CN107433989B - A kind of pipeline external transmigration device - Google Patents
A kind of pipeline external transmigration device Download PDFInfo
- Publication number
- CN107433989B CN107433989B CN201710637791.2A CN201710637791A CN107433989B CN 107433989 B CN107433989 B CN 107433989B CN 201710637791 A CN201710637791 A CN 201710637791A CN 107433989 B CN107433989 B CN 107433989B
- Authority
- CN
- China
- Prior art keywords
- pipeline
- frame body
- submounts
- bracket
- backward
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Pipeline Systems (AREA)
Abstract
The present invention relates to pipeline engineering technical field more particularly to a kind of pipeline external transmigration devices, including pipeline frame body, travelling mechanism and control unit.Pipeline frame body, suitable for being set up in pipeline outside ring, and including adjusting the female bracket component and submounts component that attached components constitute ring structure by a curvature；Travelling mechanism, including the driving assembly being set on the pipeline frame body, and the drive wheel assemblies for being suitable for that the pipeline frame body is driven to move along pipeline outside ring being connect with the driving component；And control unit, it is suitable for being electrically connected with the driving component.
Description
Technical field
The present invention relates to pipeline engineering technical fields more particularly to a kind of pipeline external transmigration to survey device.
Background technique
When the operations such as being detected, being safeguarded to pipeline, sometimes, since duct length is all long, staff people
It is time-consuming and laborious that work carries out pipeline operations；In these cases, it is necessary to operation be carried out to pipeline using pipeline external transmigration device.
Since the outer diameter of different pipelines is also different, current many pipeline external transmigration device fixed adaptations are in a kind of outer diameter
Pipeline, even and if existing pipeline external transmigration device can be realized along pipe walking, also cannot achieve and done around pipeline
Circular motion carries out comprehensive operation to the outer wall of pipeline.
Summary of the invention
The object of the present invention is to provide a kind of pipeline external transmigration devices, to solve to ask along the technology of automatic creeping outside pipeline
Topic.
In order to solve the above-mentioned technical problems, the present invention provides technical solutions are as follows: a kind of pipeline external transmigration device, including pipe
Road frame body, suitable for being set up in pipeline outside ring, and including adjusting female bracket group that attached components constitute ring structure by a curvature
Part and submounts component；
Travelling mechanism including the driving assembly being set on the pipeline frame body, and is connect suitable with the driving component
In the drive wheel assemblies for driving the pipeline frame body to move along pipeline outside ring；And
Control unit is suitable for being electrically connected with the driving component.
Further, female bracket component includes the preposition female bracket being connected by female connecting rod mirror image and postposition mother's branch
Frame；And
The submounts component includes the preposition submounts and postposition submounts being connected by sub- connecting rod mirror image.
Further, it includes the limit that distribution is set on preposition female bracket and postposition mother's bracket that the curvature, which adjusts component,
Slot and the multiple limit holes being set on the limiting slot, and it is respectively arranged on the preposition submounts and postposition submounts end
The link block being adapted for insertion into the limiting slot, be suitable for and the assembly of the multiple limit hole is used through having on the link block
Bulb locking pin；I.e.
The curvature adjusting of the pipeline frame body of ring structure is realized from different limit hole assembly by bulb locking pin.
Further, preposition female bracket and postposition mother's bracket are respectively equipped between the end of limiting slot and are connected in one
Core；And
The driving component includes the double end stepping electricity being fixedly installed on respectively by a push plate below the central plate
The single head stepper motor of machine and the arranged on left and right sides for being located at double end stepper motor；The double end stepper motor and single head stepping
Motor is electrically connected with described control unit；
The drive wheel assemblies include the longitudinal bidirectional wheel being assemblied on the both ends output shaft of the double end stepper motor respectively,
And it is assemblied in the lateral bidirectional wheel on the output shaft of the single head stepper motor.
Further, the drive wheel assemblies further include being symmetrically disposed on pipeline frame body and pipeline outside ring relative inner wall
One group of fixed bidirectional wheel, and one group of sliding bidirectional wheel being symmetrically disposed on pipeline frame body and pipeline outside ring relative inner wall.
