CN107270026B - A kind of mobile device for gas pipeline crusing robot - Google Patents
A kind of mobile device for gas pipeline crusing robot Download PDFInfo
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- CN107270026B CN107270026B CN201710669847.2A CN201710669847A CN107270026B CN 107270026 B CN107270026 B CN 107270026B CN 201710669847 A CN201710669847 A CN 201710669847A CN 107270026 B CN107270026 B CN 107270026B
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- Prior art keywords
- gas pipeline
- mobile device
- folder
- leg folder
- bulb
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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
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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, which includes central support shaft, the central siphon for being sheathed on 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 pedestal legs, and the bulb mobile device and pedestal leg folder connect, and the bulb mobile device drives the pedestal leg folder to rotate so that pedestal leg folder is spirally distributed；Screw drives wheel apparatus and balance wheel device are used for the inner wall against gas pipeline, and the screw drives wheel apparatus is used to connect driving device and rotates around the tube wall of gas pipeline, so that the screw drives wheel apparatus and balance wheel device are moved along the axis direction of the gas pipeline；The pedestal leg of screw drives wheel apparatus is clipped by the tube wall to gas pipeline, can use the caliber of different gas pipelines, adaptable.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of shifting for gas pipeline crusing robot
Dynamic device.
Background technique
In modern production life, gas pipeline is widely used to metallurgy, petroleum, chemical industry and city gas supply.It is defeated
The working environment very severe of feed channel, in the long-term use process, due to chemical attack, mechanical damage, crustal movement, pipe
The reasons such as road attachment abrasion are easy to happen burn into deformation, crackle, fatigue rupture or latent defect inside pipeline are made to develop 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, explosion.
Therefore, in order to take precautions against possible trouble, it is necessary to carry out regularly Measuring error to these pipelines.And it digs out pipeline and is examined
Survey, maintenance were not only uneconomical but also unrealistic.Pipe robot overhauls 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 application.
The power of gas pipeline robot and its motion control are always the pass that engineer application needs to solve in the process
Key technology problem.Currently, the forms of motion of pipe robot walking mechanism mainly has wheeled, crawler type, resilient support formula, spiral
Formula etc., mainly by motor driven.But since pipeline operations are all the more frequent, operating environment is changeable, and different zones traveling condition is different,
Travel speed requires also different.Tradition four-wheel drive at present walks unstable, is easy to topple, and driving force is insufficient.Screw machine
People, there is also the power that is short of power to make full use of first, and travel speed is single, and turning is hard.Single group screw driving wheel
Pipe robot be unable to ensure robot fortune since not can guarantee its helicoid parallel with pipeline section always for moment loading
Row is steady.There are also in terms of pipeline section changes adaptability, the single spring controlled regulating mechanism that the prior art uses is adapted to
Act on it is limited and difficult to control, when elastic pressure is larger, it may appear that driving force deficiency stuck phenomenon consumes big energy more.
Summary of the invention
In view of the deficiency of the prior art, the purpose of the utility model is to provide one kind to be used for gas pipeline inspection
The mobile device of robot, it has mobile stabilization, moving direction easy switching, and adapts to the spy of the pipeline of different tube diameters
Point.
To achieve the goals above, the technical scheme adopted by the utility model is a kind of be used for gas pipeline survey monitor
The mobile device of device people, including central support shaft, the central siphon that is sheathed on the central support shaft, the spiral for being assembled to the central siphon
Drive wheel apparatus, bulb mobile device and the balance wheel device for being assembled to the central support shaft, the screw drives wheel apparatus
It is pressed from both sides including at least two pedestal legs, the bulb mobile device and pedestal leg folder connect, and the bulb mobile device drives institute
It states pedestal leg folder to rotate so that pedestal leg folder is spirally distributed, the screw drives wheel apparatus and balance wheel device are used for
Against the inner wall of gas pipeline, and the screw drives wheel apparatus is for connecting driving device and turning around the tube wall of gas pipeline
It is dynamic, so that the screw drives wheel apparatus and balance wheel device are moved along the axis direction of the gas pipeline.
