipeline crusing robot Download PDFInfo
- Publication number
- CN107270026A CN107270026A CN201710669847.2A CN201710669847A CN107270026A CN 107270026 A CN107270026 A CN 107270026A CN 201710669847 A CN201710669847 A CN 201710669847A CN 107270026 A CN107270026 A CN 107270026A
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- China
- Prior art keywords
- mobile device
- gas pipeline
- folder
- wheel
- bulb
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
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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
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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 discloses a kind of mobile device for gas pipeline crusing robot, the mobile device includes central support shaft, is sheathed on the central siphon of the central support shaft, the screw drives wheel apparatus for being assembled to the central siphon, bulb mobile device and the balance wheel device for being assembled to the central support shaft；The screw drives wheel apparatus is pressed from both sides including at least two base legs, and the bulb mobile device is connected with base leg folder, and the bulb mobile device drives the base leg folder to rotate so that base leg folder is distributed in the shape of a spiral；Screw drives wheel apparatus and balance wheel device are used for the inwall against gas pipeline, and the screw drives wheel apparatus is used to connect drive device and the tube wall around gas pipeline is rotated, to cause the axis direction of the screw drives wheel apparatus and balance wheel device along the gas pipeline to move；The base leg of screw drives wheel apparatus is clipped by the tube wall to gas pipeline, can use the caliber of different gas pipelines, strong adaptability.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of mobile dress for gas pipeline crusing robot
Put.
Background technology
In modern production life, gas pipeline is widely used to metallurgy, oil, chemical industry and city gas supply.It is defeated
The working environment very severe of feed channel, during long-term use, due to chemical attack, mechanical damage, crustal movement, pipe
The reasons such as road annex abrasion easily occur burn into deformation, crackle, fatigue rupture or latent defect inside pipeline is developed into breakage
And cause leakage accident.And a big chunk pipeline is buried pipeline, pipe leakage hidden danger is difficult to find, easily causes fire
The major accidents such as calamity, blast.
Therefore, in order to take precautions against possible trouble, it is necessary to carry out regularly Measuring error to these pipelines.And dig out pipeline and examined
Survey, repair not only uneconomical but also unrealistic.Pipe robot is overhauled as underground utilities, fault-finding and exclusion etc. manually can not or
Person is difficult to reach the indispensable supplementary means in place, is increasingly used and is developed by engineer applied.
The power of gas pipeline robot and its motion control are always a pass for needing during engineer applied to solve
Key technology problem.At present, the forms of motion of pipe robot walking mechanism mainly has wheeled, crawler type, resilient support formula, spiral
Formula etc., drives mainly by motor.But because pipeline operations are all the more frequent, operating environment is changeable, different zones traveling condition is different,
Gait of march requirement is also different.Tradition four-wheel drive at present, walks unstable, easily topples, and driving force is not enough.Screw machine
People, can not make full use of, gait of march is single there is also the power that is short of power first, turn hard.Single group of screw driving wheel
Pipe robot, because moment loading can not ensure that its helicoid is parallel with pipeline section all the time, it is impossible to ensure robot transport
Row is steady.Also in terms of pipeline section change adaptability, the single spring controlled governor motion that prior art is used is adapted to
Effect is limited, and difficult control, when elastic pressure is larger, it may appear that driving force deficiency stuck phenomenon, consumes big energy more.
The content of the invention
The deficiency existed for above-mentioned prior art, is used for gas pipeline inspection machine it is an object of the invention to provide one kind
The mobile device of people, it has mobile stable, a moving direction easy switching, and the characteristics of adapt to the pipeline of different tube diameters.
To achieve these goals, the technical solution adopted in the present invention is：One kind is used for gas pipeline crusing robot
Mobile device, including central support shaft, the screw drives that are sheathed on the central siphon of the central support shaft, are assembled to the central siphon
Wheel apparatus, bulb mobile device and the balance wheel device for being assembled to the central support shaft, the screw drives wheel apparatus include
At least two base legs are pressed from both sides, and the bulb mobile device is connected with base leg folder, and the bulb mobile device drives the bottom
Seat leg folder rotate so that the base leg folder be distributed in the shape of a spiral, the screw drives wheel apparatus and balance wheel device be used for against
The inwall of gas pipeline, and the screw drives wheel apparatus is used to connect drive device and the tube wall around gas pipeline is rotated, with
So that the axis direction of the screw drives wheel apparatus and balance wheel device along the gas pipeline is moved.