Further, described forward and backward to set female bracket and the forward and backward inner sidewall for setting submounts tail end is symmetrically arranged with isometric cunning
Slot；
One group of sliding bidirectional wheel includes being respectively arranged on forward and backward set in female bracket and the forward and backward sliding slot for setting submounts
Slide bidirectional wheel；And
Described one group fixed bidirectional wheel includes being respectively arranged on forward and backward set on female bracket and the forward and backward inner sidewall for setting submounts
Fixation bidirectional wheel.
Further, the pipeline external transmigration device further include one be assemblied on the pipeline frame body be suitable for make duct frame
The hold-down mechanism that body compresses pipeline；And
The hold-down mechanism includes that a pressure plate, the center hole on pressure plate and mirror image are distributed in center hole
The left and right circular hole of two sides, correspond respectively to center hole and left and right circular hole and connect with the upper surface of the central plate
Heart self-clinching standoff and left and right hollow cylinder, and pass through the center self-clinching standoff and central plate and move hinge with push plate upper surface
The screw thread compressor arm of chain link and across the left and right hollow cylinder and central plate and the left and right compression that is fixedly connected with push plate
Column；And
The top that the screw thread compressor arm is pierced by pressure plate is connected with leader；Between the handle and pressure plate upper surface
It is additionally provided with a baffle.
Further, described control unit includes signal projector, signal receiver, and respectively with signal projector and
The connected signal processor of signal receiver；And
The pipeline external transmigration device further includes a power supply unit for being suitable for powering to control unit and driving assembly；
A connecting plate is connected between preposition female bracket and postposition mother's bracket；
The signal projector, signal receiver and signal processor and power supply unit are assemblied on connecting plate.
Further, forward and backward set is equipped with the first fixed link between female bracket；
The IR evading obstacle sensors being electrically connected with control unit are equipped in the middle part of first fixed link.
Further, forward and backward set is equipped with the second fixed link between submounts；
The gas sensor or humidity sensor being electrically connected with control unit is equipped in the middle part of second fixed link.
The invention has the benefit that controlling driving assembly driving drive wheel assemblies band by control unit by design
The problem of dynamic pipeline frame body can move along pipeline outside ring, avoid artificial movement pipeline frame body, save trouble and labor.Pass through design again
Curvature regulating mechanism, allow pipeline external transmigration device of the invention according to various sizes of pipeline adjust suitability, from
And improve applicability.
Further, multiple bidirectional wheels of design so that pipeline external transmigration device install convenient of the invention, and convenient for around
Pipeline rotation, to detect the weld seam mouth of pipeline different location, enhance the adaptability and stability of detection device, improve
The efficiency of detection.
Further, the hold-down mechanism of design enables pipeline external transmigration device of the invention to be closely attached on pipeline outside ring,
To improve the sensitivity of detection.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the three-dimensional structure diagram of pipeline external transmigration device of the invention；
Fig. 2 is the schematic perspective view at another visual angle of pipeline external transmigration device of the invention；
Fig. 3 is the schematic enlarged-scale view in Fig. 1 at A；
Fig. 4 is the schematic enlarged-scale view in Fig. 1 at B；
Fig. 5 is the schematic enlarged-scale view in Fig. 1 at C；
Fig. 6 is the schematic enlarged-scale view in Fig. 1 at D.
In figure: 1- postposition mother's bracket；The preposition female bracket of 2- postposition submounts, 1a-；The preposition submounts of 2a-；3- notch；4-
Slide bidirectional wheel；The first fixed link of 5a-；The second fixed link of 5b-；6- sliding slot；7- bulb locking pin；8- limiting slot；9- limit hole；
10- connecting plate；11- signal projector；12- signal receiver；13- chargeable lithium battery；14- signal processor；15- infrared obstacle avoidance passes
Sensor；16- gas sensor or humidity sensor；17- spring shaft；18- fixes bidirectional wheel；19- slides two-way wheel carrier；20- is solid
Fixed two-way wheel carrier；21- handle；22- pressure plate；23- baffle；24- screw thread compressor arm；25- hold-down column；26- central plate；27- pressure
Riveted screw pole；28- hollow cylinder；29- push plate；30- double end stepper motor；31- single head stepper motor；32- transverse direction bidirectional wheel；33-
Longitudinal bidirectional wheel；Mother's 34a- connecting rod；The sub- connecting rod of 34b-；35- link block.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below to protect
The scope of the present invention of shield, but it is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
In the description of the present invention, it is to be understood that, indicating position or the term of positional relationship are based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
Embodiment 1:
As shown in Figures 1 to 6, the present invention provides a kind of pipeline external transmigration devices, refering to what is shown in Fig. 1, including duct frame
Body, travelling mechanism and control unit on pipeline frame body.