Optionally, the screw drives wheel apparatus further includes the cross connection component for being assembled in the central siphon, the pedestal
Leg folder is pivoted to the cross connection component, and the cross connection component is rotated around the central siphon, to drive the pedestal leg to press from both sides
It is rotated around the tube wall.
Optionally, the pedestal 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 leg folder the
At least one second constrictor of one constrictor and connection the leg folder and the drive wheel assemblies, at least one second compression
Bar and first constrictor extend outwardly to push the pedestal leg folder expansion outward, so that the drive wheel assemblies are in spiral shell
Rotation shape conforms to the tube wall of gas pipeline.
Optionally, the drive wheel assemblies include the installation axle for being hinged to the leg folder, the master of installation to the installation axle
Idler wheel, 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.
Optionally, the bulb mobile device includes bulb component and the link assembly for being assembled in bulb component, the company
Bar assembly be connected to the base leg folder, the bulb component along the central siphon axial movement so that the pedestal leg press from both sides
Rotation is to change the hand of spiral.
Optionally, the bulb component includes the axle sleeve for being slidedly arranged on the central siphon, the sliding block and group for being sheathed on 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.
Optionally, the link assembly includes connecting rod, the first connecting column for being fixed on the bulb component, is fixed on institute
The second connecting column of pedestal leg folder is stated, the connecting rod is respectively connected to the first connecting column and the second connecting column.
Optionally, first connecting column includes the first connecting pin of spherical shape, and second connecting column includes in ball
The second connection end of planar, the connecting rod match be connected to the first connecting pin and second connection end respectively, so that the company
Extension bar and first connecting column and the second connecting column universal rotational.
Optionally, the balance wheel device includes being fixed on the mounting base of the central support shaft and being 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.
Optionally, the supporting leg is pressed from both sides including mounting rod, the branch foot lever for being hingedly mounted to the mounting rod, is hingedly mounted to
The stabilizer group of the branch foot lever, the connection mounting rod and the third constrictor of the branch foot lever and it connect the branch foot lever
With at least one the 4th constrictor of the stabilizer group, at least one the 4th constrictor and the third constrictor extends outwardly to push away
The supporting leg folder expansion outward is moved, so that the stabilizer group conforms to the tube wall of gas pipeline.
After adopting the above structure, the utility model is compared to the prior art advantageously:
The pedestal leg of screw drives wheel apparatus is clipped by the tube wall to gas pipeline, can use the pipe of different gas pipelines
Diameter, it is adaptable.Bulb mobile device drives the conversion of the screw drives wheel apparatus progress hand of spiral, so that 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 both ends of support shaft are centrally located, are stretched in crusing robot in gas pipeline, the moving stability is good.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is schematic view of the front view of the invention.
Fig. 2 is the structural schematic diagram of present invention removal shell state.
Fig. 3 is the structural schematic diagram of clutch state of the present invention.
Fig. 4 is the structural schematic diagram of screw drives wheel apparatus in the present invention.
Fig. 5 is right side structural representation of the invention.
In figure: central support shaft 10；Mobile device 20；Screw drives wheel apparatus 21；Pedestal 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 base 221；Supporting leg folder 222；Mounting rod 2221；Branch foot lever
2222；Stabilizer group 2223；Tail main wheel 22231；Tail jockey pulley 22232；Third constrictor 2224；4th constrictor 2225；Bulb
Mobile device 23；Bulb component 231；Link assembly 232；Second connecting column 2321；Connecting rod 2322；First connecting column 2323；
Commutate steering engine 24；Commutate swing arm 241；Reversing bar 242；Mixed power plant 30；Central siphon 31；Driving wheel 32；Electric machine 33；It drives
Dynamic motor 331；Drive gear 332；Turbine apparatus 34；Rotation axis 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 engine 3531；Rocker arm 3532；Connecting rod 3533；Gear synchronizer 3534；Shell 40；Main part 41；Turbine portion 42；Mounting rack 43.