Alternatively, the screw drives wheel apparatus also includes the cross connection component for being assembled in the central siphon, the base
Leg folder is pivoted to the cross connection component, and the cross connection component is rotated around the central siphon, to drive the base leg to press from both sides
Rotated around the tube wall.
Alternatively, the base leg folder includes being pivotally mounted to the drive-connecting shaft of the cross connection component, being hingedly mounted to
The leg folder of the drive-connecting shaft, the drive wheel assemblies for being hingedly mounted to leg folder, the connection drive-connecting shaft and the leg press from both sides the
One constrictor and the connection leg folder and at least one second constrictor of the drive wheel assemblies, at least one second compression
Bar and first constrictor stretch out to promote the outside expansion of base leg folder, to cause the drive wheel assemblies to be in spiral shell
Rotation shape conforms to the tube wall of gas pipeline.
Alternatively, the drive wheel assemblies include the installation axle for being hinged to the leg folder, the master for being attached to the installation axle
Roller, at least auxiliary wheel for being hingedly mounted to the installation axle, second constrictor connect the auxiliary wheel and institute
Leg folder is stated, the main roller and an at least auxiliary wheel conform to the tube wall of gas pipeline.
Alternatively, the bulb mobile device includes bulb component and is assembled in the link assembly of bulb component, the company
Bar assembly is connected to the base leg folder, axial movement of the bulb component along the central siphon, to cause the base leg to press from both sides
Rotate to change the hand of spiral.
Alternatively, the bulb component includes being slidedly arranged on the axle sleeve of the central siphon, being sheathed on the sliding block and group of the central siphon
Loaded on the bearing part between the sliding block and the axle sleeve, the link assembly is hingedly mounted to the axle sleeve.
Alternatively, the link assembly includes connecting rod, is fixed on the first connecting pole of the bulb component, is fixed on institute
The second connecting pole of base leg folder is stated, the connecting rod is respectively connecting to the first connecting pole and the second connecting pole.
Alternatively, first connecting pole includes the first connection end of spherical shape, and second connecting pole includes being in ball
Second connection end of planar, the connecting rod is matched respectively is connected to the first connection end and the second connection end, to cause the company
Extension bar and first connecting pole and the second connecting pole universal rotational.
Alternatively, the balance wheel device includes being fixed on the mounting seat of the central support shaft and is assembled to the peace
At least two supporting legs folder of seat is filled, the supporting leg clips the tube wall for being connected to gas pipeline, and along the axial movement of gas pipeline.
Alternatively, the supporting leg folder includes mounting rod, is hingedly mounted to the branch foot lever of the mounting rod, is hingedly mounted to
3rd constrictor of the stabilizer group of the branch foot lever, the connection mounting rod and the branch foot lever and it is connected the branch foot lever
With at least one the 4th constrictor of the stabilizer group, at least one the 3rd constrictor and the 4th constrictor stretch out
To promote the outside expansion of supporting leg folder, to cause the stabilizer group to conform to the tube wall of gas pipeline.
After said structure, the invention has the advantages that compared with the prior art,：
The base leg of screw drives wheel apparatus is clipped by the tube wall to gas pipeline, can use the pipe of different gas pipelines
Footpath, strong adaptability.Bulb mobile device driving screw drives wheel apparatus carries out the conversion of the hand of spiral, to cause screw driving wheel
Device adapts to the moving direction of crusing robot, and crusing robot maneuverability is good.Balance wheel device and screw drives wheel apparatus
The two ends of support shaft are centrally located, crusing robot is stretched in gas pipeline, the moving stability is good.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the main structure diagram of the present invention.
Fig. 2 is the structural representation that the present invention removes housing state.
Fig. 3 is the structural representation of clutch state of the present invention.
Fig. 4 is the structural representation of screw drives wheel apparatus in the present invention.
Fig. 5 is the right side structural representation of the present invention.