Pipeline frame body constitutes ring structure suitable for being set up in pipeline outside ring, and including adjusting attached components by a curvature
Female bracket component and submounts component.Pipeline frame body may be designed as full-scale ring structure, but again for convenient disassembly
Detection efficiency is not influenced simultaneously, may be designed to non-full-scale ring structure, i.e., there are a notches 3 in ring structure.Design
Notch 3 make this pipeline frame body when being installed on pipeline outside ring, it is only necessary to by one end of female bracket component and submounts component
Connect, i.e. the opposite other end of mother's bracket component and submounts component is notch 3, is not needed to female bracket component and son branch
The both ends of frame component all carry out the operation that connects, and using more convenient and efficient, while dismantling also more convenient when this pipeline frame body.
Female bracket component includes the preposition mother bracket 1a and postposition mother bracket 1 being connected by female connecting rod 34a mirror image；And
Submounts component includes the preposition submounts 2a and postposition submounts 2 being connected by sub- connecting rod 34b mirror image.Preposition mother's bracket 1a
Identical with postposition mother 1 size of bracket, preposition submounts 2a is identical with postposition submounts 2 also size.
With reference to Fig. 5, it includes the limiting slot that distribution is set on preposition mother bracket 1a and postposition mother bracket 1 that curvature, which adjusts component,
8 and multiple limit holes 9 for being set on limiting slot 8, and it is respectively arranged on the suitable of 2 end preposition submounts 2a and postposition submounts
It is suitable for locking with the bulb that the assembly of multiple limit holes 9 uses in running through to have on the link block 35 being inserted into limiting slot 8, link block 35
Pin 7；The curvature adjusting of the pipeline frame body of ring structure is realized from the different assembly of limit hole 9 by bulb locking pin 7.Specifically
In pipe laying frame body, the link block 35 of preposition submounts 2a is inserted into the limiting slot 8 of preposition female bracket 1a, at the same will after
The link block 35 for setting submounts 2 is inserted into the limiting slot 8 of postposition mother bracket 1, according to the actual size of pipeline, selects the limit of adaptation
Bulb locking pin 7 on link block 35 is inserted into limit hole 9 and completes pipeline frame body and be installed on pipeline outside ring by position hole 9.
With reference to Fig. 4, travelling mechanism including the driving assembly being set on pipeline frame body, and is connect suitable with driving assembly
In the drive wheel assemblies for driving pipeline frame body to move along pipeline outside ring.Preposition mother bracket 1a and postposition mother bracket 1 are respectively equipped with limit
A central plate 26 is connected between the end of position slot 8, driving assembly includes being fixedly installed on central plate by a push plate 29 respectively
The single head stepper motor 31 of one double end stepper motor 30 and the arranged on left and right sides for being located at double end stepper motor 30 of 26 lower sections；
Double end stepper motor 30 and single head stepper motor 31 are electrically connected with control unit；Drive wheel assemblies include being assemblied in double end respectively
Longitudinal bidirectional wheel 33 on the both ends output shaft of stepper motor 30, and the cross being assemblied on the output shaft of single head stepper motor 31
To bidirectional wheel 32.
Longitudinal bidirectional wheel 33 and lateral bidirectional wheel 32 use different step motor controls, when needing movement pipeline external transmigration
When device makes it make to detect the weld seam of different location along pipeline outside ring axial movement, control two-way stepping motor 30 drives longitudinal direction
Bidirectional wheel 33 rotates, and then pipeline frame body is driven integrally to move axially along pipeline outside ring.In moving process, single head stepper motor
31 be off working state, when being moved axially in order to avoid pipeline external transmigration device along pipeline outside ring with 31 phase of single head stepper motor
Resistance is caused during lateral bidirectional wheel 32 even is mobile to pipeline frame body, designing lateral bidirectional wheel 32 is bidirectional wheel, can follow pipe
The moving direction of road frame body rotates synchronously, to improve the flexibility on the move of pipeline frame body.