Specific 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 present invention provides a kind of crusing robots for gas pipeline.The inspection
Robot includes central support shaft 10, the mobile device 20 and mixed power plant 30 for being assembled in central support shaft 10, wherein mixed
Close the power source that power device 30 is crusing robot, to drive mobile device 20 mobile, mobile device 20 to abut to
Gas pipeline and axial movement along gas pipeline.
Mobile device 20 includes screw drives wheel apparatus 21 and the balance wheel device 22 for being assembled to 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
Set 22 both ends for being located at central support shaft 10.Mixed power plant 30 be located at screw drives wheel apparatus 21 and balance wheel device 22 it
Between, and mixed power plant 30 drives screw drives wheel apparatus 21, rotates screw drives wheel apparatus 21 in the shape of a spiral, so that
Crusing robot is moved along gas pipeline.
The crusing robot is bonded by screw drives wheel apparatus 21 and balance wheel device 22 with the tube wall of gas pipeline, is fitted
For different gas pipelines, crusing robot it is adaptable.Crusing robot utilizes gas transmission using mixed power plant 30
The kinetic energy of fluids within pipes is converted into the mobile required kinetic energy of crusing robot, to reduce crusing robot self-energy
Consumption, improves the cruising ability of crusing robot, and crusing robot is made to have better operability.Pass through screw driving wheel
The helical form of device 21 rotates, so that axial movement of the crusing robot along gas pipeline, it can be by adjusting screw driving wheel dress
Set 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 the central siphon 31 for being sheathed on central support shaft 10, is fixed on axis
The driving wheel 32 of pipe 31, the electric machine 33 being connect respectively with driving wheel 32 and turbine apparatus 34 and connection turbine apparatus 34 with
The arrangement of clutch 35 of electric machine 33.Bearing is equipped between central siphon 31 and central support shaft 10, central siphon 31 is around central support shaft 10
Rotation, driving wheel 32 are connected on central siphon 31.Driving wheel 32 is gear structure, electric machine 33 and turbine apparatus 34 with driving
32 engagement connection of wheel.
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
When 32 rotation, screw drives wheel apparatus 21 is rotated around central siphon 31 and the combination of the tube wall of screw drives wheel apparatus 21 and gas pipeline
Face rotates in the shape of a spiral, so that crusing robot is moved along the axis direction of gas pipeline.Pass through control screw driving wheel dress
21 hand of spiral is set, such as rotated along plus thread direction or is rotated along left-hand thread direction, can control crusing robot along gas transmission
The axis direction of pipeline advances or retreats.
The crusing robot further includes the shell 40 for being assembled to central support shaft 10, and the shell 40 is to store arrangement of clutch
35, electric machine 33 and turbine apparatus 34.Wherein, shell 40 includes mounting rack 43, which surround central support shaft 10,
Arrangement of clutch 35 and electric machine 33 are fixed to mounting rack 43 so that arrangement of clutch 35 and electric machine 33 with driving wheel 32
Engagement connection, easy to adjust, installation is simple.
Shell 40 is stepped comprising cylindrical main part 41 and turbine portion 42, the outer diameter of main part 41 are less than
The outer diameter of turbine portion 42.It is connected between main part 41 and turbine portion 42 by reinforcing rib, shape between turbine portion 42 and reinforcing rib
At venthole, the extending direction of the venthole in parallel with the axis of gas pipeline, turbine apparatus 34 be located in turbine portion 42 and with
Venthole conducting, mounting rack 43 are set in main part 41.In crusing robot moving process, fluid flows through venthole and pushes
Turbine apparatus 34 works, so that the fluid dynamic energy in gas pipeline is converted into patrolling by the turbine apparatus 34 in the crusing robot
Examine the mobile energy of robot.