In figure：Central support shaft 10；Mobile device 20；Screw drives wheel apparatus 21；Base leg folder 211；Drive-connecting shaft 2111；
Leg folder 2112；Drive wheel assemblies 2113；Main roller 21131；Auxiliary wheel 21132；First constrictor 2114；Second constrictor
2115；Cross connection component 212；Balance wheel device 22；Mounting seat 221；Supporting leg folder 222；Mounting rod 2221；Branch foot lever
2222；Stabilizer group 2223；Tail main wheel 22231；Tail jockey pulley 22232；3rd constrictor 2224；4th constrictor 2225；Bulb
Mobile device 23；Bulb component 231；Link assembly 232；Second connecting pole 2321；Connecting rod 2322；First connecting pole 2323；
Commutate steering wheel 24；Commutate swing arm 241；Reversing bar 242；Mixed power plant 30；Central siphon 31；Driving wheel 32；Electric machine 33；Drive
Dynamic motor 331；Drive gear 332；Turbine apparatus 34；Rotary shaft 341；Turbine gear 342；Turbine assembly 343；Arrangement of clutch
35；First reduction assemblies 351；First connecting shaft 3511；Second reduction assemblies 352；Second connecting shaft 3521；Clutch component
353；Steering wheel 3531；Rocking arm 3532；Connecting rod 3533；Gear synchronizer 3534；Shell 40；Main part 41；Turbine portion 42；Mounting bracket
43。
Embodiment
As described below is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
Embodiment, as shown in Fig. 1 and Fig. 2：The invention provides a kind of crusing robot for gas pipeline.The inspection
Robot includes central support shaft 10, is assembled in the mobile device 20 and mixed power plant 30 of central support shaft 10, wherein, mix
Close power set 30 be crusing robot power source, to drive mobile device 20 to move, mobile device 20 to abut to
Gas pipeline and along the axial movement of gas pipeline.
Mobile device 20 includes screw drives wheel apparatus 21 and is assembled to the balance wheel device 22 of central support shaft 10, spiral shell
Rotation driving wheel apparatus 21 and balance wheel device 22 are abutted to the tube wall of gas pipeline, screw drives wheel apparatus 21 and stabilizer dress
Put 22 two ends for being located at central support shaft 10.Mixed power plant 30 is located at screw drives wheel apparatus 21 and balance wheel device 22
Between, and the driving screw drives of mixed power plant 30 wheel apparatus 21, screw drives wheel apparatus 21 is rotated in the shape of a spiral, so that
Crusing robot is obtained to move along gas pipeline.
The crusing robot is fitted by screw drives wheel apparatus 21 and balance wheel device 22 with the tube wall of gas pipeline, is fitted
For different gas pipelines, the strong adaptability of crusing robot.Crusing robot utilizes gas transmission using mixed power plant 30
The kinetic energy of fluids within pipes is converted into crusing robot and moves required kinetic energy, so as to reduce crusing robot self-energy
Consumption, improves the endurance of crusing robot, crusing robot is had more preferable operability.Pass through screw driving wheel
The helical form of device 21 is rotated so that axial movement of the crusing robot along gas pipeline, can be filled by adjusting screw driving wheel
Put 21 threadingly rotation direction it is easy to adjust to control the moving direction of crusing robot.
As shown in Fig. 2 and Fig. 3：Mixed power plant 30 includes being sheathed on the central siphon 31 of central support shaft 10, is fixed on axle
The driving wheel 32 of pipe 31, the electric machine 33 and turbine apparatus 34 that are connected respectively with driving wheel 32 and connection turbine apparatus 34 with
The arrangement of clutch 35 of electric machine 33.Bearing is provided between central siphon 31 and central support shaft 10, central siphon 31 is around central support shaft 10
Rotate, driving wheel 32 is connected on central siphon 31.Driving wheel 32 is gear structure, electric machine 33 and turbine apparatus 34 with driving
The engagement connection of wheel 32.