When need movement pipeline external transmigration device make its along pipeline outside ring radial rotating make detect different location weld seam
When, control single head stepper motor 31 drives lateral bidirectional wheel 32 to rotate, and then drives pipeline frame body whole along pipeline outside ring diameter
To movement.In moving process, double end stepper motor 30 be off working state, in order to avoid pipeline external transmigration device along pipeline outside
Resistance is caused during the longitudinal bidirectional wheel 33 being connected when ring moves radially with double end stepper motor 30 is mobile to pipeline frame body, design is vertical
It is bidirectional wheel to bidirectional wheel 33, the moving direction of pipeline frame body can be followed to rotate synchronously, it is on the move to improve pipeline frame body
Flexibility.
Drive wheel assemblies further include being symmetrically disposed on pipeline frame body and one group of fixation on pipeline outside ring relative inner wall is two-way
Wheel 18, and one group of sliding bidirectional wheel 4 being symmetrically disposed on pipeline frame body and pipeline outside ring relative inner wall.
It is forward and backward to set female bracket and the forward and backward inner sidewall for setting submounts tail end is symmetrically arranged with isometric cunning with reference to Fig. 3 and Fig. 6
Slot 6；One group of sliding bidirectional wheel 4 includes being respectively arranged on the forward and backward sliding set in female bracket and the forward and backward sliding slot 6 for setting submounts pair
To wheel 4.One group of fixed bidirectional wheel 18 includes being respectively arranged on forward and backward to set consolidating on female bracket and the forward and backward inner sidewall for setting submounts
Determine bidirectional wheel 18.Fixed bidirectional wheel 18 is located at the top of sliding bidirectional wheel 4, and fixed bidirectional wheel 18 is assemblied in fixed two-way wheel carrier 20
On, fixed bidirectional wheel 18 is fixed on forward and backward set on female bracket and the forward and backward inner sidewall for setting submounts by spring shaft 17.Sliding
Bidirectional wheel 4 is assemblied on the two-way wheel carrier 19 of sliding, and sliding bidirectional wheel 4 is slidably connected to by spring shaft 17 and forward and backward sets female bracket
In the sliding slot 6 of the forward and backward inner sidewall for setting submounts.
Sliding bidirectional wheel 4 and fixed bidirectional wheel 18 are designed as forward and backward setting female bracket and the forward and backward inner sidewall for setting submounts
On, and sliding bidirectional wheel 4 and fixed bidirectional wheel 18 is all bidirectional wheel, when 32 rotation process of longitudinal bidirectional wheel 33 or lateral bidirectional wheel
In, i.e., when pipeline frame body is laterally or radially migrated along pipeline outside ring, sliding bidirectional wheel 4 and fixed bidirectional wheel 18 can improve pipe
The flexibility and smoothness that road frame body moves integrally.By the sliding bidirectional wheel 4 of design, it is set to and forward and backward sets female 1 He of bracket
On the forward and backward inner sidewall for setting 2 tail end of submounts in symmetrical isometric sliding slot 6, so that when pipeline frame body is along pipeline outside ring diameter
To when migrating, sliding bidirectional wheel 4 is slided along sliding slot 6, has further been pushed pipeline frame body to rotate, has been accelerated velocity of rotation.
Control unit is suitable for being electrically connected with driving assembly.Control unit includes signal projector 11, signal receiver
12, and the signal processor 14 being connected respectively with signal projector 11 and signal receiver 12.The signal processing of the present embodiment
Device 14 is using such as, but not limited to STC89C51 single-chip microcontroller.
Pipeline external transmigration device further includes a power supply unit for being suitable for powering to control unit and driving assembly.Power supply unit
Rechargeable lithium battary 13, such as, but not limited to poly-lithium battery 13 can be used, cruising ability is strong.