With continued reference to shown in Fig. 2 and Fig. 3: the turbine apparatus 34 includes the rotation axis 341 for being sheathed on central support shaft 10, consolidates
It is connected in the turbine gear 342 and turbine assembly 343 of rotation axis 341.Rotation axis 341 and central support shaft 10, which roll, to be connected, and such as two
Bearing is set between person or rotation axis 341 is sheathed on outside central support shaft 10, rotation axis 341 is rotated around central support shaft 10, whirlpool
Wheel gear 342 is connected in rotation axis 341 and rotates around central support shaft 10.
Turbine assembly 343 is affixed to rotation axis 341, the fluid dynamic energy in gas pipeline is converted into driving rotation axis
The kinetic energy of 341 rotations.Wherein, turbine assembly 343 is including being fixed on the connector sleeve of rotation axis 341 and being fixedly arranged on the fan of connector sleeve
Leaf, flabellum extend along the axis direction of rotation axis 341.Flabellum is uniformly distributed along the outer peripheral surface of connector sleeve, flabellum from connector sleeve to
End distorts to form curved.When fluid flows through turbine assembly 343, flabellum rotation is pushed, so that turbine assembly 343 drives rotation
Axis 341 rotates, and rotates turbine gear 342.
Turbine gear 342 engages connection with one end 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, so that 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 for connecting the first reduction assemblies 351 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 3511 coaxial line of the first connecting shaft 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, with connection
Or the power disconnected between the first reduction assemblies 351 and the second reduction assemblies 352 transmits.
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
It closes.Clutch component 353 is sheathed on outside the first connecting shaft 3511 and the second connecting shaft 3521 and can slide along the two, optionally, the
One connecting shaft 3511 and the second connecting shaft 3521 are set as external gear shape structure, and clutch component 353 is equipped with gear synchronizer 3534,
The gear synchronizer 3534 is equipped with and the first connecting shaft 3511 and the matched internal gear of the second connecting shaft 3521.Work as gear synchronizer
3534 are sheathed on simultaneously in the first connecting shaft 3511 and the second connecting shaft 3521, then the first reduction assemblies 351 and the second deceleration group
Part 352 moves synchronously, 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 are few.When gear synchronizer 3534 is only sheathed on the first connecting shaft 3511 or the second connecting shaft 3521
On, then moving synchronously 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.At this point, if the mobile dress of the driving of electric machine 33
20 movements are set, then the included electric energy of crusing robot is as power source.If electric machine 33 does not drive mobile device 20 to move
Dynamic, then crusing robot holding stays in current location, and it is good to stop effect.
Wherein, the linear movement of gear synchronizer 3534 need to be controlled, which includes the rudder for being assembled in shell 40
Machine 3531, the rocker arm 3532 for being assembled to steering engine 3531, the connecting rod 3533 for being hinged to rocker 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 the rotation of steering engine 3531 is shaken
Arm 3532 is so that connecting rod 3533 drives gear synchronizer 3534 mobile, so that the first connecting shaft 3511 and the second connecting shaft
3521 rotate synchronously or disconnect.
The rotation of steering engine 3531 drives rocker arm 3532 to rotate, and 3532 drive link 3533 of rocker arm keeps connecting rod 3533 same with moving gear
Device 3534 is walked along the axial movement of the first connecting shaft 3511 and the second connecting shaft 3521.By the way that the circular motion of steering engine 3531 is turned
Change the linear movement of gear synchronizer 3534 into, the clutch effect of arrangement of clutch 35 is good, and operating space is small.
Electric machine 33 includes driving motor 331 and the driving gear 332 being assembled on 331 output shaft of driving motor, drives
Moving gear 332 engages connection with driving wheel 32.Driving gear 332 and arrangement of clutch 35 be engaged to driving wheel 32 respectively, by from
The power source that seaming element 353 controls crusing robot is chosen, easy to operate.In crusing robot motion process, itself electric energy
Consumption is few, and cruising ability is strong.