Screw drives wheel apparatus 21 is assembled to central siphon 31, when electric machine 33 or turbine apparatus 34 are rotated to drive driving wheel
32 when rotating, screw drives wheel apparatus 21 rotated around central siphon 31 and the tube wall of screw drives wheel apparatus 21 and gas pipeline knot
Conjunction face is rotated in the shape of a spiral, to cause crusing robot to be moved along the axis direction of gas pipeline.By controlling screw driving wheel
The hand of spiral of device 21, such as rotates along plus thread direction or is rotated along left-hand thread direction, can control crusing robot along defeated
The axis direction of feed channel advances or retreated.
The crusing robot also includes the shell 40 for being assembled to central support shaft 10, and the shell 40 is to store arrangement of clutch
35th, electric machine 33 and turbine apparatus 34.Wherein, shell 40 includes mounting bracket 43, and the mounting bracket 43 surround central support shaft 10,
Arrangement of clutch 35 and electric machine 33 are fixed to mounting bracket 43, to cause arrangement of clutch 35 and electric machine 33 and driving wheel
32 engagement connections, it is easy to adjust, install simple.
Shell 40 is stepped, and it includes cylindrical main part 41 and turbine portion 42, and the external diameter of main part 41 is less than
The external diameter of turbine portion 42.Connected between main part 41 and turbine portion 42 by reinforcement, shape between turbine portion 42 and reinforcement
Into passage, the parallel axis with gas pipeline of bearing of trend of the passage, turbine apparatus 34 be located in turbine portion 42 and with
Passage is turned on, and mounting bracket 43 is in main part 41.In crusing robot moving process, fluid flows through passage and pushed away
Dynamic turbine apparatus 34 works, to cause the turbine apparatus 34 in the crusing robot to be converted into the fluid dynamic energy in gas pipeline
The energy of crusing robot movement.
With continued reference to shown in Fig. 2 and Fig. 3：The turbine apparatus 34 includes being sheathed on the rotary shaft 341 of central support shaft 10, consolidated
It is connected in the turbine gear 342 and turbine assembly 343 of rotary shaft 341.Rotary shaft 341 is rolled with central support shaft 10 and is connected, and such as two
Bearing, or rotary shaft 341 is set to be sheathed on outside central support shaft 10 between person, rotary shaft 341 is rotated around central support shaft 10, whirlpool
Wheel gear 342 is connected in rotary shaft 341 and rotated around central support shaft 10.
Turbine assembly 343 is affixed to rotary shaft 341, to be converted into the fluid dynamic energy in gas pipeline to drive rotary shaft
341 kinetic energy rotated.Wherein, turbine assembly 343 includes being fixed on the adapter sleeve of rotary shaft 341 and is fixedly arranged on the fan of adapter sleeve
Leaf, axis direction extension of the flabellum along rotary shaft 341.Flabellum is uniformly distributed along the outer peripheral face of adapter sleeve, flabellum from adapter sleeve to
End distorts to form curved.When fluid flows through turbine assembly 343, flabellum rotation is promoted so that turbine assembly 343, which drives, to be rotated
Axle 341 rotates, and then turbine gear 342 is rotated.
Turbine gear 342 is connected with one end engagement of arrangement of clutch 35, and the other end and the driving wheel 32 of arrangement of clutch 35 are nibbled
Close connection.Wherein, arrangement of clutch 35 is to disconnect or connect the transmission between turbine apparatus 34 and driving wheel 32, to cause inspection
Robot uses turbine apparatus 34 or electric machine 33 as power source.
As shown in Figure 2：Arrangement of clutch 35 includes the first reduction assemblies 351 engaged with turbine apparatus 34 and driving wheel 32
Second reduction assemblies 352 of engagement and the clutch component 353 of the first reduction assemblies 351 of connection and the second reduction assemblies 352.The
One reduction assemblies 351 include the first connecting shaft 3511, and the second reduction assemblies 352 include and the coaxial line of the first connecting shaft 3511 and phase
To the second connecting shaft 3521 of setting.Clutch component 353 is slided along the first connecting shaft 3511 or the second connecting shaft 3521, to connect
Or the power disconnected between the first reduction assemblies 351 and the second reduction assemblies 352 is transmitted.