With reference to Fig. 2, a connecting plate 10 is connected between preposition mother bracket 1a and postposition mother bracket 1；The position that connecting plate 10 designs
Lower than central plate 26, the center of gravity of pipeline external transmigration device is advantageously reduced, so that pipeline external transmigration device is in the process of running more
Add stabilization.Signal projector 11, signal receiver 12 and signal processor 14 and power supply unit can be assemblied on connecting plate 10,
An entirety is constituted with pipeline frame body, signal projector 11, signal receiver 12 and signal processor 14 can also be integrated in
In one remote controler, the operation of pipeline external transmigration device is manipulated by remote control mode.
In order to improve the sensitivity and accuracy of detection, pipeline external transmigration device further includes one being assemblied on pipeline frame body
Suitable for the hold-down mechanism for compressing pipeline frame body to pipeline.The hold-down mechanism of design, after pipeline frame body is installed on pipeline outside ring,
By hold-down mechanism, so that duct frame is shown consideration for together on pipeline outside ring.
With reference to Fig. 4, hold-down mechanism includes that a pressure plate 22, the center hole on pressure plate 22 and mirror image are distributed in
The left and right circular hole of center hole two sides, correspond respectively to center hole and left and right circular hole and connect with the upper surface of central plate 26
The center self-clinching standoff 27 and left and right hollow cylinder 28 connect, and pass through center self-clinching standoff 27 and central plate 26 and and push plate
It moves hinged screw thread compressor arm 24 and passes through left and right hollow cylinder 28 and central plate 26 and fixed with push plate 29 in 29 upper surfaces
The left and right hold-down column 25 of connection.
The top that screw thread compressor arm 24 is pierced by pressure plate 22 is connected with leader 21；Handle 21 and 22 upper surface of pressure plate it
Between be additionally provided with a baffle 23.
Embodiment 2:
With reference to Fig. 1 and Fig. 2, on the basis of embodiment 1, the pipeline external transmigration device of the present embodiment further includes one infrared keeping away
Hinder sensor 15 and gas sensor or humidity sensor 16.
Specifically, forward and backward set of the present embodiment is equipped with the first fixed link 5a between female bracket；Dress in the middle part of first fixed link 5a
The IR evading obstacle sensors 15 being electrically connected equipped with one with control unit.
It is infrared to keep away if IR evading obstacle sensors 15 detect barrier when pipeline external transmigration device is during migrating
Barrier sensor 15 sends the signal to signal processor 14, and control unit further includes an alarm connecting with signal processor 14
Device, barrier alarm signal at alarm sending.
Forward and backward set is equipped with the second fixed 5b bar between submounts；One and control unit are equipped in the middle part of second fixed link 5b
The gas sensor or humidity sensor 16 of electric connection.The gas sensor of the present embodiment is using such as, but not limited to MQ-2 cigarette
Mist sensor.Humidity sensor is using such as, but not limited to DHT11 Temperature Humidity Sensor.Not according to practical pipeline load medium
With selection gas sensor, perhaps humidity sensor 16 detects the problem of pipeline whether there is leakage or gas leakage.
Pipeline external transmigration device specific embodiment of the invention is as follows: pipeline frame body is installed on pipeline outside ring, and
It is compressed by hold-down mechanism, so that duct frame is shown consideration for together on pipeline outside ring.Control unit controls single head stepper motor 31
It drives lateral bidirectional wheel 32 to rotate, and then pipeline frame body is driven integrally to move radially along pipeline outside ring, in the shifting of pipeline frame body
During dynamic, gas sensor or humidity sensor 16 carry out detecting whether that there are gas leakage or leakage are existing along pipeline radial direction
As.After completing pipeline detection in radial one week, control unit control double end stepper motor 30 drives longitudinal bidirectional wheel 33 to rotate,
And then drive pipeline frame body whole along pipeline outside ring transverse shifting, carry out the detection of the lower radial perimeter of pipeline.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (7)
1. a kind of pipeline external transmigration device characterized by comprising
Pipeline frame body, suitable for being set up in pipeline outside ring, and including adjusting the mother that attached components constitute ring structure by a curvature
Bracket component and submounts component；
Travelling mechanism, including the driving assembly being set on the pipeline frame body, and connect with the driving component suitable for band
Move the drive wheel assemblies that the pipeline frame body is moved along pipeline outside ring；And
Control unit is suitable for being electrically connected with the driving component；
Mother's bracket component includes the preposition female bracket and postposition mother's bracket being connected by female connecting rod mirror image；And
The submounts component includes the preposition submounts and postposition submounts being connected by sub- connecting rod mirror image；
It includes being distributed the limiting slot being set on preposition female bracket and postposition mother's bracket and being set to institute that the curvature, which adjusts component,
Multiple limit holes on limiting slot are stated, and be respectively arranged on the preposition submounts and postposition submounts end be adapted for insertion into institute
The link block in limiting slot is stated, running through on the link block has the bulb locking for being suitable for using with the assembly of the multiple limit hole
Pin；I.e.