As shown in Fig. 2 and Fig. 4: mobile device 20 is to drive crusing robot to move in gas pipeline, movement dress
Setting 20 further includes the bulb mobile device 23 for being sheathed on central siphon 31, and bulb mobile device 23 is to push screw drives wheel apparatus 21
Convert the hand of spiral.Screw drives wheel apparatus 21 includes at least two pedestal legs folder 211, and optionally, screw drives wheel apparatus 21 is set
There are four equally distributed pedestal leg folders 211.
In one embodiment, pedestal leg folder 211 includes being pivotally mounted to the drive-connecting shaft 2111 of bulb mobile device 23, hingedly
It installs to the leg folder 2112 of drive-connecting shaft 2111, the drive wheel assemblies 2113 for being hingedly mounted to leg folder 2112, connection drive-connecting shaft 2111
With the first constrictor 2114 of leg folder 2112 and at least one second constrictor of connection leg folder 2112 and drive wheel assemblies 2113
2115.Drive-connecting shaft 2111, leg folder 2112 and drive wheel assemblies 2113 are articulated and connected, and bending angle controllability is big, at least
One second constrictor 2115 and the first constrictor 2114 extend outwardly to push the expansion outward of pedestal leg folder 211, so that driving
Wheel assembly 2113 conforms 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, adaptable.Wherein, screw drives wheel apparatus 21 further includes
It is assembled in the cross connection component 212 of central siphon 31, pedestal leg folder 211 is pivoted to cross connection component 212, cross connection component
212 rotate around central siphon 31, and pedestal 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.Drive-connecting shaft 2111 is articulated on cross connection component 212 along the radial direction of central siphon 31, and bulb is mobile
Device 23 drives drive-connecting shaft 2111 to rotate 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
It retreats, it is easy to operate.By the screw pitch of adjustment base leg folder 211, the movement speed of crusing robot can be further adjusted.
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 installed 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 an at least auxiliary wheel 21132 patch
It is bonded to the tube wall of gas pipeline.
In one embodiment, the two sides of installation axle are hingedly equipped with two auxiliary wheels 21132, auxiliary wheel 21132 and master
The rotating direction of idler wheel 21131 is in a straight line, and the second constrictor 2115 sets there are two and abutted respectively to corresponding auxiliary wheel
21132.By the way that auxiliary wheel 21132 is arranged, the mobile stability of the spiral of drive wheel assemblies 2113 can be improved, make survey monitor
Device people movement is steady.Drive wheel assemblies 2113 and the contact area of tube wall increase, and uniform force is good, improve frictional force, grab ground
Power is big.
As shown in Fig. 1, Fig. 2 and Fig. 4: bulb mobile device 23 is connect with pedestal leg folder 211, and bulb mobile device 23 drives
Pedestal leg folder 211 rotates so that pedestal leg folder 211 is spirally distributed.Bulb mobile device 23 includes bulb component 231 and group
Link assembly 232 loaded on bulb component 231.Link assembly 232 is connected to pedestal leg folder 211, and bulb component 231 is along central siphon 31
Axial movement so that pedestal leg folder 211 rotation to change the hand of spiral.
Link assembly 232 include connecting rod 2322, be fixed on bulb component 231 the first connecting column 2323, be fixed on bottom
Second connecting column 2321 of seat leg folder 211, connecting rod 2322 are respectively connected to the first connecting column 2323 and the second connecting column 2321.
First connecting column 2323 includes the first connecting pin of spherical shape, and the second connecting column 2321 includes the second connection of spherical shape
End, connecting rod 2322 matches be connected to the first connecting pin and second connection end respectively, so that connecting rod 2322 is connect with first
2321 universal rotational of column 2323 and the second connecting column.Connecting rod 2322 and the first connecting column 2323 and the second connecting column 2321 are in ten thousand
To rotation, when axial movement of the bulb component 231 along central siphon 31, connecting rod 2322 pushes drive-connecting shaft 2111 to turn around its axis
It is dynamic, so that pedestal leg folder 211 rotates the change to realize the hand of spiral.It is convenient that the hand of spiral of mobile device 20 changes, structure
It is ingenious.