The other end of first reduction assemblies 351 is engaged with turbine gear 342, and the second reduction assemblies 352 are nibbled with driving wheel 32
Close.Clutch component 353 is sheathed on outside the first connecting shaft 3511 and the second connecting shaft 3521 and can slided along both, alternatively, the
One connecting shaft 3511 and the second connecting shaft 3521 are set to external gear shape structure, and clutch component 353 is provided with gear synchronizer 3534,
The gear synchronizer 3534 is provided with the internal gear matched with the first connecting shaft 3511 and the second connecting shaft 3521.Work as gear synchronizer
3534 are sheathed in the first connecting shaft 3511 and the second connecting shaft 3521 simultaneously, then the first reduction assemblies 351 and the second deceleration group
Part 352 is synchronized with the movement, and power is transferred to mobile device 20 by turbine apparatus 34, makes crusing robot using fluid dynamic energy as dynamic
Power, the power consumption of its own is few.When gear synchronizer 3534 is only sheathed on the first connecting shaft 3511 or the second connecting shaft 3521
On, then being synchronized with the movement for the first reduction assemblies 351 and the second reduction assemblies 352 is disconnected, the first reduction assemblies 351 are in turbine apparatus
34 are rotated by, and second reduction assemblies 352 are then in halted state.Now, if the mobile dress of the driving of electric machine 33
20 movements are put, then the electric energy that crusing robot is carried is as power source.If electric machine 33 does not drive mobile device 20 to move
Dynamic, then crusing robot keeps staying in current location, stops effect good.
Wherein, the rectilinear movement of gear synchronizer 3534 need to be controlled, the clutch component 353 includes the rudder for being assembled in shell 40
Machine 3531, the rocking arm 3532 for being assembled to steering wheel 3531, the connecting rod 3533 for being hinged to rocking arm 3532, gear synchronizer 3534 are affixed to
Connecting rod 3533.Gear synchronizer 3534 is sheathed in the first connecting shaft 3511 or the second connecting shaft 3521, and steering wheel 3531 is rotated and shaken
Arm 3532 is to cause connecting rod 3533 to drive gear synchronizer 3534 to move, to cause the first connecting shaft 3511 and the second connecting shaft
3521 synchronous axial systems or disconnection.
The rotational band motion rocker arm 3532 of steering wheel 3531 is rotated, and the drive link 3533 of rocking arm 3532 makes connecting rod 3533 with moving gear
Axial movement of the synchronizer 3534 along the first connecting shaft 3511 and the second connecting shaft 3521.By by the circular motion of steering wheel 3531
The rectilinear movement of gear synchronizer 3534 is converted into, the clutch effect of arrangement of clutch 35 is good, and operating space is small.
Electric machine 33 includes motor 331 and the drive gear 332 being assembled on the output shaft of motor 331, drives
Moving gear 332 is connected with the engagement of driving wheel 32.Drive gear 332 and arrangement of clutch 35 are engaged to driving wheel 32 respectively, by from
The power source of the control crusing robot of seaming element 353 is chosen, easy to operate.In crusing robot motion process, itself electric energy
Consumption is few, and endurance is strong.
As shown in Fig. 2 and Fig. 4：Mobile device 20 is to drive crusing robot to be moved in gas pipeline, movement dress
The 20 bulb mobile devices 23 for also including being sheathed on central siphon 31 are put, bulb mobile device 23 is to promote screw drives wheel apparatus 21
Change the hand of spiral.Screw drives wheel apparatus 21 includes at least two base legs folder 211, and alternatively, screw drives wheel apparatus 21 is set
There are four equally distributed base leg folders 211.
In one embodiment, base leg folder 211 includes being pivotally mounted to the drive-connecting shaft 2111 of bulb mobile device 23, hinge
Connect the leg folder 2112 for being attached to drive-connecting shaft 2111, the drive wheel assemblies 2113 for being hingedly mounted to leg folder 2112, connection drive-connecting shaft
2111 press from both sides 2112 the first constrictor 2114 and connection leg folder 2112 and at least one second pressure of drive wheel assemblies 2113 with leg
Contracting bar 2115.Drive-connecting shaft 2111, leg folder 2112 and drive wheel assemblies 2113 are articulated and connected, and its angle of bend controllability is big,
At least one second constrictor 2115 and the first constrictor 2114 stretch out to promote base leg to press from both sides 211 outwards expansion, to cause
Drive wheel assemblies 2113 conform to the tube wall of gas pipeline in the shape of a spiral.