The curvature adjusting of the pipeline frame body of ring structure is realized from different limit hole assembly by bulb locking pin；
Preposition female bracket and postposition mother's bracket are respectively equipped between the end of limiting slot and are connected with a central plate；And
The driving component include respectively by a push plate be fixedly installed on a double end stepper motor below the central plate and
It is located at the single head stepper motor of the arranged on left and right sides of double end stepper motor；The double end stepper motor and single head stepper motor
It is electrically connected with described control unit；
The drive wheel assemblies include the longitudinal bidirectional wheel being assemblied on the both ends output shaft of the double end stepper motor respectively, and
The lateral bidirectional wheel being assemblied on the output shaft of the single head stepper motor.
2. pipeline external transmigration device according to claim 1, which is characterized in that the drive wheel assemblies further include being symmetrical arranged
One group of fixed bidirectional wheel on pipeline frame body and pipeline outside ring relative inner wall, and it is symmetrically disposed on pipeline frame body and pipeline
One group of sliding bidirectional wheel on outer ring relative inner wall.
3. pipeline external transmigration device according to claim 2, which is characterized in that described forward and backward to set female bracket and forward and backward set
The inner sidewall of submounts tail end is symmetrically arranged with isometric sliding slot；
One group of sliding bidirectional wheel includes being respectively arranged on the forward and backward sliding set in female bracket and the forward and backward sliding slot for setting submounts
Bidirectional wheel；And
Described one group fixed bidirectional wheel includes being respectively arranged on forward and backward to set consolidating on female bracket and the forward and backward inner sidewall for setting submounts
Determine bidirectional wheel.
4. pipeline external transmigration device according to claim 2, which is characterized in that the pipeline external transmigration device further includes one
Be assemblied on the pipeline frame body suitable for the hold-down mechanism that compresses pipeline frame body to pipeline；And
The hold-down mechanism includes that a pressure plate, the center hole on pressure plate and mirror image are distributed in center hole two sides
Left and right circular hole, correspond respectively to center hole and left and right circular hole and the center pressure that is connect with the upper surface of the central plate
Riveted screw pole and left and right hollow cylinder, and pass through the center self-clinching standoff and central plate and move hinge with push plate upper surface and connect
The screw thread compressor arm that connects and across the left and right hollow cylinder and central plate and the left and right hold-down column that is fixedly connected with push plate；With
And
The top that the screw thread compressor arm is pierced by pressure plate is connected with leader；It is also set between the handle and pressure plate upper surface
There is a baffle.
5. pipeline external transmigration device according to claim 1, which is characterized in that described control unit includes signal transmitting
Device, signal receiver, and the signal processor being connected respectively with signal projector and signal receiver；And
The pipeline external transmigration device further includes a power supply unit for being suitable for powering to control unit and driving assembly；
A connecting plate is connected between preposition female bracket and postposition mother's bracket；
The signal projector, signal receiver and signal processor and power supply unit are assemblied on connecting plate.
6. pipeline external transmigration device according to claim 1, which is characterized in that forward and backward set is equipped between female bracket
First fixed link；
The IR evading obstacle sensors being electrically connected with control unit are equipped in the middle part of first fixed link.