Wherein, bulb component 231 includes the axle sleeve for being slidedly arranged on 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 are hingedly mounted to axle sleeve.There is commutation steering engine 24 in 40 over-assemble of shell, it should
The output end of commutation steering engine 24 is assembled with commutation swing arm 241, is hingedly equipped with reversing bar 242 in the end of commutation swing arm 241, should
Reversing bar 242 is directly connected with sliding block or is connect by connecting plate.
When the steering engine 24 that commutates rotates, commutation swing arm 241 drives reversing bar 242 mobile, and reversing bar 242 is with movable slider straight line
It is mobile.First connecting column 2323 is fixed on sliding block, and sliding block is mobile to drive hinged installation and the connection on the first connecting column 2323
Bar 2322 is moved, and then is realized pedestal leg folder 211 and changed the hand of spiral, and easy to operate, control is simple.
As shown in Fig. 2 and Fig. 5: 10 one end of central support shaft be arranged screw drives wheel apparatus 21 to control advance and after
It moves back, is equipped with balance wheel device 22 to the movement that keeps crusing robot to keep stable in the other end of central support shaft 10.It should
Balance wheel device 22 is including being fixed on the mounting base 221 of central support shaft 10 and being assembled at least two supporting legs of mounting base 221
Folder 222, supporting leg folder 222 are abutted to the tube wall of gas pipeline, and along the axial movement of gas pipeline.Pass through supporting leg folder 222
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
Contact surface in parallel with the axis of gas pipeline.
Supporting leg folder 222 include mounting rod 2221, be hingedly mounted to mounting rod 2221 branch foot lever 2222, be hingedly mounted to
The stabilizer group 2223 of branch foot lever 2222, connection mounting rod 2221 and the third constrictor 2224 of branch foot lever 2222 and connecting props up
At least one the 4th constrictor 2225 of foot lever 2222 and stabilizer group 2223, at least one the 4th constrictor 2225 and third constrictor
2224 extend outwardly to push the expansion outward of supporting leg folder 222, so that stabilizer group 2223 conforms to the tube wall of gas pipeline.
Optionally, stabilizer group 2223 includes tail main wheel 22231 and is hingedly set to mounting rod 2221 and is located at tail main wheel
The tail jockey pulley 22232 of 22231 two sides, the 4th constrictor 2225 set there are two and are hingedly connected to tail jockey pulley 22232, so that
Tail main wheel 22231 and tail jockey pulley 22232 push against tube wall, and stability is good.Third constrictor 2224 is to adjust mounting rod 2221
It is adaptable to adapt to the gas pipeline of different tube diameters with the angle between branch foot lever 2222.
Robot for gas pipeline has use at present, and other structures and principle are same as the prior art, here not
It repeats again.
Specific embodiment described herein is only to give an example to spirit.Technical field that the present invention belongs to
Technical staff can make various modifications or additions to the described embodiments or be substituted in a similar manner, but
Without departing from the spirit or beyond the scope defined by the appended claims of invention.
Claims (8)
1. a kind of mobile device for gas pipeline crusing robot, it is characterised in that: including central support shaft, be sheathed on institute
It states the central siphon of central support shaft, the screw drives wheel apparatus for being assembled to the central siphon, bulb mobile device and is assembled in described
The balance wheel device of heart support shaft, the screw drives wheel apparatus include that at least two pedestal legs press from both sides and be assembled in the ten of the central siphon
Word connection component, the pedestal leg folder are pivoted to the cross connection component, and the cross connection component is rotated around the central siphon,
To drive the pedestal leg folder to rotate around the tube wall of gas pipeline；The bulb mobile device and pedestal leg folder connect, institute
It states the bulb mobile device driving pedestal leg folder to rotate so that pedestal leg folder is spirally distributed, the bulb is mobile to be filled
The link assembly of bulb component is set including bulb component and is assembled in, the link assembly is connected to the base leg folder, described
Bulb component is rotated along the axial movement of the central siphon so that the pedestal leg presss from both sides to change the hand of spiral；The spiral is driven
Driving wheel device and balance wheel device are used for the inner wall against gas pipeline, and the screw drives wheel apparatus is for connecting driving dress
It sets and is rotated around the tube wall of gas pipeline, so that the screw drives wheel apparatus and balance wheel device are along the gas pipeline
Axis direction is mobile.
2. mobile device according to claim 1, which is characterized in that the pedestal 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,
It connects the first constrictor that the drive-connecting shaft and the leg press from both sides and connect at least the 1 the of the leg folder and the drive wheel assemblies
Two constrictors, at least one second constrictor and first constrictor extend outwardly to push the pedestal leg to press from both sides to outreach
It opens, so that the drive wheel assemblies conform to the tube wall of gas pipeline in the shape of a spiral.
3. mobile device according to claim 2, which is characterized in that the drive wheel assemblies include being hinged to the leg folder
Installation axle, installation to the installation axle main roller, be hingedly mounted at least auxiliary wheel of the installation axle, described the
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.
4. mobile device according to claim 1, which is characterized in that the bulb component includes being slidedly arranged on the central siphon
Axle sleeve, the sliding block for being sheathed on 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.
5. mobile device according to claim 4, which is characterized in that the link assembly includes connecting rod, is fixed on institute
The second connecting column stated the first connecting column of bulb component, be fixed on pedestal leg folder, the connecting rod are respectively connected to the
One connecting column and the second connecting column.
6. mobile device according to claim 5, which is characterized in that first connecting column includes the first of spherical shape
Connecting pin, second connecting column include the second connection end of spherical shape, and the connecting rod matches be connected to the first company respectively
End and second connection end are connect, so that the connecting rod and first connecting column and the second connecting column universal rotational.
7. mobile device according to claim 1, which is characterized in that the balance wheel device includes being fixed on the center
The mounting base of support shaft and at least two supporting legs folder for being assembled to the mounting base, the supporting leg, which clips, is connected to gas pipeline
Tube wall, and along the axial movement of gas pipeline.
8. mobile device according to claim 7, which is characterized in that the supporting leg folder includes mounting rod, hinged installation
To the branch foot lever of the mounting rod, the stabilizer group for being hingedly mounted to the branch foot lever, the connection mounting rod and the stabilizer blade
The third constrictor of bar and at least one the 4th constrictor of connection the branch foot lever and the stabilizer group, at least one the 4th pressure
Contracting bar and the third constrictor extend outwardly to push the supporting leg folder expansion outward, so that the stabilizer group is bonded
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 true CN107270026B (en) | 2019-11-05 |
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| CN107763367B (en) * | 2017-11-16 | 2023-08-01 | 北华大学 | Spiral driving centrifugal mechanical self-adaptive speed regulating device |
| CN108626516B (en) * | 2017-12-14 | 2021-01-26 | 湘潭宏远电子科技有限公司 | Pipeline detection robot |
| CN108916533A (en) * | 2018-07-27 | 2018-11-30 | 彭力 | A kind of pipe robot moving device suitable for municipal sewage network management |
| CN114738594B (en) * | 2019-02-27 | 2024-06-14 | 香港理工大学 | Pipeline robot and system |
| CN110469745B (en) * | 2019-09-16 | 2021-04-20 | 太原科技大学 | Curved tube inner wall running gear |
| CN112283494A (en) * | 2020-10-09 | 2021-01-29 | 姚小武 | Pipeline running trolley capable of realizing multi-azimuth rotating running |
| CN114075968B (en) * | 2021-11-16 | 2024-05-14 | 泰安泰烁岩层控制科技有限公司 | Drilling peeping instrument |
| CN114713986B (en) * | 2022-06-08 | 2022-08-19 | 中铁城建集团第一工程有限公司 | Automatic welding equipment in steel pipe |
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