Leg folder 2112 adapts to the gas pipeline of different inner diameters, strong adaptability.Wherein, screw drives wheel apparatus 21 also includes
The cross connection component 212 of central siphon 31 is assembled in, base leg folder 211 is pivoted to cross connection component 212, cross connection component
212 rotate around central siphon 31, and base leg folder 211 includes being pivotally mounted to the drive-connecting shaft 2111 of cross connection component 212, to drive bottom
Seat leg folder 211 is rotated around tube wall.Radial direction of the drive-connecting shaft 2111 along central siphon 31 is articulated on cross connection component 212, bulb movement
Device 23 drives drive-connecting shaft 2111 to be rotated around the axis of drive-connecting shaft 2111, then makes drive wheel assemblies 2113 relative to gas pipeline
The hand of spiral of tube wall change, can in the case where crusing robot does not commutate, realize crusing robot advance or
Retreat, it is easy to operate.By the pitch of adjusting base leg folder 211, it can further adjust the translational speed of crusing robot.
Tube wall of the drive wheel assemblies 2113 to conform to gas pipeline, drive wheel assemblies 2113 include being hinged to leg folder
2112 installation axle, the main roller 21131 for being attached to installation axle, at least auxiliary wheel 21132 for being hingedly mounted to installation axle,
Second constrictor 2115 connects auxiliary wheel 21132 and leg folder 2112, main roller 21131 and at least an auxiliary wheel 21132 is pasted
It is bonded to the tube wall of gas pipeline.
In one embodiment, the both sides of installation axle, which are hinged, is provided with two auxiliary wheels 21132, auxiliary wheel 21132 and master
The rotating direction of roller 21131 is in a straight line, and the second constrictor 2115 is provided with two and abuts respectively to corresponding auxiliary wheel
21132.By setting auxiliary wheel 21132, the stability of the spiral movement of drive wheel assemblies 2113 can be improved, makes survey monitor
Device people's stable movement.Drive wheel assemblies 2113 and the contact area of tube wall increase, and uniform force is good, improves frictional force, grabs ground
Power is big.
As shown in Fig. 1, Fig. 2 and Fig. 4：Bulb mobile device 23 is connected with base leg folder 211, and bulb mobile device 23 drives
Base leg folder 211 is rotated so that base leg folder 211 is distributed in the shape of a spiral.Bulb mobile device 23 includes bulb component 231 and group
Link assembly 232 loaded on bulb component 231.Link assembly 232 is connected to base leg folder 211, and bulb component 231 is along central siphon 31
Axial movement, to cause base leg presss from both sides 211 to rotate to change the hand of spiral.
Link assembly 232 includes connecting rod 2322, is fixed on the first connecting pole 2323 of bulb component 231, is fixed on bottom
Second connecting pole 2321 of seat leg folder 211, connecting rod 2322 is respectively connecting to the first connecting pole 2323 and the second connecting pole
2321.First connecting pole 2323 includes the first connection end of spherical shape, and the second connecting pole 2321 includes the second of spherical shape
Connection end, connecting rod 2322 matches be connected to the first connection end and the second connection end respectively, to cause connecting rod 2322 and first
The universal rotational of 2323 and second connecting pole of connecting pole 2321.The connecting pole 2323 of connecting rod 2322 and first and the second connecting pole 2321
In universal rotational, when axial movement of the bulb component 231 along central siphon 31, connecting rod 2322 promotes drive-connecting shaft 2111 around its axle
Line is rotated so that base leg folder 211 rotates to realize the change of the hand of spiral.The hand of spiral of mobile device 20 changes convenient,
Clever structure.
Wherein, bulb component 231 includes being slidedly arranged on the axle sleeve of central siphon 31, is sheathed on the sliding block of central siphon 31 and is assembled in cunning
Bearing part between block and axle sleeve, link assembly 232 is hingedly mounted to axle sleeve.There is commutation steering wheel 24 in the over-assemble of shell 40, should
The output end of commutation steering wheel 24 is assembled with commutation swing arm 241, is hinged in the end of commutation swing arm 241 and is provided with reversing bar 242, should
Reversing bar 242 is directly connected or is connected by connecting plate with sliding block.
When the steering wheel 24 that commutates is rotated, commutation swing arm 241 drives reversing bar 242 to move, and reversing bar 242 is straight with movable slider
Line is moved.First connecting pole 2323 is fixed on sliding block, and sliding block movement drives the company for being hinged and installing with the first connecting pole 2323
Extension bar 2322 is moved, and then base leg is pressed from both sides the 211 realization change hands of spiral, and easy to operate, control is simple.
As shown in Fig. 2 and Fig. 5：Set in the one end of central support shaft 10 screw drives wheel apparatus 21 to control to advance and after
Move back, balance wheel device 22 is provided with to keep crusing robot to keep the movement of stabilization in the other end of central support shaft 10.Should
Balance wheel device 22 includes being fixed on the mounting seat 221 of central support shaft 10 and is assembled at least two supporting legs of mounting seat 221
Folder 222, supporting leg folder 222 is abutted to the tube wall of gas pipeline, and along the axial movement of gas pipeline.222 are pressed from both sides by supporting leg
The rear end of crusing robot is set to be maintained at stable position, mobile stationarity is good.Wherein, balance wheel device 22 and gas pipeline
The parallel axis with gas pipeline of contact surface.
Supporting leg folder 222 includes mounting rod 2221, is hingedly mounted to the branch foot lever 2222 of mounting rod 2221, is hingedly mounted to
3rd constrictor 2224 of the stabilizer group 2223 of branch foot lever 2222, connection mounting rod 2221 and branch foot lever 2222 and being connected is propped up
Foot lever 2222 and at least one the 4th constrictor 2225 of stabilizer group 2223, at least one the 3rd constrictor 2224 and the 4th compression
Bar 2225 stretches out to promote supporting leg to press from both sides 222 outwards expansion, to cause stabilizer group 2223 to conform to the pipe of gas pipeline
Wall.Alternatively, stabilizer group 2223 includes tail main wheel 22231 and is hinged located at mounting rod 2221 and positioned at 22231 liang of tail main wheel
The tail jockey pulley 22232 of side, the 4th constrictor 2225 is provided with two and is hingedly connected to tail jockey pulley 22232, so that tail main wheel
22231 and tail jockey pulley 22232 push against tube wall, stability is good.3rd constrictor 2224 is to adjust mounting rod 2221 and leg
Angle between bar 2222, to adapt to the gas pipeline of different tube diameters, strong adaptability.
Robot for gas pipeline has been used at present, and other structures and principle are same as the prior art, here not
Repeat again.
Specific embodiment described herein is only to spirit explanation for example.Technical field that the present invention belongs to
Technical staff can be made various modifications or supplement to described specific embodiment or be substituted using similar mode, but
Spirit without departing from invention surmounts scope defined in appended claims.
Claims (10)
1. a kind of mobile device for gas pipeline crusing robot, it is characterised in that：Including central support shaft, it is sheathed on institute
State the central siphon of central support shaft, be assembled to the screw drives wheel apparatus of the central siphon, bulb mobile device and be assembled to it is described in
The balance wheel device of heart support shaft, the screw drives wheel apparatus include at least two base legs folder, the bulb mobile device with
The base leg presss from both sides connection, and the bulb mobile device drives the base leg folder to rotate so that the base leg is pressed from both sides in the shape of a spiral
Distribution, the screw drives wheel apparatus and balance wheel device are used for the inwall against gas pipeline, and the screw driving wheel is filled
Put for connecting drive device and around the tube wall rotation of gas pipeline, to cause the screw drives wheel apparatus and balance wheel device
Moved along the axis direction of the gas pipeline.
2. mobile device according to claim 1, it is characterised in that the screw drives wheel apparatus also includes being assembled in institute
The cross connection component of central siphon is stated, the base leg folder is pivoted to the cross connection component, and the cross connection component is around institute
Central siphon rotation is stated, to drive the base leg folder to be rotated around the tube wall.
3. mobile device according to claim 2, it is characterised in that the base leg folder includes being pivotally mounted to described ten
The drive-connecting shaft of word connection component, the leg folder for being hingedly mounted to the drive-connecting shaft, the drive wheel assemblies for being hingedly mounted to leg folder,
Connect the first constrictor that the drive-connecting shaft presss from both sides with the leg and be connected at least the 1 the of the leg folder and the drive wheel assemblies
Two constrictors, at least one second constrictor and first constrictor stretch out to promote the base leg to press from both sides to abduction
Open, to cause the drive wheel assemblies to conform to the tube wall of gas pipeline in the shape of a spiral.
4. mobile device according to claim 3, it is characterised in that the drive wheel assemblies include being hinged to the leg folder
Installation axle, at least auxiliary wheel that is attached to the main roller of the installation axle, is hingedly mounted to the installation axle, described
Two constrictors connect the auxiliary wheel and leg folder, and the main roller and an at least auxiliary wheel conform to appendix
The tube wall in road.
5. mobile device according to claim 1, it is characterised in that the bulb mobile device includes bulb component and group
Link assembly loaded on bulb component, the link assembly is connected to base leg folder, and the bulb component is along the central siphon
Axial movement, to cause base leg folder to rotate to change the hand of spiral.
6. mobile device according to claim 5, it is characterised in that the bulb component includes being slidedly arranged on the central siphon
Axle sleeve, it is sheathed on the sliding block of the central siphon and the bearing part being assembled between the sliding block and the axle sleeve, the link assembly
It is hingedly mounted to the axle sleeve.
7. mobile device according to claim 5, it is characterised in that the link assembly includes connecting rod, is fixed on institute
State the first connecting pole of bulb component, be fixed on the second connecting pole of base leg folder, the connecting rod is respectively connecting to the
One connecting pole and the second connecting pole.
8. mobile device according to claim 7, it is characterised in that first connecting pole includes the first of spherical shape
Connection end, second connecting pole includes the second connection end of spherical shape, and the connecting rod is matched respectively is connected to the first company
End and the second connection end are connect, to cause the connecting rod and first connecting pole and the second connecting pole universal rotational.
9. mobile device according to claim 1, it is characterised in that the balance wheel device includes being fixed on the center
The mounting seat of support shaft and at least two supporting legs folder for being assembled to the mounting seat, the supporting leg, which is clipped, is connected to gas pipeline
Tube wall, and along the axial movement of gas pipeline.
10. mobile device according to claim 9, it is characterised in that the supporting leg folder includes mounting rod, is hinged installation
Branch foot lever, the stabilizer group for being hingedly mounted to the branch foot lever, the connection mounting rod and the leg to the mounting rod
3rd constrictor of bar and the connection branch foot lever and at least one the 4th constrictor of the stabilizer group, described at least 1 the
Three constrictors and the 4th constrictor stretch out to promote the outside expansion of supporting leg folder, to cause the stabilizer group
Conform to the tube wall of gas pipeline.
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| CN201710669847.2A CN107270026B (en) | 2017-08-08 | 2017-08-08 | A kind of mobile device for gas pipeline crusing robot |
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| CN201710669847.2A CN107270026B (en) | 2017-08-08 | 2017-08-08 | A kind of mobile device for gas pipeline crusing robot |
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| CN107270026B CN107270026B (en) | 2019-11-05 |
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| CN108916533A (en) * | 2018-07-27 | 2018-11-30 | 彭力 | A kind of pipe robot moving device suitable for municipal sewage network management |
| CN110469745A (en) * | 2019-09-16 | 2019-11-19 | 太原科技大学 | A kind of curved tube inner wall walking mechanism |
| CN112283494A (en) * | 2020-10-09 | 2021-01-29 | 姚小武 | Pipeline running trolley capable of realizing multi-azimuth rotating running |
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| CN114738594A (en) * | 2019-02-27 | 2022-07-12 | 香港理工大学 | Pipeline robot and system |
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| CN114713986A (en) * | 2022-06-08 | 2022-07-08 | 中铁城建集团第一工程有限公司 | Automatic welding equipment in steel pipe |
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