7. pipeline external transmigration device according to claim 1, which is characterized in that forward and backward set is equipped between submounts
Second fixed link；
A gas sensor being electrically connected with control unit is equipped in the middle part of second fixed link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637791.2A CN107433989B (en) | 2017-07-31 | 2017-07-31 | A kind of pipeline external transmigration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637791.2A CN107433989B (en) | 2017-07-31 | 2017-07-31 | A kind of pipeline external transmigration device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107433989A CN107433989A (en) | 2017-12-05 |
| CN107433989B true CN107433989B (en) | 2019-05-21 |
Family
ID=60460463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710637791.2A Active CN107433989B (en) | 2017-07-31 | 2017-07-31 | A kind of pipeline external transmigration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107433989B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11525537B2 (en) | 2018-01-23 | 2022-12-13 | Gennadiy Lisnyak | Pipe crawler |
| CN109455243B (en) * | 2018-11-08 | 2020-06-09 | 山东大学 | Pipe rack curvature self-adaption device |
| CN109340581B (en) * | 2018-11-21 | 2024-04-09 | 郑州如阳科技有限公司 | Transverse blind test scanning device for gas buried pipeline leakage |
| CN110426089B (en) * | 2019-08-05 | 2020-07-14 | 程思精 | Flowmeter capable of reducing measurement error |
| CN111120881B (en) * | 2020-01-20 | 2020-12-11 | 海南合丰运维科技有限公司 | Pipeline leakage on-line detection device |
| CN112178466A (en) * | 2020-09-30 | 2021-01-05 | 安徽赛安安全设备有限责任公司 | Pipeline outside gas leakage detection device |
| CN113104126A (en) * | 2021-03-15 | 2021-07-13 | 湖北工业大学 | Foldable device of crawling outside of tubes |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2088554A (en) * | 1980-11-28 | 1982-06-09 | Pls Pipeline Service Uk Ltd | Pipeline route surveying device |
| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving pipeline robot |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
| CN106838541A (en) * | 2017-04-07 | 2017-06-13 | 中国石油化工股份有限公司 | Caliber self adaptation helical pipe robot |
-
2017
- 2017-07-31 CN CN201710637791.2A patent/CN107433989B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2088554A (en) * | 1980-11-28 | 1982-06-09 | Pls Pipeline Service Uk Ltd | Pipeline route surveying device |
| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving pipeline robot |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
| CN106838541A (en) * | 2017-04-07 | 2017-06-13 | 中国石油化工股份有限公司 | Caliber self adaptation helical pipe robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107433989A (en) | 2017-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107433989B (en) | A kind of pipeline external transmigration device | |
| CN107271571B (en) | A kind of pipeline outside weld detection device | |
| CN208311788U (en) | A kind of wheeled pipeline detecting and sampling robots | |
| CN106439386A (en) | Intelligent pipe inner wall walking robot | |
| US9089443B2 (en) | Multi-articulated link knee joint | |
| CN105487545A (en) | Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus | |
| CN113932090B (en) | Surveying and mapping robot | |
| CN203548164U (en) | Coaxiality detecting system for pumping device | |
| CN103672292A (en) | Pipeline robot | |
| EP3732346A2 (en) | Downhole mobility module for logging and intervention of extended reach wells | |
| CN108802036A (en) | A kind of portable integrated form large format checking test platform | |
| CN113446458A (en) | Intelligent pipeline walking robot | |
| CN202994821U (en) | An airflow velocity automatic detector of a biological safety cabinet | |
| CN105346614B (en) | A kind of climbing robot of flexible support driving mechanism | |
| ATE393263T1 (en) | SUPPORT AND POSITION ADJUSTMENT CONSTRUCTION FOR AN AUTOMATIC LEVELING SYSTEM | |
| CN208257301U (en) | A kind of power line support | |
| CN207809355U (en) | Detent mechanism and electricity changing robot with the detent mechanism | |
| CN109555933A (en) | A kind of spiral inner wall sweeping robot | |
| CN205540266U (en) | Wheeled drive pipeline robot of spiral based on high strength spring presses wall to put | |
| CN211374670U (en) | Archaeology is with grave air monitor device | |
| CN217320510U (en) | Chassis for automatic guided vehicle, automatic guided vehicle and robot | |
| CN209488066U (en) | A kind of cable laid cable laying traction device | |
| CN208860753U (en) | A kind of portable integrated form large format checking test platform | |
| CN207020532U (en) | A kind of autonomous type visual detection robot system | |
| CN205402176U (en) | A sensor fixed device for AGV debugging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |